Utility model content
Above-mentioned shortcoming for prior art, the utility model expectation provides a kind of window cleaning device, this window cleaning device not only can detect in time the barriers such as window frame and nimbly elude in wiping window process, can also prevent the erroneous judgement to barriers such as window frames, there will not be window cleaning device also not encounter the phenomenon that window frame just quits work or returns, and reduced production cost.
Technical problem to be solved of the present utility model is achieved by the following technical solution:
The utility model provides a kind of window cleaning device, and described window cleaning device comprises walking unit, cleaning unit, driver element and control module.Walking unit and cleaning unit are arranged on the bottom of window cleaning device, and control module is connected with driver element, and driver element is connected to walking unit and walking unit is driven.Described window cleaning device also comprises the velocity pick-up unit being connected with described control module, and the velocity amplitude signal that control module sends according to velocity pick-up unit is controlled drive unit drives window cleaning device and stopped walking or carry out go to action.
According to an embodiment of the present utility model, when window cleaning device is during along straightaway, velocity pick-up unit is linear velocity trans, the linear velocity value of velocity amplitude signal indication window cleaning device.
According to another embodiment of the present utility model, when walking unit is arranged on the rotatable vacuum chuck turntable of window cleaning device bottom, when window cleaning device is advanced by alternately rotating vacuum chuck turntable twisting, velocity pick-up unit is angular-rate sensor, the magnitude of angular velocity of velocity amplitude signal indication window cleaning device.
In embodiment of the present utility model, when control module judgement velocity amplitude signal is less than or equal to threshold value built-in in control module, controls drive unit drives window cleaning device and stop walking or carry out go to action.
In addition, vacuum chuck turntable comprises support and sucker, and sucker is annular flexible glue sucker, and described support is provided with groove, and flexible glue sucker is embedded in groove and is located by elastic washer.
In addition, cleaning unit is installed on support, is installed in the hollow region of sucker.
In addition, vacuum chuck turntable connects the body of window cleaning device by connector.
In addition, connector is bearing, and the outer ring of bearing is fixedly connected with the body of window cleaning device, and its inner ring is fixedly connected with vacuum chuck turntable.
In addition, driver element connects vacuum chuck turntable by transmission mechanism.
In addition, transmission mechanism is travelling gear or Timing Belt.
Compared with prior art, the beneficial effects of the utility model are:
The utility model level of intelligence is high, wipes in window process, not only can detect in time the barriers such as window frame and nimbly elude, and can also prevent the erroneous judgement to barriers such as window frames, there will not be window cleaning device also not encounter the phenomenon that window frame just quits work or returns.In addition, the utility model has also reduced the production cost of window cleaning device.
The specific embodiment
Window cleaning device 7 of the present utility model comprises walking unit 2, cleaning unit 3, driver element 4 and control module 5.As shown in Figure 5 and Figure 6, walking unit 2 and cleaning unit 3 are arranged on the bottom of window cleaning device 7, and control module 5 is connected with driver element 4.Described window cleaning device 7 also comprises the velocity pick-up unit 6 being connected with control module 5, and the velocity amplitude signal that control module 5 sends according to velocity pick-up unit 6 is controlled driver element 4 and driven window cleaning device 7 to stop walking or carry out go to action.When needs wiping is vertical or slanted glass is surperficial, window cleaning device 7 also comprises absorbing unit 1, and the body 16 of window cleaning device 7 is adsorbed on glass surface by absorbing unit 1.
embodiment 1
As shown in Figure 6 and Figure 7, in embodiment 1, walking unit 2 is vacuum chuck turntables 17, and window cleaning device 7 is advanced by alternately rotating vacuum chuck turntable realization twisting.The body 16 of window cleaning device 7 is provided with control module 5, driver element 4 and cleaning unit 3.Wherein, vacuum chuck turntable is connected to body 16 by connector, and this connector can be the rotary middle spindle that bearing or body arrange, and making can be in several ways by the rotatable bottom that is arranged on body 16 of vacuum chuck turntable.As vacuum chuck turntable can directly be set on its rotary middle spindle, this rotary middle spindle is fixedly arranged on organism bottom, drives vacuum chuck turntable to rotate with respect to body.Vacuum chuck turntable is for example made " work " font, is set on rotary middle spindle, and Timing Belt is set in " work " type groove of vacuum chuck turntable, and driver element 4 drives vacuum chuck turntable to rotate by Timing Belt, as vacuum chuck turntable can also be connected on body by bearing.The outer ring of bearing is fixedly connected with the body 16 of window cleaning device 7, and inner ring is fixedly connected with vacuum chuck turntable.
Simple vacuum chuck turntable only has sucker 10, and sucker 10 is connected to body 16 by its rotary middle spindle, and the material of this scheme sucker 10 is had relatively high expectations.Vavuum pump 11 is connected with sucker 10 by exhaust tube 12, and when vavuum pump 11 is started working, vavuum pump 11 is in the interior generation negative pressure of sucker 10, and sucker 10 produces suction, and window cleaning device 7 is adsorbed on glass.
As shown in Figure 6, in the present embodiment, vacuum chuck turntable 17 comprises support 9 and sucker 10, and sucker 10 connects vavuum pump 11 by exhaust tube 12.Sucker 10 is annular flexible glue sucker, and sucker 10 is arranged on the bottom of support 9.In the bottom of support 9, be provided with annular groove 14, flexible glue sucker is embedded in the interior location of groove 14 by elastic washer 15.Sucker 10 time produces deformation in work, and elastic washer 15 can absorb deformation, and being adsorbed on of making that sucker 10 fits is more on glass.Cleaning unit 3 is fixed in the hollow region of support 9 or described sucker 10, and cleaning unit 3 can be cloths for cleaning or scouring pad etc.How the window cleaning device 7 of describing the present embodiment below in detail realizes twisting is advanced.
Body 16 two bottom sides A ends and A ' end at window cleaning device 7 arrange a pair of rotatable vacuum chuck turntable 17.Control module 5 is connected with two vacuum chuck turntables 17 respectively by driver element 4, control module 5 is controlled respectively the size and Orientation that power is exported on two vacuum chuck turntables 17, drive a pair of vacuum chuck turntable 17 to rotate centered by the vertical axes perpendicular to glass surface or static, make both alternately become speed end or low speed end, form speed discrepancy, make window cleaning device 7 by alternately reversing A end and A ' end, realize the twisting walking of window cleaning device 7.
In general, driver element 4 is motor, but the utility model is not as limit.Motor output end is connected with reducing gear, after the power of motor output slows down by reducing gear, passes to support 9.The final-stage gear of reducing gear drives travelling gear 13, and travelling gear 13 is connected to by bearing in the body 16 of window cleaning device 7, and travelling gear 13 is fixedly connected with support 9.
Specifically, window cleaning device 7 courses of work are as follows:
Step 1: window cleaning device 7 is placed into glass surface, presses the button startup, vavuum pump 11 is started working, the sucker 10 laying respectively on A end and A ' end vacuum chuck turntable 17 is adsorbed on glass surface simultaneously, and the size of both suction and the mode of absorption are identical all the time.
Step 2: control module 5 is controlled at respectively the size and Orientation of the power of exporting on a pair of vacuum chuck turntable 17 of A end and A ' end, drive the rotation or static centered by the vertical axes perpendicular to glass surface in turn of a pair of vacuum chuck turntable 17, make both alternately become speed end or low speed end, make to form speed discrepancy between the two.
Specifically, can form in the following way speed discrepancy: control module 5 is controlled driver element difference outputting power to vacuum chuck turntable 17, the vacuum chuck turntable 17 of one end is rotated with respect to glass surface, and the vacuum chuck turntable 17 of the other end is static with respect to glass surface; Or make the vacuum chuck turntable 17 of one end with respect to glass surface high speed rotating, the vacuum chuck turntable 17 of the other end slowly runs with respect to glass surface.
Step 3: for example control in the situation of rotating speed lower than the rotating speed of A ' end that makes A end when control module 5, body 16 twists forward around A end under the drive of A ' end vacuum chuck turntable 17;
Step 4: body 16 is when A end rotates to certain angle, such as this angle can be arbitrarily angled between 10 °-30 °, control module 5 is controlled and is made the rotating speed of A ' end lower than the rotating speed of A end, and body 16 twists forward around A ' end under the drive of A end vacuum chuck turntable 17;
Step 5: as described in step 3 and step 4, alternately twisting forward of A end and A ' end, realizes the twisting walking of window cleaning device 7 on glass surface.
In sum, the rotating speed of alternately controlling the vacuum chuck turntable 17 of A end and A ' end, makes both alternately become speed end or low speed end, forms speed discrepancy, thereby make one end that body 16 rotating speeds are high centered by the low one end of rotating speed, occur to reverse forward, thereby realize the walking of window cleaning device.
Velocity pick-up unit 6 is in the present embodiment such as gyroscope constant angular velocity sensor.
As shown in Figure 1, during window cleaning device 7 operation, during it is often turned round and moves a step, if window cleaning device 7 does not knock frame, in the ideal case, and window cleaning device uniform rotation, to record velocity amplitude be ω to angular-rate sensor
1.
As shown in Figure 2, if window cleaning device 7 knocks window jamb in the process of twisting, the angular speed of window cleaning device 7 twistings becomes 0 at short notice.Therefore, can in control module, preset built-in threshold value ω
0=0 or close to 0 value, angular-rate sensor sends to control module 5 by the velocity amplitude signal of the real-time angular velocity omega sensing, as ω≤ω
0time, control module 5 judges that window cleaning device 7 has arrived frame accordingly, control module 5 is controlled the actions such as driver element 4 driving walking unit 2 stop walking or execution turns to or retreat, thereby dodges glass frame.
When window cleaning device 7 runs into the larger dirt such as the viscosity such as chewing gum, double faced adhesive tape in the process of twisting, in the moment of meeting at first, because above-mentioned dirt has produced the angular acceleration a contrary with reversing direction of advance to the frictional force of window cleaning device 7
t, make the angular speed of window cleaning device 7 from ω
1reduce.Yet, the inertia reversing forward due to window cleaning device 7 and the lasting driving of driver element 4, window cleaning device 7 has been removed above-mentioned dirt or inswept from above-mentioned dirt after the deceleration of short time is advanced, and angular speed just returns to initial angular velocity omega
1.In this process, the real-time angular velocity omega of window cleaning device 7 becomes 0(, ω≤ω can't be when knocking window frame
0), so control module 5 can not obtain ω≤ω
0signal, thereby can not make the erroneous judgement that window cleaning device 7 has arrived frame.
In addition, when using angular-rate sensor as velocity pick-up unit 6 in window cleaning device 7, because the kind of the angular-rate sensor on market is more and price is lower, so can reduce the production cost of window cleaning device 7.
embodiment 2
Embodiment 2 is with the main difference part of embodiment 1: walking unit 2 is crawler belt or wheel, and window cleaning device 7 is along straight ahead, and velocity pick-up unit 6 is linear velocity transes.
As shown in Figure 3, when window cleaning device 7 normal operation, the fuselage linear velocity of window cleaning device 7 does not change or changes very little, and it is v that linear velocity trans records velocity amplitude
1; As shown in Figure 4, when window cleaning device 7 is run into window jamb 8, the linear velocity that window cleaning device 7 is advanced becomes 0 at short notice.Therefore, can in control module, preset built-in threshold value v
0=0 or close to 0 smaller value, linear velocity trans sends to control module 5 by the velocity amplitude signal of the actual time line speed v sensing, as v≤v
0time, control module 5 judges that window cleaning device 7 has arrived frame accordingly, control module 5 is controlled the actions such as driver element 4 driving walking unit 2 stop walking or execution turns to or retreat, thereby dodges glass frame.
Similarly, when window cleaning device 7 runs into the larger dirt such as the viscosity such as chewing gum, double faced adhesive tape in straightaway process, in the moment of meeting at first, because above-mentioned dirt has produced the linear acceleration a contrary with direction of advance to the frictional force of window cleaning device 7
t, make the linear velocity of window cleaning device 7 from v
1reduce.Yet, the inertia of advancing forward due to window cleaning device 7 and the lasting driving of driver element 4, window cleaning device 7 has been removed above-mentioned dirt or inswept from above-mentioned dirt after the deceleration of short time is advanced, and linear velocity just returns to initial linear velocity v
1.In this process, the actual time line speed v of window cleaning device 7 becomes 0(, v≤v can't be when knocking window frame
0), so control module 5 can not obtain v≤v
0signal, thereby can not make the erroneous judgement that window cleaning device 7 has arrived frame.
In addition, when using linear velocity trans as velocity pick-up unit 6 in window cleaning device 7, because the kind of the linear velocity trans on market is more and price is lower, so can reduce the production cost of window cleaning device 7.
In the present embodiment, it can be split type that described wiping window puts 7, comprise driving machine and follower, driving machine comprises walking unit, driver element, velocity pick-up unit and control module, driving machine and follower are built-in with respectively first and second magnet, make both can mutually be adsorbed on the inside and outside both sides of glass, under the suction of first and second magnet, follower and driving machine produce servo-actuated.Walking unit comprises left and right sides crawler belt and the Athey wheel that is positioned at driving machine, and crawler belt comprises a plurality of track unit joints; Or walking unit also can adopt wheel.
Described window cleaning device can be also monomer-type, comprises walking unit, driver element, sensing unit and control module, and walking unit can be crawler belt and the Athey wheel that comprises the left and right sides that is positioned at window cleaning device, and crawler belt comprises a plurality of track unit joints; Or walking unit also can adopt wheel.