CN203369855U - Robot capable of crossing over barrier to clean two faces of glass - Google Patents
Robot capable of crossing over barrier to clean two faces of glass Download PDFInfo
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- CN203369855U CN203369855U CN201320376815.0U CN201320376815U CN203369855U CN 203369855 U CN203369855 U CN 203369855U CN 201320376815 U CN201320376815 U CN 201320376815U CN 203369855 U CN203369855 U CN 203369855U
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- glass
- cleaner plate
- mechanical arm
- cleaning robot
- cleaning
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Abstract
A robot capable of crossing over a barrier to clean two faces of glass comprises two glass-cleaning robot auxiliary devices which are identical in structure and are in mirror symmetry. Each glass-cleaning robot auxiliary device comprises a suspending frame and a plurality of retractable mechanical arms hinged to the suspending frame, the side, making contact with the glass, of each mechanical arm is provided with a cleaning board, the cleaning boards are provided with electromagnets controlled by controllers, and the two glass-cleaning robot auxiliary devices are arranged on the two sides of the glass respectively and fixed to the glass through attraction force of the electromagnets on the cleaning boards. The robot can cross over the barrier, avoids being repeatedly assembled and disassembled on different glass and among adjacent window frames and has practicability; due to the fact that the robot is directly driven by electricity, is different from an existing pneumatic method and is convenient to control, independence is improved, the electromagnets guarantee synchronism of the glass-cleaning robot auxiliary devices, and efficiency of the robot is improved.
Description
Technical field
The utility model relates to a kind of glass-cleaning robot, particularly a kind of can across the barrier double-side window-cleaning robot.
Background technology
Existing glass-cleaning robot, be mainly to utilize tracheae to be connected with air pump, then bleed and form at glass surface the purpose that vacuum reaches absorption by air pump.Also that absorption by air pump provides power to advance.The cleaning device of robot and running gear isolation, drive.These two robots can both reach in absorption on glass, the water supply of creeping, the effect of cleaning glass.But all there are several common problems in they:
The first, can only wipe single face, very inconvenient during use;
The second, the drive of creeping and turn, make the complicated huge heaviness of robot architecture, also reduced reliability;
Three, can not realize moving between adjacent window frame, greatly reduce the scope of application, also to placing device, bring great inconvenience.
The utility model content
The purpose of this utility model be for the deficiencies in the prior art provide between a kind of cleansing double sided and adjacent glass that realizes glass across barrier, the automation of implement device, intellectuality, make device there is stronger independence, and improve device operating efficiency can be across barrier double-side window-cleaning robot.
The utility model is achieved through the following technical solutions above-mentioned purpose:
A kind of can across the barrier double-side window-cleaning robot, two sub-devices of glass-cleaning robot that comprise the identical and Mirror Symmetry of structure, the sub-device of described glass-cleaning robot comprises suspension and is hinged on a plurality of telescopic mechanical arms on described suspension, on one side of described mechanical arm and glass contact, cleaner plate is installed, the electromagnet of being controlled by controller is installed on described cleaner plate, and two sub-devices of described glass-cleaning robot are separately positioned on the both sides of glass and the suction by electromagnet on described cleaner plate is fixed on described on glass.
Described mechanical arm comprises push rod and drives the flexible motor of described push rod, the stiff end of described push rod is hinged on described suspension, be hinged with described cleaner plate on the movable end of described push rod, on the stiff end of described push rod, by extension spring, with described suspension, be connected, described extension spring makes the pin joint of movable end on described suspension of described push rod move laterally.
Four mechanical arms that are symmetricly set on described suspension are installed on described suspension.
Described cleaner plate is divided into three sections, comprise left cleaner plate, middle cleaner plate and right cleaner plate, described left cleaner plate and right cleaner plate are hinged on described middle cleaner plate by hinge, make left cleaner plate and right cleaner plate can be to the opposite direction upset of glass, on described cleaner plate, also be provided with make after described left cleaner plate and the upset of right cleaner plate can return returning device.
On one side of described cleaner plate and glass contact, be cleaning cloth or cleaning block.
Owing to adopting said structure, the utlity model has following advantage:
1, Double-side Synchronous, this device utilizes electromagnet to provide and is adsorbed on normal pressure on glass, has guaranteed the Complete Synchronization of both sides.
2, action and clean integrated, be equipped with cleaning cloth under cleaner plate, and when utilizing walking, relatively moving between cleaner plate and glass carried out wiping.The power that electric pushrod provides robot to advance, the motion of four electric pushrods forms different actions.
3, this device is directly used driven by power, is different from Pneumatic method in the past, is convenient to control, and has strengthened independence.
In sum, this device has been realized across the barrier function, avoids handling repeatedly between different glass, adjacent window frame, has higher practicality; This device is directly used driven by power, is different from Pneumatic method in the past, is convenient to control, and has strengthened independence; Device is succinct, and each push rod can independently be controlled, and realizes the multiple combination action.The Double-side Synchronous wiping, the powerful magnetic force of electromagnet has guaranteed the synchronism of device, has improved the efficiency of device.
The accompanying drawing explanation
Fig. 1 is front view of the present utility model;
Fig. 2 is the upward view of Fig. 1;
Fig. 3 is the top view of Fig. 1;
Fig. 4 is the stereogram of Fig. 1;
Fig. 5 is the state diagram of the utility model course of work.
The specific embodiment
Below in conjunction with accompanying drawing, further describe the specific embodiment of this patent.
As shown in Figures 1 to 4, can be across barrier double-side window-cleaning robot, by two sub-installation compositions of glass-cleaning robot of Mirror Symmetry.
The sub-device of one of them glass-cleaning robot mainly is comprised of cleaner plate 1, mechanical arm, electromagnet 3, suspension 4 etc.Controller is connected with device body, controls the motor motion of electric pushrod 2 and the size of electromagnet 3 magnetic force.
Mechanical arm consists of electric pushrod 2;
Electric pushrod 2 provides power by the dc motor 7 of 24V, by change-speed gearing, power is offered to roller bearing and leading screw, and the rotation of roller bearing and leading screw reaches the flexible purpose of push rod 2.Thrust or the pulling force of 600-1000N can be provided during electric pushrod 2 motion.
Electromagnet 3 is arranged in the groove of design in cleaner plate 1, produces magnetic field after energising, and cleaner plate 1 attracts each other across glass.After reducing electric current, field weakening, can make the cleaner plate 1 of two sub-devices of glass-cleaning robot separately.
Electric pushrod 2 can rotate around pin joint on suspension 4;
Operation principle is as follows:
As shown in Figure 5, four mechanical arms of this device are complied with and are labeled as mechanical arm A, mechanical arm B, mechanical arm C and mechanical arm D.
Two sub-device symmetries of glass-cleaning robot are adsorbed on glass, two sub-device action Mirror Symmetries of glass-cleaning robot, so only study the action of one of them, this installs cleaner plate 1 in the process of walking and does not leave glass surface, only in across obstacle, has the action of leaving glass surface.
Original state: the upper electric pushrod 2 of mechanical arm A, mechanical arm B, mechanical arm C and mechanical arm D all shrinks but leaves a certain amount of the continuation and shrink.Electromagnet on mechanical arm A, mechanical arm B, mechanical arm C, mechanical arm D is all in the normal power-up state.The planar horizontal that suspension cross bar a forms.
One, robot wiping action: direction of action is arrow direction as shown in Figure 5,
1, the upper electric pushrod 2 of mechanical arm A stretches out;
2, the upper electric pushrod 2 of mechanical arm C, mechanical arm D shrinks, and reduce the upper interior electric current of electromagnet 3 of mechanical arm C and mechanical arm D, thereby when mechanical arm C mechanical arm D cleaner plate suction reduces to move, resistance reduces simultaneously;
3, the electric current of the upper electromagnet 3 of mechanical arm A and mechanical arm B is constant, and the upper electric pushrod 2 of mechanical arm A starts to shrink, and the upper electric pushrod 2 of mechanical arm B stretches out simultaneously; Device integral body is moved forward;
4, the upper electric pushrod of mechanical arm B is contracted to original state; Whole device restPoses.
By the repetition of above-mentioned action, reach the purpose that robot moves, relative position modifier 2 directions of advance by setting device mechanical arm A, mechanical arm B, mechanical arm C, mechanical arm D, complete wiping action.
Two, robot is across barrier action: direction of action as shown in Figure 5 the direction of arrow across barrier,
Robot first moves near obstacle, and the upper cleaner plate 1 of mechanical arm A is parallel to obstacle and nearest apart from obstacle.
Mechanical arm A cleaner plate is across the barrier process: direction of action is arrow direction as shown in Figure 5,
1, the upper electric pushrod 2 of mechanical arm A shrinks, and reduces upper electromagnet 3 electric currents of mechanical arm A simultaneously; The upper cleaner plate 1 of mechanical arm A is subject to the pretightning force of extension spring 5 to lift the disengaging glass surface, and the cleaner plate end of mechanical arm A is subject to the pretightning force of extension spring 5 to stride across obstacle;
2, the upper electric pushrod 2 of mechanical arm A stretches out with the angle that is subject to extension spring 5 pretightning forces, recovers upper electromagnet 3 electric currents of mechanical arm A to original state simultaneously; Mechanical arm A surmounts obstacles, and pastes back glass surface;
3, the upper electric pushrod 2 of mechanical arm C, mechanical arm D shrinks, and reduce the interior electric current of electromagnet 3, thereby when mechanical arm C mechanical arm D cleaner plate suction reduces to move, resistance reduces simultaneously.
4, the upper electric pushrod 2 of mechanical arm A starts to shrink, and the upper electric pushrod 2 of mechanical arm B stretches out simultaneously; Device integral body moves forward.
5, the upper electric pushrod 2 of mechanical arm B is contracted to original state, and whole device restPoses.
6, the upper electric pushrod 2 of mechanical arm A stretches out, and now due to mechanical arm B, mechanical arm C and mechanical arm D tripartite resistance, be greater than the resistance of mechanical arm A, so mechanical arm A can be to protracting.
7, the upper electric pushrod 2 of mechanical arm C, mechanical arm D shrinks, and reduces the interior electric current of electromagnet 3 simultaneously; Mechanical arm C mechanical arm D both sides cleaner plate 1 is lifted, and leaves glass surface.
8, the upper electric pushrod 2 of mechanical arm A is contracted to original state, and the upper electric pushrod 2 of mechanical arm B stretches out simultaneously; The device integrated moving, mechanical arm C, mechanical arm D is unsettled surmounts obstacles.
9, the upper electric pushrod 2 of mechanical arm C, mechanical arm D stretches out, and recovers the interior electric current of electromagnet 3 to original state simultaneously; Mechanical arm C mechanical arm D both sides cleaner plate 1 is pasted back glass surface again.
10, the upper electric pushrod 2 of mechanical arm C, mechanical arm D is contracted to original state; Mechanical arm C, mechanical arm D restPose.
Mechanical arm B cleaner plate is across barrier:
11, the upper electric pushrod 2 of mechanical arm A stretches out.
12, the upper electric pushrod 2 of mechanical arm C, mechanical arm D shrinks, and reduce the interior electric current of electromagnet 3, thereby when mechanical arm C mechanical arm D cleaner plate suction reduces to move, resistance reduces simultaneously.
13, the upper electric pushrod 2 of mechanical arm A starts to shrink, and the upper electric pushrod 2 of mechanical arm B stretches out simultaneously; Make the device integrated moving, for mechanical arm B cleaner plate across the barrier slot milling.
14, reduce the upper interior electric current of electromagnet 3 of mechanical arm B; The upper cleaner plate of mechanical arm B is flicked.
15, the upper electric pushrod 2 of complete contract arm B.
16, the upper electric pushrod 2 of mechanical arm A stretches out, and promote the suspension bar and rotate, thereby the upper cleaner plate of driving mechanical arm B surmounts obstacles.。
17, the upper electric pushrod 2 of mechanical arm B extend out to original state, recovers the upper electromagnet 3 of mechanical arm B to original state simultaneously; The upper cleaner plate of mechanical arm B is pasted back glass surface again.
18, the upper electric pushrod of mechanical arm A is contracted to original state; Whole device restPoses.
Above action completes, and reaches across the barrier purpose.
Claims (5)
- One kind can across the barrier double-side window-cleaning robot, it is characterized in that, two sub-devices of glass-cleaning robot that comprise the identical and Mirror Symmetry of structure, the sub-device of described glass-cleaning robot comprises suspension and is hinged on a plurality of telescopic mechanical arms on described suspension, on one side of described mechanical arm and glass contact, cleaner plate is installed, the electromagnet of being controlled by controller is installed on described cleaner plate, and two sub-devices of described glass-cleaning robot are separately positioned on the both sides of glass and the suction by electromagnet on described cleaner plate is fixed on described on glass.
- According to claim 1 can across the barrier double-side window-cleaning robot, it is characterized in that, described mechanical arm comprises push rod and drives the flexible motor of described push rod, the stiff end of described push rod is hinged on described suspension, be hinged with described cleaner plate on the movable end of described push rod, on the stiff end of described push rod, by extension spring, with described suspension, be connected, described extension spring makes the pin joint of movable end on described suspension of described push rod move laterally.
- 3. according to claim 1 and 2 can it is characterized in that across barrier double-side window-cleaning robot, four mechanical arms that are symmetricly set on described suspension are installed on described suspension.
- According to claim 3 can across the barrier double-side window-cleaning robot, it is characterized in that, described cleaner plate is divided into three sections, comprise left cleaner plate, middle cleaner plate and right cleaner plate, described left cleaner plate and right cleaner plate are hinged on described middle cleaner plate by hinge, make left cleaner plate and right cleaner plate can be to the opposite direction upset of glass, on described cleaner plate, also be provided with make after described left cleaner plate and the upset of right cleaner plate can return returning device.
- 5. according to claim 4 can it is characterized in that across barrier double-side window-cleaning robot, be cleaning cloth or cleaning block on a side of described cleaner plate and glass contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320376815.0U CN203369855U (en) | 2013-06-27 | 2013-06-27 | Robot capable of crossing over barrier to clean two faces of glass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320376815.0U CN203369855U (en) | 2013-06-27 | 2013-06-27 | Robot capable of crossing over barrier to clean two faces of glass |
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| Publication Number | Publication Date |
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| CN203369855U true CN203369855U (en) | 2014-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320376815.0U Expired - Fee Related CN203369855U (en) | 2013-06-27 | 2013-06-27 | Robot capable of crossing over barrier to clean two faces of glass |
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| CN (1) | CN203369855U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103330534A (en) * | 2013-06-27 | 2013-10-02 | 中国人民解放军国防科学技术大学 | Two-sided glass wiping robot capable of crossing obstacle |
| CN104146652A (en) * | 2014-06-19 | 2014-11-19 | 铜陵翔宇商贸有限公司 | Robot for wiping surfaces of window glass |
-
2013
- 2013-06-27 CN CN201320376815.0U patent/CN203369855U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103330534A (en) * | 2013-06-27 | 2013-10-02 | 中国人民解放军国防科学技术大学 | Two-sided glass wiping robot capable of crossing obstacle |
| CN104146652A (en) * | 2014-06-19 | 2014-11-19 | 铜陵翔宇商贸有限公司 | Robot for wiping surfaces of window glass |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140101 Termination date: 20150627 |
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| EXPY | Termination of patent right or utility model |