CN112617694A - Cleaning robot protection device - Google Patents
Cleaning robot protection device Download PDFInfo
- Publication number
- CN112617694A CN112617694A CN202011521454.5A CN202011521454A CN112617694A CN 112617694 A CN112617694 A CN 112617694A CN 202011521454 A CN202011521454 A CN 202011521454A CN 112617694 A CN112617694 A CN 112617694A
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- Prior art keywords
- assembly
- angle adjusting
- adjusting cylinder
- cleaning
- control device
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides a cleaning robot protection device, which comprises a cleaning robot, a distance sensor, a scraping strip assembly, a driving assembly, a control device, a pressure sensor, a protection spring and an angle adjusting cylinder, wherein: the distance sensor, the scraping strip assembly, the driving assembly, the angle adjusting cylinder and the protection spring are all arranged on the cleaning robot; the distance sensor is in communication connection with the control device and detects the distance between the knot cleaning brush assembly and the cleaning object; the driving assembly is in communication connection with the control device and drives the cleaning robot to move; an output shaft of the angle adjusting cylinder is connected with the scraping strip assembly, and a protection spring is arranged between the angle adjusting cylinder and the scraping strip assembly; the protection spring transmits the pressure applied to the scraping strip assembly to the pressure sensor, and the pressure sensor feeds back pressure data to the control device; the control device controls the driving assembly to move and the angle adjusting cylinder to contract. The invention can effectively protect the cleaning object.
Description
Technical Field
The invention relates to the field of cleaning robots, in particular to a cleaning robot protection device.
Background
The existing cleaning robot does not pay attention to the problem of protecting the cleaning object when cleaning, and the cleaning object is possibly damaged in the cleaning process. Taking a solar power generation field as an example, a tower type solar power generation field and a solar panel power generation field are common, heliostats of the tower type solar power generation field are annularly arranged to surround a high tower, the angle of the solar panel can also rotate along with the position of the sun, and a cleaning object at a non-linear position and a fixed angle is very easy to damage in the robot cleaning process.
The invention patent of patent document CN105249900A discloses a glass curtain wall cleaning robot with safe work and high efficiency, which comprises a robot body and a safety device for guiding and pulling the robot body, wherein the robot body comprises a mounting frame, a walking wheel positioned in the middle of the mounting frame and sucking disc devices positioned on two sides of the walking direction of the mounting frame, the two sucking disc devices are symmetrical by the walking wheel, a sealing structure is arranged in the sucking disc devices, and a cleaning mechanism is also arranged on the mounting frame. But the above solution does not address the protection problem for the cleaned glass.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a cleaning robot protection device.
The invention provides a cleaning robot protection device, which comprises a cleaning robot, a distance sensor, a scraping strip assembly, a driving assembly, a control device, a pressure sensor, a protection spring and an angle adjusting cylinder, wherein:
the distance sensor, the scraping strip assembly, the driving assembly, the angle adjusting cylinder and the protection spring are all arranged on the cleaning robot;
the distance sensor is in communication connection with the control device and detects the distance between the knot cleaning brush assembly and the cleaning object;
the driving assembly is in communication connection with the control device and drives the cleaning robot to move;
an output shaft of the angle adjusting cylinder is connected with the scraping strip assembly, and a protection spring is arranged between the angle adjusting cylinder and the scraping strip assembly;
the protection spring transmits the pressure applied to the scraping strip assembly to the pressure sensor, and the pressure sensor feeds back pressure data to the control device;
the control device controls the driving assembly to move and the angle adjusting cylinder to contract.
Preferably, the wiper strip assembly comprises a wiper strip, a clamp handle and a wiper strip connecting clamp, wherein:
the clamping handle is provided with an installation groove, and the scraping strip is installed in the installation groove of the clamping handle;
the scraping strip is connected, clamped and fixedly connected with the clamp handle.
Preferably, the protection spring is disposed within the clamp holder.
Preferably, the angle adjusting cylinder comprises a first angle adjusting cylinder and a second angle adjusting cylinder, and the first angle adjusting cylinder and the second angle adjusting cylinder respectively adjust the position of the upper part region and the lower part region of the scraping strip assembly.
Preferably, the control device controls the first angle adjusting cylinder and the second angle adjusting cylinder independently, respectively.
Preferably, the control device sends an instruction to the driving component according to the comparison result of the detection data of the distance sensor and the set distance threshold,
when the detection data of the sensor is larger than the set maximum distance threshold value, the control device sends an instruction close to the cleaning object to the driving assembly;
when the detection data of the sensor is smaller than the set minimum distance threshold value, the control device sends an instruction of being far away from the cleaning object to the driving assembly.
Preferably, still include the fixing base, the fixing base sets up on cleaning machines people, and the fixing base is right the position of angle modulation cylinder is injectd.
Preferably, the drive assembly comprises a drive motor and a drive shaft, wherein:
the output end of the driving motor is connected with the driving shaft, the driving shaft is connected with wheels of the cleaning robot, and the output end of the driving motor drives the driving shaft to rotate forwards or backwards so as to drive the wheels of the cleaning robot to rotate forwards or backwards.
Preferably, the cleaning device also comprises a pressure overload protection device which is connected with the scraping strip assembly and controls and adjusts the acting force between the scraping strip and the cleaning object when the scraping strip works.
Preferably, the pressure overload protection device is activated by a protection spring switch provided on the washing robot.
Preferably, the control device sends an instruction to the driving component according to the comparison result of the detection data of the pressure sensor and the set pressure threshold value,
when the detection data of the sensor is larger than the set maximum pressure threshold value, the control device sends a retraction instruction to the first/second angle adjusting cylinder;
when the detection data of the sensor is smaller than the set minimum pressure threshold value, the control device sends an extending instruction to the first/second angle adjusting cylinder.
Preferably, the protection spring applies initial pressure to the wiper strip assembly and the cleaning object and resets the wiper strip assembly through pre-tightening elastic force.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has the advantages of ingenious structure, reasonable design and convenient use.
2. According to the invention, the distance sensor is arranged, so that the intelligent regulation of the distance between the cleaning robot and the cleaning object is realized.
3. According to the invention, the distance between the cleaning object and the scraping strip is set, so that automatic distance adjustment is realized, the automatic management of the cleaning robot is facilitated, and the protection of the cleaning object is facilitated.
4. According to the invention, by arranging the pressure sensor and the angle adjusting cylinder, the intelligent adjustment of the pressure and the angle between the cleaning robot and the cleaning object is realized, so that the pressure overload protection is realized on the cleaning object, the cleaning objects with different angles are realized, and the problem that the cleaning object cannot be cleaned or is not cleaned completely due to the angle difference is solved.
5. According to the invention, the pre-tightening force of the spring is preset during installation, so that the intelligent regulation of the pressure of the cleaning robot and a cleaning object is realized, the problem of poor cleaning effect caused by incomplete contact is solved, and the working stability of the cleaning robot is enhanced.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of the overall structure of the cleaning robot.
Fig. 2 is a schematic sectional view of the cleaning robot.
Fig. 3 is a schematic structural diagram of the protection device.
Fig. 4 is a schematic cross-sectional view of a pressure overload protection device.
The figures show that:
1-vehicle body shell 15-sand blocking shell 29-connecting screw
2-maintenance cover plate 16-cleaning brush motor 30-second angle adjusting cylinder
3-water tank 17-driven chain wheel 31-fixed seat
4-water level probe 18-synchronous belt 100-navigation positioning module
5-water pipe 19-driving chain wheel 110-positioning assembly
6-sandscreen 20-first pressure sensor 120-controller assembly
7-Water Pump support 21-wiper strip connecting clip 130-drive Assembly
8-water pump 22-scraping strip 200-mirror surface cleaning module
9-distance sensor 23-temperature sensor 210-water spray assembly
10-spray head 24-clamping handle 220-cleaning brush component
11-connecting plate 25-second protection spring 230-wiper strip assembly
12-attachment flange 26-second pressure sensor 240-cleaning brush locking block
13-knuckle bearing 27-first protection spring 250-lifting assembly
14-rolling brush 28-first angle adjusting cylinder 300-operating environment cleaning module
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 to 3, the present invention provides a cleaning robot protection device, including a cleaning robot, a distance sensor, a bar scraping assembly, a driving assembly, a control device, a pressure sensor, a protection spring, and an angle adjusting cylinder, wherein: the distance sensor, the scraping strip assembly, the driving assembly, the angle adjusting cylinder and the protection spring are all arranged on the cleaning robot; the distance sensor is in communication connection with the control device and detects the distance between the knot cleaning brush assembly and the cleaning object; the driving assembly is in communication connection with the control device and drives the cleaning robot to move; an output shaft of the angle adjusting cylinder is connected with the scraping strip assembly, and a protection spring is arranged between the angle adjusting cylinder and the scraping strip assembly; the angle adjusting cylinder comprises a first angle adjusting cylinder and a second angle adjusting cylinder, and the first angle adjusting cylinder and the second angle adjusting cylinder respectively adjust the position of the upper part region and the lower part region of the scraping strip assembly. The control device respectively and independently controls the first angle adjusting cylinder and the second angle adjusting cylinder. The cleaning robot protection device further comprises a fixed seat, the fixed seat is arranged on the cleaning robot, and the fixed seat is used for limiting the position of the angle adjusting cylinder. The protection spring is arranged in the clamp handle. The protection spring transmits the pressure applied to the scraping strip assembly to the pressure sensor, and the pressure sensor feeds back pressure data to the control device; the control device controls the driving assembly to move and the angle adjusting cylinder to contract. Specifically, the control device sends an instruction to the driving assembly according to a comparison result of detection data of the distance sensor and a set distance threshold, and when the detection data of the sensor is larger than the set maximum distance threshold, the control device sends an instruction close to the cleaning object to the driving assembly; when the detection data of the sensor is smaller than the set minimum distance threshold value, the control device sends an instruction of being far away from the cleaning object to the driving assembly. The control program of the control device belongs to the prior art, and is not described herein again.
Further, the scraper bar subassembly includes scraper bar, holder and scraper bar attach clip, wherein: the clamping handle is provided with an installation groove, and the scraping strip is installed in the installation groove of the clamping handle; the scraping strip is connected, clamped and fixedly connected with the clamp handle.
More specifically, the drive assembly comprises a drive motor and a drive shaft, wherein: the output end of the driving motor is connected with the driving shaft, the driving shaft is connected with wheels of the cleaning robot, and the output end of the driving motor drives the driving shaft to rotate forwards or backwards so as to drive the wheels of the cleaning robot to rotate forwards or backwards.
In more detail, the washing machine further comprises a pressure overload protection device which is connected with the driving assembly and controls the driving assembly to be far away from the washing object. The pressure overload protection device is started by a protection spring switch arranged on the cleaning robot.
In the moving process of the cleaning mirror surface of the cleaning robot, the cleaning distance sensor 9 monitors the gap value between the cleaning brush assembly 220 and the cleaned mirror surface in real time, and when the gap value exceeds the set range of the gap value, a signal is triggered to adjust the driving assembly 130. When the gap value is larger than the set range, the driving assembly 130 drives the cleaning robot to move toward the mirror surface to reduce the gap value until the gap value is within the set range. When the gap value is smaller than the set range, the driving assembly 130 drives the cleaning robot to move away from the mirror surface to increase the gap value until the gap value is within the set range. The cleaning distance sensor 9 is continuously operated.
When the clearance value is continuously smaller than the set range, the speed at which the cleaning robot is driven by the driving assembly 130 to be away from is not enough to increase the clearance value to the set range, or the driving assembly 130 does not normally work, the cleaning pressure of the cleaning brush on the mirror surface is continuously increased, the reaction force of the cleaning pressure is transmitted to the first pressure sensor and the second pressure sensor through the first protection spring 27 and the second protection spring 25 respectively, and the first pressure sensor and the second pressure sensor transmit pressure information to the controller. When the pressure of the first pressure sensor is larger than the set range of the cleaning pressure, the first angle adjusting cylinder retracts, and the gap value between the cleaning brush and the mirror surface is increased. When the pressure of the second pressure sensor is larger than the set range of the cleaning pressure, the second angle adjusting cylinder retracts, and the gap value between the cleaning brush and the mirror surface is increased. When the pressure of the first pressure sensor and the pressure of the second pressure sensor are both larger than the set range of the cleaning pressure, the first angle adjusting cylinder and the second angle adjusting cylinder are both retracted, and the gap value between the cleaning brush and the mirror surface is increased.
When the clearance value is continuously smaller than the set range, the speed at which the driving assembly drives the cleaning robot to move away is not enough to increase the clearance value to the set range, or the driving assembly does not work normally, or the retraction speeds of the first angle adjusting cylinder and the second angle adjusting cylinder are smaller than the increase speed of the clearance value, or the clearance value is increased abnormally due to environmental factors such as wind, the reaction force of the cleaning brush on the cleaning pressure of the mirror surface is enabled to compress the first protection spring and/or the second protection spring, and the cleaning pressure of the cleaning brush on the mirror surface is reduced after the first protection spring and/or the second protection spring are compressed. Meanwhile, after the first protection spring and/or the second protection spring are/is compressed, the protection spring switch 1 and/or the protection spring switch 2 are/is pressed to trigger the pressure overload protection of the cleaning robot, the driving assembly stops advancing, and the cleaning robot is driven to be far away from the mirror surface.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a cleaning machines people protection device which characterized in that, includes cleaning machines people, distance sensor, scrapes strip subassembly, drive assembly, controlling means, pressure sensor, protection spring and angle modulation cylinder, wherein:
the distance sensor, the scraping strip assembly, the driving assembly, the angle adjusting cylinder and the protection spring are all arranged on the cleaning robot;
the distance sensor is in communication connection with the control device and detects the distance between the knot cleaning brush assembly and the cleaning object;
the driving assembly is in communication connection with the control device and drives the cleaning robot to move;
an output shaft of the angle adjusting cylinder is connected with the scraping strip assembly, and a protection spring is arranged between the angle adjusting cylinder and the scraping strip assembly;
the protection spring transmits the pressure applied to the scraping strip assembly to the pressure sensor, and the pressure sensor feeds back pressure data to the control device;
the control device controls the driving assembly to move and the angle adjusting cylinder to contract;
the scraping strip assembly comprises a scraping strip, a clamping handle and a scraping strip connecting clamp, wherein:
the clamping handle is provided with an installation groove, and the scraping strip is installed in the installation groove of the clamping handle;
the scraping strip is connected, clamped and fixedly connected with the clamp handle;
the angle adjusting cylinder comprises a first angle adjusting cylinder and a second angle adjusting cylinder, the first angle adjusting cylinder and the second angle adjusting cylinder respectively carry out position adjustment on the upper part region and the lower part region of the bar scraping assembly, and then carry out angle adjustment on the bar scraping assembly.
2. The washing robot protecting device according to claim 1, wherein the protecting spring is provided in the grip holder.
3. The protecting apparatus for a washing robot as claimed in claim 1, wherein the controlling means controls the first angle adjusting cylinder and the second angle adjusting cylinder independently from each other.
4. The washing robot protecting apparatus according to claim 1, wherein the control means sends a command to the driving unit based on a comparison result between the detection data of the distance sensor and a set distance threshold value,
when the detection data of the sensor is larger than the set maximum distance threshold value, the control device sends an instruction close to the cleaning object to the driving assembly;
when the detection data of the sensor is smaller than the set minimum distance threshold value, the control device sends an instruction of being far away from the cleaning object to the driving assembly.
5. The protection device for a washing robot according to claim 1, further comprising a fixing base provided on the washing robot, the fixing base defining a position of the angle adjustment cylinder.
6. The washing robot protection device of claim 1, wherein the drive assembly comprises a drive motor and a drive shaft, wherein:
the output end of the driving motor is connected with the driving shaft, the driving shaft is connected with wheels of the cleaning robot, and the output end of the driving motor drives the driving shaft to rotate forwards or backwards so as to drive the wheels of the cleaning robot to rotate forwards or backwards.
7. The protection device for the washing robot as claimed in claim 1, further comprising a protection spring as a pressure overload protection device, wherein the protection spring is connected with the bar assembly and controls and adjusts the acting force between the bar assembly and the cleaning object when the bar assembly is operated.
8. A washing robot protection device according to claim 7, characterized in that the pressure overload protection device is activated by a protection spring switch arranged on the washing robot.
9. The protection device for a washing robot according to claim 1, wherein the control device sends a command to the driving unit according to a comparison result between the detection data of the pressure sensor and a set pressure threshold value,
when the detection data of the sensor is larger than the set maximum pressure threshold value, the control device sends a retraction instruction to the first/second angle adjusting cylinder;
when the detection data of the sensor is smaller than the set minimum pressure threshold value, the control device sends an extending instruction to the first/second angle adjusting cylinder.
10. The protection device for a washing robot of claim 1, wherein the protection spring applies an initial pressure to the wiper strip assembly and the cleaning object and resets the wiper strip assembly by a predetermined pre-tightening elastic force when installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011521454.5A CN112617694B (en) | 2020-12-21 | 2020-12-21 | Cleaning robot protection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011521454.5A CN112617694B (en) | 2020-12-21 | 2020-12-21 | Cleaning robot protection device |
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| Publication Number | Publication Date |
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| CN112617694A true CN112617694A (en) | 2021-04-09 |
| CN112617694B CN112617694B (en) | 2022-03-01 |
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ID=75320401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011521454.5A Active CN112617694B (en) | 2020-12-21 | 2020-12-21 | Cleaning robot protection device |
Country Status (1)
| Country | Link |
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| CN (1) | CN112617694B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113426780A (en) * | 2021-08-18 | 2021-09-24 | 芜湖哈特机器人产业技术研究院有限公司 | Stirring barrel scraping and cleaning device and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113426780A (en) * | 2021-08-18 | 2021-09-24 | 芜湖哈特机器人产业技术研究院有限公司 | Stirring barrel scraping and cleaning device and using method thereof |
| CN113426780B (en) * | 2021-08-18 | 2022-04-01 | 芜湖哈特机器人产业技术研究院有限公司 | Stirring barrel scraping and cleaning device and using method thereof |
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| Publication number | Publication date |
|---|---|
| CN112617694B (en) | 2022-03-01 |
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