CN203483350U - Window wiping device - Google Patents
Window wiping device Download PDFInfo
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- CN203483350U CN203483350U CN201320519719.7U CN201320519719U CN203483350U CN 203483350 U CN203483350 U CN 203483350U CN 201320519719 U CN201320519719 U CN 201320519719U CN 203483350 U CN203483350 U CN 203483350U
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Abstract
The utility model relates to the technical field of intelligent robots, in particular to a window wiping device. The window wiping device comprises an adsorption unit (1), a walking unit (2), a cleaning unit (3), a driving unit (4) and a control unit (5). The walking unit (2) and the cleaning unit (3) are arranged at the bottom of the window wiping device (7), the control unit (5) is connected with the driving unit (4), and the driving unit (4) is connected with the walking unit (2) and drives the walking unit (2). The window wiping device (7) further comprises a speed sensing unit (6) connected with the control unit (5), and the control unit (5) controls the driving unit (4) to drive the window wiping device (7) to stop walking or perform steering motion according to speed value signals sent by the speed sensing unit (6). According to the window wiping device, a window frame can be avoided in the window wiping process, misjudgment on obstacles such as the window frame can be avoided, and the production cost is reduced.
Description
Technical field
The utility model relates to intelligent robot technology field, specifically, relates to a kind of window cleaning device.
Background technology
General existing window wiping robot is for the detection that has frame Glazed fence, by hitting plate and microswitch is differentiated mostly, when window wiping robot does not arrive glass edge, window wiping robot is normally advanced: when window wiping robot arrives glass frame, hit plate and be pushed, trigger microswitch simultaneously, think that window wiping robot has arrived glass edge, window wiping robot retreats, and with this, controls the working range of window wiping robot.But make to exist in this way following defect: due to hit plate or microswitch easily the reason such as stuck cause not having signal or window wiping robot not to receive signal, may there is the stuck phenomenon on glass frame of window wiping robot.
In order to address the above problem, developed the window wiping robot of differentiating glass frame by measure the variation of the angular acceleration of window wiping robot in advancing with angular acceleration transducer.Specifically, in the process that the window wiping robot that twisting is advanced rotates at body, there is a substantially invariable angular velocity omega
1, the angular speed knocking after glass frame becomes ω
2=0.Therefore,, when knocking frame moment, angular acceleration values reaches maximum.When the absolute value α of the angular acceleration that angular acceleration transducer detects is more than or equal to the built-in threshold value a in the control module of window wiping robot
0time, i.e. a>=a
0time, judge and knocked frame, and then control window wiping robot stops walking or changes direction of travel.But according to Newton's second law F=ma, the acceleration of object is directly subject to the impact of this object receiving force situation, thereby may in the short time, undergo mutation at the utmost point.For example, when window wiping robot runs into the moment that sticks to the dirt that viscosity such as double faced adhesive tape or chewing gum on glass is larger in operation process, stress balance is originally broken, and the larger frictional force that dirt causes can make angular acceleration undergo mutation, and larger extreme value a appears in moment
t.So, just exist such situation: work as a
tabsolute value be greater than built-in threshold value a
0time, control module also can be made the judgement that has knocked frame, causes the erroneous judgement to frame, makes window wiping robot cannot continue operation forward.
In addition, can be used in the market that the angular acceleration transducer kind of window wiping robot is limited and price is higher, this has also caused using the production cost of window wiping robot of angular acceleration transducer higher.
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.
Accompanying drawing explanation
Fig. 1 is that the utility model window cleaning device twisting does not knock frame schematic diagram while advancing;
Fig. 2 is that the utility model window cleaning device twisting knocks frame schematic diagram while advancing;
Fig. 3 does not knock frame schematic diagram while being the utility model window cleaning device straight ahead;
Fig. 4 knocks frame schematic diagram while being the utility model window cleaning device straight ahead;
Fig. 5 is that the utility model window cleaning device is controlled schematic diagram;
Fig. 6 is the cross-sectional view of the utility model window cleaning device embodiment;
Fig. 7 is the structural representation of looking up of the utility model window cleaning device embodiment.
Reference numeral:
The specific embodiment
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.
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.
Claims (10)
1. a window cleaning device, comprise absorbing unit (1), walking unit (2), cleaning unit (3), driver element (4) and control module (5), described walking unit (2) and described cleaning unit (3) are arranged on the bottom of described window cleaning device (7), described control module (5) is connected with described driver element (4), described driver element (4) is connected with described walking unit (2) and described walking unit (2) is driven, and it is characterized in that:
Described window cleaning device (7) also comprises the velocity pick-up unit (6) being connected with described control module (5), the velocity amplitude signal that described control module (5) sends according to described velocity pick-up unit (6), controls described driver element (4) and drives described window cleaning device (7) to stop walking or carry out go to action.
2. window cleaning device as claimed in claim 1, is characterized in that: when described window cleaning device (7) is during along straightaway, described velocity pick-up unit (6) is linear velocity trans, the linear velocity value of window cleaning device (7) described in described velocity amplitude signal indication.
3. window cleaning device as claimed in claim 1, it is characterized in that: when described walking unit (2) is arranged on the rotatable vacuum chuck turntable of window cleaning device (7) bottom, when described window cleaning device (7) is advanced by alternately rotating described vacuum chuck turntable twisting, described velocity pick-up unit (6) is angular-rate sensor, the magnitude of angular velocity of window cleaning device (7) described in described velocity amplitude signal indication.
4. window cleaning device as claimed in claim 3, is characterized in that: described vacuum chuck turntable comprises support and sucker, and described sucker is annular flexible glue sucker, and described support is provided with groove, and described flexible glue sucker is embedded in groove and is located by elastic washer.
5. window cleaning device as claimed in claim 4, it is characterized in that: described cleaning unit (3) is installed on support, or described cleaning unit (3) is installed in the hollow region of described sucker.
6. window cleaning device as claimed in claim 3, is characterized in that: described vacuum chuck turntable connects the body (16) of window cleaning device (7) by connector.
7. window cleaning device as claimed in claim 6, is characterized in that: described 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.
8. window cleaning device as claimed in claim 3, is characterized in that: described driver element (4) connects described vacuum chuck turntable by transmission mechanism.
9. window cleaning device as claimed in claim 8, is characterized in that: described transmission mechanism is travelling gear or Timing Belt.
10. window cleaning device as claimed in claim 2 or claim 3, it is characterized in that: when described control module (5) judges that described velocity amplitude signal is less than or equal to threshold value built-in in described control module (5), control described driver element (4) and drive described window cleaning device (7) to stop walking or carry out go to action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320519719.7U CN203483350U (en) | 2013-08-23 | 2013-08-23 | Window wiping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320519719.7U CN203483350U (en) | 2013-08-23 | 2013-08-23 | Window wiping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203483350U true CN203483350U (en) | 2014-03-19 |
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ID=50254223
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320519719.7U Expired - Lifetime CN203483350U (en) | 2013-08-23 | 2013-08-23 | Window wiping device |
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| CN (1) | CN203483350U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104414573A (en) * | 2013-08-23 | 2015-03-18 | 科沃斯机器人科技(苏州)有限公司 | Window cleaning device |
| WO2017076242A1 (en) * | 2015-11-05 | 2017-05-11 | 丰唐物联技术（深圳）有限公司 | Gyro effect based balance method and system |
| CN111347415A (en) * | 2018-12-21 | 2020-06-30 | 广东宝乐机器人股份有限公司 | Window cleaning robot movement control method, window cleaning robot movement control system and window cleaning robot |
| CN111374584A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Visual window cleaning robot and control method thereof |
-
2013
- 2013-08-23 CN CN201320519719.7U patent/CN203483350U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104414573A (en) * | 2013-08-23 | 2015-03-18 | 科沃斯机器人科技(苏州)有限公司 | Window cleaning device |
| CN104414573B (en) * | 2013-08-23 | 2017-12-22 | 科沃斯机器人股份有限公司 | Window cleaning device |
| WO2017076242A1 (en) * | 2015-11-05 | 2017-05-11 | 丰唐物联技术（深圳）有限公司 | Gyro effect based balance method and system |
| CN111347415A (en) * | 2018-12-21 | 2020-06-30 | 广东宝乐机器人股份有限公司 | Window cleaning robot movement control method, window cleaning robot movement control system and window cleaning robot |
| CN111347415B (en) * | 2018-12-21 | 2021-08-13 | 广东宝乐机器人股份有限公司 | Window cleaning robot movement control method, window cleaning robot movement control system and window cleaning robot |
| CN111374584A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Visual window cleaning robot and control method thereof |
| CN111374584B (en) * | 2018-12-28 | 2022-03-04 | 珠海一微半导体股份有限公司 | Visual window cleaning robot and control method thereof |
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| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140319 Effective date of abandoning: 20171222 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140319 Effective date of abandoning: 20171222 |