CN206011099U - A kind of glass-cleaning robot with lift walking mechanism - Google Patents

Abstract

The utility model discloses a kind of glass-cleaning robot with lift walking mechanism, including initiative part, follower and safety power supply dual-purpose line；Initiative part includes initiative part base plate and the initiative part shell being connected at the top of initiative part base plate, and first active wheels, the second active wheels, initiative part lifting unit, initiative part sensing unit, initiative part controller and initiative part energy source, initiative part rag and initiative part magnetic piece is connected with the bottom surface of initiative part base plate；Follower includes follower base plate and the follower shell being connected at the top of follower base plate, and first driven wheels, the second driven wheels, follower lifting unit, follower sensing unit, follower controller, follower energy source and magnetic force adjusting apparatus, follower rag is connected with the bottom surface of follower base plate.This utility model simple structure, novel in design reasonable, clean the windows efficiency high, safe and convenient to use, is easy to promote the use of.

Description

A kind of glass-cleaning robot with lift walking mechanism

Technical field

This utility model belongs to attracting cleaner for window glass tool technical field, and in particular to a kind of with lift walking mechanism Glass-cleaning robot.

Background technology

In daily life, people wipe indoor glass with rag；But for outdoor glass, especially skyscraper, people If standing in scouring glass outside window, operating process not only dangerous but also be difficult to wipe complete, clean.A kind of existing double-face window cleaner, leads to now Cross and the window-cleaning device of two carry magnets is clamped glass to be wiped, when indoor window-cleaning device works, outside cleans the windows Device follows the window-cleaning device movement of interior due to magnetic action, it is possible to achieve clean while two sides inside and outside glass, but this double Face window cleaner is manual mostly, and operation is laborious, and it is big to wipe the randomness of window process, can cause some regions nuzzle up multipass, certain The problem that a little region leakages are wiped.And current automatic double-sided window cleaner, i.e. glass-cleaning robot, exist by the rotating of motor Glass surface advances or retreats, and realizes turning to by the differential of motor, and commutate underaction so as to which motion path is limited greatly System, causes some regions to repeat to wipe, and is unfavorable for the raising for wiping window efficiency；The region of wiping is needed only for area is larger There are a fraction of glass, and the rectangular area of glass, its defect to become apparent from.

Utility model content

Technical problem to be solved in the utility model is for above-mentioned deficiency of the prior art, there is provided a kind of design Novel, compact conformation rationally, using simple operation, practical, be easy to the wiping with lift walking mechanism promoted the use of Glass robot.

For solving above-mentioned technical problem, the technical solution adopted in the utility model is：One kind carries lift walking mechanism Glass-cleaning robot, it is characterised in that：Including the master for being separately positioned on glass inner side and glass outer side and cooperate Dynamic portion and follower, and the safety power supply dual-purpose line for security protection and for powering for initiative part and follower；

The initiative part includes initiative part base plate and the initiative part shell being fixedly connected at the top of initiative part base plate, Yi Ji One active wheels, the second active wheels, initiative part lifting unit, initiative part sensing unit, initiative part controller and initiative part energy Amount source, is fixedly connected with initiative part rag and initiative part magnetic piece on the bottom surface of the initiative part base plate；First active wheels Including the first Active support plate and first motor and the second motor at two ends on the first Active support plate is respectively fixedly connected with, The first drivewheel is fixedly connected with the output shaft of first motor, is fixedly connected with the output shaft of second motor Two drivewheels, the first Active support plate, the first motor and the second motor are arranged at initiative part inside the shell, first master Driving wheel and the second drivewheel are exposed at outside initiative part shell；Second active wheels include the second Active support plate and difference The 3rd motor and the 4th motor at two ends on the second Active support plate is fixedly connected on, the second Active support plate is located at first The top of Active support plate and with the first Active support plate decussation arrange, be fixedly connected on the output shaft of the 3rd motor There is the 3rd drivewheel, on the output shaft of the 4th motor, be fixedly connected with the 4th drivewheel, the second Active support plate, Three motors and the 4th motor are arranged at initiative part inside the shell, and the 3rd drivewheel and the 4th drivewheel are exposed at outside initiative part Outside shell；The initiative part lifting unit includes the initiative part bobbin being fixedly connected on initiative part base plate and installed in actively Initiative part solenoid, the first spring of initiative part and initiative part second spring on portion's bobbin, the first spring of the initiative part One end withstand on initiative part solenoid bottom, the other end of the first spring of the initiative part withstands on the top of the first Active support plate Portion, one end of the initiative part second spring withstand on initiative part solenoid top, the other end of the initiative part second spring Withstand on the bottom of the second Active support plate；The initiative part sensing unit includes that initiative part pressure transducer, initiative part rotating speed are passed Sensor and the initiative part obliquity sensor for being detected to the inclination angle of initiative part, the quantity of the initiative part pressure transducer For eight, the both sides side at four angles of initiative part outer casing bottom is each provided with an initiative part pressure transducer, the master The quantity of dynamic portion's speed probe is four, is each provided with one on the first motor, the second motor, the 3rd motor and the 4th motor Initiative part speed probe, the initiative part obliquity sensor are arranged on initiative part bottom base plate middle position；The active Portion's pressure transducer, initiative part speed probe and initiative part obliquity sensor are connected with the input of initiative part controller, First motor, the second motor, the 3rd motor and the 4th motor are connected with the outfan of initiative part controller, the active The outfan of portion's controller is further connected with and returns for being switched on or switched off the power supply that initiative part energy source is initiative part solenoid The initiative part relay on road；

The follower includes follower base plate and the follower shell being fixedly connected at the top of follower base plate, Yi Ji One driven wheels, the second driven wheels, follower lifting unit, follower sensing unit, follower controller, follower energy Source and magnetic force adjusting apparatus, are fixedly connected with follower rag on the bottom surface of the follower base plate；First driven wheels The first driven pulley being rotatably connected on including the first driven gripper shoe, by first driven shaft outside first driven gripper shoe one end The second driven pulley outside the first driven gripper shoe other end, the first driven gripper shoe are connected to by the second rotary shaft Follower inside the shell is arranged on, first driven pulley and the second driven pulley are exposed at outside follower shell；Described second is driven Wheel group includes the second driven gripper shoe, be rotatably connected on by the 3rd driven shaft outside second driven gripper shoe one end the 3rd from Driving wheel and the 4th driven pulley outside the second driven gripper shoe other end is connected to by the 4th driven shaft, described second driven Fagging is located at the top of the first driven gripper shoe and is arranged with the first driven gripper shoe decussation, the second driven gripper shoe Follower inside the shell is arranged on, the 3rd driven pulley and the 4th driven pulley are exposed at outside follower shell；The follower liter Drop unit includes the follower bobbin that is fixedly connected on follower base plate and driven on follower bobbin Portion's solenoid, the first spring of follower and follower second spring, one end of the first spring of the follower withstands on follower Solenoid bottom, the other end of the first spring of the follower withstand on the top of the first driven gripper shoe, the follower One end of two springs withstands on follower solenoid top, and the other end of the follower second spring withstands on the second driven support The bottom of plate；The follower sensing unit includes follower pressure transducer, follower speed probe and is used for driven The follower obliquity sensor detected by the inclination angle in portion, the quantity of the follower pressure transducer is eight, described driven The both sides side at four angles of portion's outer casing bottom is each provided with a follower pressure transducer, the follower speed probe Quantity be four, be each provided with the first driven shaft, second driven shaft, the 3rd driven shaft and the 4th driven shaft one driven Portion's speed probe, the follower obliquity sensor are arranged on follower bottom base plate middle position；The follower pressure Force transducer, follower speed probe and follower obliquity sensor are connected with the input of follower controller, described The outfan of follower controller is further connected with the confession for being switched on or switched off follower energy source for follower solenoid The follower relay of electrical circuit；The magnetic force adjusting apparatus include being erected at the magnetic force adjustment outside follower bobbin Frame, the magnetic force adjustment cradle top are threaded with Magnetic force adjusts knob, and the magnetic force adjustment frame bottom is fixedly connected with the follower magnetic piece stretched out outside follower outer casing bottom.

A kind of above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The initiative part energy Source is rechargeable battery, and the initiative part sensing unit includes the initiative part electricity inspection for being detected to the electricity of rechargeable battery Slowdown monitoring circuit, the initiative part electric quantity detecting circuit are arranged on the top of initiative part energy source；The follower energy source is charging Battery, the follower sensing unit include the follower electric quantity detecting circuit for being detected to the electricity of rechargeable battery, The follower electric quantity detecting circuit is arranged on the top of follower energy source.

A kind of above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The initiative part magnetic piece Quantity be 4～20 pieces, the follower magnetic piece is equal with the quantity of initiative part magnetic piece and installation site one-to-one corresponding.

A kind of above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The initiative part rag Quantity and the quantity of follower rag be one or more.

A kind of above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The initiative part control The initiative part communication module that device is included initiative part micro controller module and connected with initiative part micro controller module, the initiative part The output of micro controller module is terminated with motor drive module and initiative part alarm module, the initiative part pressure transducer, master Dynamic portion's speed probe and initiative part obliquity sensor are connected with the input of initiative part micro controller module, the initiative part Relay is connected with the outfan of initiative part micro controller module, first motor, the second motor, the 3rd motor and the 4th electricity Machine is connected with the outfan of motor drive module；The follower controller include follower micro controller module and with driven Portion's micro controller module is connected and the follower communication module for being communicated with initiative part communication module, the follower microcontroller The output of device module is terminated with follower alarm module, the follower pressure transducer, follower speed probe and driven Portion's obliquity sensor is connected with the input of follower micro controller module, and the follower relay and follower electricity refer to Show that lamp is connected with the outfan of follower micro controller module.

A kind of above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The initiative part communication Module and follower communication module are infrared communication module, radio communication module or bluetooth communication.

This utility model has advantages below compared with prior art：

1st, modern design of the present utility model, simple structure, rationally, processing and fabricating is convenient for compact in design.

2nd, this utility model can realize 90 ° steerings of the glass-cleaning robot at window jamb, greatly improve and clean the windows The walking motility of robot, contributes to the movement locus for optimizing robot, glass-cleaning robot can be made to smoothly complete to straight The cleaning of angular zone, improves cleaning efficiency.

3rd, this utility model can be automatically performed the scouring work of glass, and intelligence degree is high, realizes uniform cleaning glass window, does not have Have leakage to wipe phenomenon, it also avoid large area and repeat to wipe, can the person of lightening one's labor working strength, it is to avoid user cleans window glass Potential danger during glass, greatly improves glass wiping efficiency.

4th, reasonable setting of this utility model by number of sensors and species, can make glass-cleaning robot in traveling Avoiding obstacles, it is ensured that the smooth operation of whole process.

5th, this utility model is by the setting of safety power supply dual-purpose line, can avoid glass-cleaning robot during traveling Fall and injure other people by a crashing object, it is ensured that its job safety.

6th, this utility model is light compact, and cost of implementation is low, using flexible, is easy to family to use.

In sum, this utility model simple structure, novel in design reasonable, clean the windows efficiency high, safe and convenient to use, just In promoting the use of.

Below by drawings and Examples, the technical solution of the utility model is described in further detail.

Description of the drawings

Fig. 1 is the structural representation of glass-cleaning robot of the present invention with lift walking mechanism.

Fig. 2 is structural representation of the initiative part of the present invention from terms of top down.

Fig. 3 is the structural representation after initiative part of the present invention removes initiative part shell.

Fig. 4 is the structural representation that initiative part of the present invention is seen bottom-up.

The sectional view of initiative part when Fig. 5 is initiative part solenoid power-off of the present invention.

Fig. 6 is the sectional view of initiative part when initiative part solenoid of the present invention is powered.

Fig. 7 is structural representation of the follower of the present invention from terms of top down.

Fig. 8 is the structural representation after follower of the present invention removes follower shell.

Fig. 9 is the structural representation that follower of the present invention is seen bottom-up.

The sectional view of follower when Figure 10 is follower solenoid power-off of the present invention.

Figure 11 is the circuit connecting relation signal of initiative part controller of the present invention and follower controller and other each elements Figure.

Description of reference numerals:

1 initiative part；1-1 initiative part shells；

The second drivewheels of 1-201；The first drivewheels of 1-202；

1-203 the first Active support plates；The first motors of 1-204；

The second motors of 1-205；The 3rd drivewheels of 1-301；

The 4th drivewheels of 1-302；1-303 the second Active support plates；

The 3rd motors of 1-304；The 4th motors of 1-305；1-4 initiative part base plates；

1-5 initiative part controllers；1-51 initiative part micro controller modules；

1-52 initiative part communication modules；1-53 motor drive modules；

1-54 initiative part alarm modules；1-6 initiative part alarm modules；

1-601 initiative part bobbins；1-602 initiative part solenoids；

The first spring of 1-603 initiative parts；1-604 initiative part second springs；

1-701 initiative part pressure transducers；1-702 initiative part speed probes；

1-703 initiative part obliquity sensors；1-704 initiative part electric quantity detecting circuits；

1-705 initiative part battery capacity indication lamps；1-8 initiative part energy sources；

1-9 initiative part rags；1-10 initiative part magnetic piece；2 followers；

2-1 follower shells；2-101 magnetic force adjusts knob；

2-102 magnetic force adjusts support；2-103 follower magnetic piece；

The first driven pulleys of 2-201；The second driven pulleys of 2-202；

The first driven gripper shoes of 2-203；The 4th driven pulleys of 2-204；

The 3rd driven pulleys of 2-301；The 4th driven pulleys of 2-302；

The second driven gripper shoes of 2-303；2-4 follower base plates；

2-5 follower controllers；2-51 follower micro controller modules；

2-52 follower communication modules；2-601 follower bobbins；

2-602 follower solenoids；The first spring of 2-603 followers；

2-604 follower second springs；2-701 follower pressure transducers；

2-702 follower speed probes；2-703 follower obliquity sensors；

2-704 follower electric quantity detecting circuits；2-705 follower battery capacity indication lamps；

2-8 follower energy sources；2-9 follower rags；

2-11 follower relays；3 glass；4 glass frames；

5 columns；6 nylon grumes；7 safety power supply dual-purpose lines.

Specific embodiment

A kind of glass-cleaning robot with lift walking mechanism as shown in Figure 1, including for being separately positioned on glass On the inside of glass 3 and on the outside of glass 3 and the initiative part 1 that cooperates and follower 2, and for security protection and it is used for as initiative part 1 and follower 2 power supply safety power supply dual-purpose line 7.

As shown in Fig. 2～Fig. 6, the initiative part 1 includes initiative part base plate 1-4 and is fixedly connected on initiative part base plate 1-4 The initiative part shell 1-1 at top, and the first active wheels, the second active wheels, initiative part lifting unit, initiative part sensing is single Unit, initiative part controller 1-5 and initiative part energy source 1-8, are fixedly connected with initiative part on the bottom surface of the initiative part base plate 1-4 Rag 1-9 and initiative part magnetic piece 1-10；First active wheels include the first Active support plate 1-203 and fixation connects respectively It is connected on the first motor 1-204 and the second motor 1-205 at two ends on the first Active support plate 1-203, the first motor 1-204 Output shaft on be fixedly connected with the first drivewheel 1-202, be fixedly connected with second on the output shaft of the second motor 1-205 Drivewheel 1-201, the first Active support plate 1-203, the first motor 1-204 and the second motor 1-205 are arranged at actively In portion shell 1-1, the first drivewheel 1-202 and the second drivewheel 1-201 are exposed at outside initiative part shell 1-1；Described Two active wheels include the second Active support plate 1-303 and are respectively fixedly connected with two ends on the second Active support plate 1-303 The 3rd motor 1-304 and the 4th motor 1-305, the second Active support plate 1-303 be located at the first Active support plate 1-203 Top and with the first Active support plate 1-203 decussations arrange, be fixedly connected on the output shaft of the 3rd motor 1-304 There is the 3rd drivewheel 1-301, on the output shaft of the 4th motor 1-305, be fixedly connected with the 4th drivewheel 1-302, described Two Active support plate 1-303, the 3rd motor 1-304 and the 4th motor 1-305 are arranged in initiative part shell 1-1, and described Three drivewheel 1-301 and the 4th drivewheel 1-302 are exposed at outside initiative part shell 1-1；The initiative part lifting unit includes solid Surely the initiative part bobbin 1-601 being connected on initiative part base plate 1-4 and the active on initiative part bobbin 1-601 Portion solenoid 1-602, initiative part the first spring 1-603 and initiative part second spring 1-604, the initiative part the first spring 1- 603 one end withstands on initiative part solenoid 1-602 bottoms, and the other end of the initiative part the first spring 1-603 withstands on first The top of Active support plate 1-203, one end of initiative part second spring 1-604 are withstood on initiative part solenoid 1-602 Portion, the other end of initiative part second spring 1-604 withstand on the bottom of the second Active support plate 1-303；The initiative part is passed Sense unit includes initiative part pressure transducer 1-701, initiative part speed probe 1-702 and for entering to the inclination angle of initiative part 1 The quantity of the initiative part obliquity sensor 1-703 of row detection, the initiative part pressure transducer 1-701 is eight, the active The both sides side at four angles in portion shell 1-1 bottoms is each provided with an initiative part pressure transducer 1-701, the initiative part rotating speed The quantity of sensor 1-702 is four, the first motor 1-204, the second motor 1-205, the 3rd motor 1-304 and the 4th motor 1- An initiative part speed probe 1-702 is each provided with 305, and the initiative part obliquity sensor 1-703 is arranged on initiative part Base plate 1-4 bottoms middle position；As shown in figure 11, the initiative part pressure transducer 1-701, initiative part speed probe 1- 702 and initiative part obliquity sensor 1-703 are connected with the input of initiative part controller 1-5, the first motor 1-204, Second motor 1-205, the 3rd motor 1-304 and the 4th motor 1-305 are connected with the outfan of initiative part controller 1-5, institute The outfan for stating initiative part controller 1-5 is further connected with for being switched on or switched off initiative part energy source 1-8 for initiative part solenoid The initiative part relay 1-11 of the current supply circuit that 1-602 powers；When being embodied as, the initiative part shell 1-1 is solid by screw Surely it is connected at the top of initiative part base plate 1-4, the initiative part rag 1-9 and initiative part magnetic piece 1-10 are bonded in initiative part base plate On the bottom surface of 1-4；The initiative part bobbin 1-601 is fixedly connected on initiative part base plate 1-4 by screw；The initiative part Controller 1-5 and initiative part energy source 1-8 are fixedly connected on initiative part base plate 1-4 by screw；

As shown in Fig. 7～Figure 10, the follower 2 includes follower base plate 2-4 and is fixedly connected on follower base plate 2-4 The follower shell 2-1 at top, and the first driven wheels, the second driven wheels, follower lifting unit, follower sensing is single Unit, follower controller 2-5, follower energy source 2-8 and magnetic force adjusting apparatus, solid on the bottom surface of the follower base plate 2-4 Follower rag 2-9 is connected with surely；First driven wheels include the first driven gripper shoe 2-203, pass through first driven shaft The first driven pulley 2-201 for being rotatably connected on outside first driven gripper shoe 2-203 one end and it is connected to by the second rotary shaft The second driven pulley 2-202 outside the first driven gripper shoe 2-203 other end, first driven gripper shoe 2-203 are arranged on In follower shell 2-1, the first driven pulley 2-201 and the second driven pulley 2-202 are exposed at outside follower shell 2-1；Institute Stating the second driven wheels includes the second driven gripper shoe 2-303, is rotatably connected on the second driven gripper shoe by the 3rd driven shaft The 3rd driven pulley 2-301 outside 2-303 one end and the second driven gripper shoe 2-303 other end is connected to by the 4th driven shaft The 4th outside driven pulley 2-302, second driven gripper shoe 2-303 be located at the top of the first driven gripper shoe 2-203 and Arrange with the first driven gripper shoe 2-203 decussation, second driven gripper shoe 2-303 is arranged on follower shell 2-1 Interior, the 3rd driven pulley 2-301 and the 4th driven pulley 2-302 is exposed at outside follower shell 2-1；The follower lifting is single Unit includes the follower bobbin 2-601 being fixedly connected on follower base plate 2-4 and installed in follower bobbin 2-601 On follower solenoid 2-602, follower the first spring 2-603 and follower second spring 2-604, the follower One end of one spring 2-603 withstands on follower solenoid 2-602 bottoms, the other end of the follower the first spring 2-603 The top of the first driven gripper shoe 2-203 is withstood on, one end of follower second spring 2-604 withstands on follower solenoid 2-602 tops, the other end of follower second spring 2-604 withstand on the bottom of the second driven gripper shoe 2-303；Described from Dynamic portion's sensing unit includes follower pressure transducer 2-701, follower speed probe 2-702 and for follower 2 The quantity of the follower obliquity sensor 2-703 detected by inclination angle, the follower pressure transducer 2-701 is eight, institute The both sides side for stating four angles in follower shell 2-1 bottoms is each provided with a follower pressure transducer 2-701, described driven The quantity of portion speed probe 2-702 is four, and the first driven shaft, second driven shaft, the 3rd driven shaft and the 4th are driven A follower speed probe 2-702 is each provided with axle, and the follower obliquity sensor 2-703 is arranged on follower bottom Plate 2-4 bottoms middle position；As shown in figure 11, the follower pressure transducer 2-701, follower speed probe 2- 702 and follower obliquity sensor 2-703 are connected with the input of follower controller 2-5, the follower controller 2-5 Outfan be further connected with and return for being switched on or switched off the power supply that follower energy source 2-8 powers for follower solenoid 2-602 The follower relay 2-11 on road；The magnetic force adjusting apparatus include that the magnetic force being erected at outside follower bobbin 2-601 is adjusted Whole support 2-102, the magnetic force adjustment support 2-102 screw tops are connected with and are threadedly coupled and stretch out with follower shell 2-1 Magnetic force adjustment knob 2-101 outside at the top of follower shell 2-1, the magnetic force adjustment support 2-102 bottoms are fixedly connected with stretches The follower magnetic piece 2-103 gone out outside follower shell 2-1 bottoms.

When being embodied as, the follower shell 2-1 is fixedly connected at the top of follower base plate 2-4 by screw, described Follower rag 2-9 is bonded on the bottom surface of follower base plate 2-4；The follower bobbin 2-601 is fixed by screw and is connected It is connected on follower base plate 2-4；The follower controller 2-5 and follower energy source 2-8 are fixedly connected on by screw On follower base plate 2-4；The follower magnetic piece 2-103 is fixedly connected on magnetic force by screw and adjusts support 2-102 bottoms.

When being embodied as, the safety power supply dual-purpose line 7 both can be used for connecting power supply, be the glass-cleaning robot operation Power supply, can serve as safety rope again, as shown in figure 1, being wound on a certain column 5 indoors by nylon grume 6, prevents the wiping glass Glass robot is caused to damage because of unexpected falling.The length of safety power supply dual-purpose line 7 is freely adjustable, and glass 3 is arranged on glass In frame 4.

In the present embodiment, the initiative part energy source 1-8 is rechargeable battery, and the initiative part sensing unit includes for right The initiative part electric quantity detecting circuit 1-704 detected by the electricity of rechargeable battery, the initiative part electric quantity detecting circuit 1-704 set Put at the top of initiative part energy source 1-8；The follower energy source 2-8 be rechargeable battery, the follower sensing unit bag The follower electric quantity detecting circuit 2-704 for being detected, the follower electric power detection electricity is included to the electricity of rechargeable battery Road 2-704 is arranged on the top of follower energy source 2-8.When being embodied as, the rechargeable battery is nickel-hydrogen chargeable cell or lithium Ion charging battery.

In the present embodiment, as shown in figure 11, the quantity of the initiative part magnetic piece 1-10 is 4～20 pieces, the follower magnetic Block 2-103 is equal with the quantity of initiative part magnetic piece 1-10 and installation site is corresponded.Such set-up mode so that initiative part 1 and after follower 2 installed inside and outside the glass 3 respectively, ensure that follower 2 follows initiative part 1 to move all the time in real time；Logical Cross and turn magnetic force adjustment knob 2-101, the distance between follower magnetic piece 2-103 and initiative part magnetic piece 1-10 can be adjusted, entered And the magnetic force size between follower magnetic piece 2-103 and initiative part magnetic piece 1-10 can be adjusted according to 3 thickness of glass.

In the present embodiment, the quantity of the quantity of the initiative part rag 1-9 and follower rag 2-9 is one piece or many Block.Preferably polylith.When being embodied as, initiative part rag 1-9 should ensure that initiative part magnetic piece 1-10 is not blocked after installing, and main During dynamic portion's rag 1-9 contacts 3 face of glass, the first drivewheel 1-202 and the second drivewheel 1-201 or the 3rd drivewheel 1-301 3 face of glass is also touched simultaneously with the 4th drivewheel 1-302；Follower rag 2-9 should ensure that follower magnetic piece 2-103 after installing It is not blocked, and during follower rag 2-9 contact 3 faces of glass, the first driven pulley 2-201 and the second driven pulley 2-202 or the Three driven pulley 2-301 and the 4th driven pulley 2-302 also touch 3 face of glass simultaneously.

In the present embodiment, as shown in figure 11, the initiative part controller 1-5 include initiative part micro controller module 1-51 and Initiative part communication module 1-52 connected with initiative part micro controller module 1-51, the initiative part micro controller module 1-51's Output is terminated with motor drive module 1-53 and initiative part alarm module 1-54, the initiative part pressure transducer 1-701, actively Portion speed probe 1-702 and initiative part obliquity sensor 1-703 are connected with the input of initiative part micro controller module 1-51 Connect, the initiative part relay 1-11 is connected with the outfan of initiative part micro controller module 1-51, the first motor 1- 204th, the second motor 1-205, the 3rd motor 1-304 and the 4th motor 1-305 are connected with the outfan of motor drive module 1-53 Connect；The follower controller 2-5 include follower micro controller module 2-51 and with follower micro controller module 2-51 phases Connect and follower communication module 2-52 for communicating with initiative part communication module 1-52, the follower micro controller module 2- 51 output is terminated with follower alarm module 2-54, the follower pressure transducer 2-701, follower speed probe 2- 702 and follower obliquity sensor 2-703 are connected with the input of follower micro controller module 2-51, the follower after Electrical equipment 2-11 and follower battery capacity indication lamp 2-705 are connected with the outfan of follower micro controller module 2-51.

In the present embodiment, initiative part communication module 1-52 and follower communication module 2-52 are infrared communication mould Block, radio communication module or bluetooth communication.Initiative part 1 and follower 2 can pass through initiative part communication module 1-52 and Follower communication module 2-52 is communicated, and follower controller 2-5 can be arrived according to the follower sensing unit senses Information obtains the status information of follower 2 and is sent to initiative part controller 1-5, and initiative part controller 1-5 will can control driven The control information of the work of portion 2 is sent to follower controller 2-5.

Using the first method that cleans the windows of the present utility model, comprise the following steps：

Step one, the both side surface corresponding position that initiative part 1 and follower 2 are separately placed in glass 3, rotation are described The magnetic force adjustment knob 2-101 of magnetic force adjusting apparatus, enables initiative part 1 and follower 2 to fix every the absorption of glass 3, and follower 2 Can move with initiative part 1；

Step 2, startup initiative part 1, now, initiative part relay 1-11 access failure initiative part energy sources 1-8 is initiative part The current supply circuit that solenoid 1-602 powers, initiative part controller 1-5 is according to glass-cleaning robot operational mode set in advance Control the first motor 1-204 and the second motor 1-205 to rotate, the first motor 1-204 drives the first drivewheel 1-202 rotations, the Two motor 1-205 drive the second drivewheel 1-201 rotations, the first drivewheel 1-202 and the second drivewheel 1-201 and glass 3 one Side surface is contacted, and makes initiative part 1 walk in 3 one side surface of glass；At the same time, follower controller 2-5 access failure followers The current supply circuit that energy source 2-8 powers for follower solenoid 2-602, the first driven pulley 2-201 and the second driven pulley 2-202 Contact with 3 another side surface of glass, make follower 2 in the presence of magnetic force with initiative part 1 in 3 another side surface row of glass Walk；In 2 walking process of initiative part 1 and follower, as initiative part pressure transducer 1-701 or follower pressure transducer 2-701 When producing collision sensing signal, execution step three；Initiative part pressure transducer 1-701 or driven when 1 single side of initiative part When the single pressure sensor device 2-701 of 2 single side of portion produces collision sensing signal, execution step four；When initiative part inclination angle When sensor 1-703 or follower obliquity sensor 2-703 provide the signal of not 0 deg., 90 deg, 180 ° or 270 °, execution step four, As four initiative part speed probe 1-702 and four follower speed probe 2-702, rotating speed is not all the time at the appointed time When consistent, execution step five；When initiative part electric quantity detecting circuit 1-704 or follower electric quantity detecting circuit 2-704 shows electricity When not enough, execution step five；Otherwise, execution step six；

Step 3, the initiative part controller 1-5 output control signals give initiative part relay 1-11, give initiative part shell Initiative part solenoid 1-602 in 1-1 is powered, by first active wheels together with second active wheels suction, So that first active wheels leave 3 surface of glass, while second active wheels contact glass, 3 surface；Initiative part control Device 1-5 controls the 3rd motor 1-304 and the 4th motor 1-305 processed is rotated forward or is reversely rotated；Meanwhile, the initiative part control Device 1-5 processed outputs signal to follower controller 2-5, and follower controller 2-5 is according to received signal output control signal It is powered to the follower solenoid 2-602 in follower shell 2-1, by first driven wheels and second driven pulley Group is inhaled together so that first driven wheels leave 3 surface of glass, while second driven wheels contact 3 table of glass Face, starts as initiative part 1 is rotated；Realize the go to action of robot；

Step 4, initiative part controller 1-5 control the first motor 1-204 and the second motor 1-205 press different rotating speeds Rotating in same direction, realizes that the differential of initiative part 1 is rotated；Meanwhile, follower 2 is moved with initiative part 1, realizes that the direction of robot is adjusted Whole；

Step 5, initiative part controller 1-5 control the first motor 1-204 and the second motor 1-205 stop operating, and Out-of-work control instruction is sent to follower controller 2-5, initiative part 1 and follower 2 quit work；When being embodied as, The follower alarm module 2-54 in initiative part alarm module 1-54 and follower controller 2-5 in initiative part controller 1-5 Alarm signal is sent, operator are reminded；

Step 6, maintain the original state constant, continue move ahead.

Using the second of the present utility model method that cleans the windows, comprise the following steps：

Step one, the both side surface corresponding position that initiative part 1 and follower 2 are separately placed in glass 3, rotation are described The magnetic force adjustment knob 2-101 of magnetic force adjusting apparatus, enables initiative part 1 and follower 2 to fix every the absorption of glass 3, and follower 2 Can move with initiative part 1；

Step 2, startup initiative part 1, now, initiative part relay 1-11 has connected initiative part energy source 1-8 for initiative part The current supply circuit that solenoid 1-602 powers, initiative part controller 1-5 is according to glass-cleaning robot operational mode set in advance Control the 3rd motor 1-304 and the 4th motor 1-305 to rotate, the 3rd motor 1-304 drives the 3rd drivewheel 1-301 rotations, the Four motor 1-305 drive the 4th drivewheel 1-302 rotations, the 3rd drivewheel 1-301 and the 4th drivewheel 1-302 and glass 3 one Side surface is contacted, and makes initiative part 1 walk in 3 one side surface of glass；At the same time, follower controller 2-5 has connected follower The current supply circuit that energy source 2-8 powers for follower solenoid 2-602, the 3rd driven pulley 2-203 and the 4th driven pulley 2-204 Contact with 3 another side surface of glass, make follower 2 in the presence of magnetic force with initiative part 1 in 3 another side surface row of glass Walk；In 2 walking process of initiative part 1 and follower, as initiative part pressure transducer 1-701 or follower pressure transducer 2-701 When producing collision sensing signal, execution step three；Initiative part pressure transducer 1-701 or driven when 1 single side of initiative part When the single pressure sensor device 2-701 of 2 single side of portion produces collision sensing signal, execution step four；When initiative part inclination angle When sensor 1-703 or follower obliquity sensor 2-703 provide the signal of not 0 deg., 90 deg, 180 ° or 270 °, execution step four, As four initiative part speed probe 1-702 and four follower speed probe 2-702, rotating speed is not all the time at the appointed time When consistent, execution step five；When initiative part electric quantity detecting circuit 1-704 or follower electric quantity detecting circuit 2-704 shows electricity When not enough, execution step five；Otherwise, execution step six；

Step 3, the initiative part controller 1-5 output control signals give initiative part relay 1-11, give initiative part shell Initiative part solenoid 1-602 in 1-1 is powered, by first active wheels together with second active wheels suction, So that second active wheels leave 3 surface of glass, while first active wheels contact glass, 3 surface；Initiative part control Device 1-5 controls the first motor 1-204 and the second motor 1-205 processed is rotated forward or is reversely rotated；Meanwhile, the initiative part control Device 1-5 processed outputs signal to follower controller 2-5, and follower controller 2-5 is according to received signal output control signal It is powered to the follower solenoid 2-602 in follower shell 2-1, by first driven wheels and second driven pulley Group is inhaled together so that second driven wheels leave 3 surface of glass, while first driven wheels contact 3 table of glass Face, starts as initiative part 1 is rotated；Realize the go to action of robot；

Step 4, initiative part controller 1-5 control the 3rd motor 1-304 and the 4th motor 1-305 press different rotating speeds Rotating in same direction, realizes that the differential of initiative part 1 is rotated；Meanwhile, follower 2 is moved with initiative part 1, realizes that the direction of robot is adjusted Whole；

Step 5, initiative part controller 1-5 control the 3rd motor 1-304 and the 4th motor 1-305 stop operating, and Out-of-work control instruction is sent to follower controller 2-5, initiative part 1 and follower 2 quit work；When being embodied as, The follower alarm module 2-54 in initiative part alarm module 1-54 and follower controller 2-5 in initiative part controller 1-5 Alarm signal is sent, operator are reminded；

Step 6, maintain the original state constant, continue move ahead.

The above, is only preferred embodiment of the present utility model, not this utility model is imposed any restrictions, every Any simple modification, change and the equivalent structure change that above example is made according to this utility model technical spirit, still Belong in the protection domain of technical solutions of the utility model.

Claims (6)

1. a kind of glass-cleaning robot with lift walking mechanism, it is characterised in that：Including for being separately positioned on glass (3) on the inside of and on the outside of glass (3) and the initiative part (1) that cooperates and follower (2), and for security protection and be used for be Safety power supply dual-purpose line (7) that initiative part (1) and follower (2) are powered；

Described initiative part (1) is included outside initiative part base plate (1-4) and the initiative part that is fixedly connected at the top of initiative part base plate (1-4) Shell (1-1), and the first active wheels, the second active wheels, initiative part lifting unit, initiative part sensing unit, initiative part control Device (1-5) processed and initiative part energy source (1-8), is fixedly connected with initiative part rag on the bottom surface of initiative part base plate (1-4) (1-9) with initiative part magnetic piece (1-10)；First active wheels include the first Active support plate (1-203) and fix respectively It is connected to first motor (1-204) and the second motor (1-205) at the upper two ends of the first Active support plate (1-203), described first The first drivewheel (1-202), the output shaft of the second motor (1-205) is fixedly connected with the output shaft of motor (1-204) On be fixedly connected with the second drivewheel (1-201), the first Active support plate (1-203), the first motor (1-204) and second Motor (1-205) is arranged in initiative part shell (1-1), the first drivewheel (1-202) and the second drivewheel (1-201) It is exposed at initiative part shell (1-1) outward；Second active wheels include the second Active support plate (1-303) and fix respectively It is connected to the 3rd motor (1-304) and the 4th motor (1-305) at the upper two ends of the second Active support plate (1-303), described second Active support plate (1-303) be located at the first Active support plate (1-203) top and with the first Active support plate (1-203) cross Arranged in a crossed manner, the 3rd drivewheel (1-301), the 4th electricity is fixedly connected with the output shaft of the 3rd motor (1-304) It is fixedly connected with the 4th drivewheel (1-302) on the output shaft of machine (1-305), the second Active support plate (1-303), the 3rd Motor (1-304) and the 4th motor (1-305) are arranged in initiative part shell (1-1), the 3rd drivewheel (1-301) and 4th drivewheel (1-302) is exposed at initiative part shell (1-1) outward；The initiative part lifting unit includes being fixedly connected on actively Initiative part bobbin (1-601) on portion's base plate (1-4) and the initiative part electromagnetism on initiative part bobbin (1-601) Coil (1-602), the first spring of initiative part (1-603) and initiative part second spring (1-604), the first spring of the initiative part (1-603) one end withstands on initiative part solenoid (1-602) bottom, the other end of the first spring of the initiative part (1-603) The top of the first Active support plate (1-203) is withstood on, the one end of initiative part second spring (1-604) withstands on initiative part electromagnetism Coil (1-602) top, the other end of initiative part second spring (1-604) withstand on the second Active support plate (1-303) Bottom；The initiative part sensing unit include initiative part pressure transducer (1-701), initiative part speed probe (1-702) and For the initiative part obliquity sensor (1-703) detected by the inclination angle of initiative part (1), the initiative part pressure transducer (1-701) quantity is eight, and the both sides side at initiative part shell (1-1) four angles in bottom is each provided with an initiative part Pressure transducer (1-701), the quantity of initiative part speed probe (1-702) are four, the first motor (1-204), the An initiative part speed probe is each provided with two motors (1-205), the 3rd motor (1-304) and the 4th motor (1-305) (1-702), initiative part obliquity sensor (1-703) is arranged on initiative part base plate (1-4) bottom middle position；The master Dynamic portion's pressure transducer (1-701), initiative part speed probe (1-702) and initiative part obliquity sensor (1-703) with master The input connection of dynamic portion's controller (1-5), the first motor (1-204), the second motor (1-205), the 3rd motor (1- 304) it is connected with the outfan of initiative part controller (1-5) with the 4th motor (1-305), initiative part controller (1-5) Outfan be further connected with for being switched on or switched off the confession that initiative part energy source (1-8) is powered for initiative part solenoid (1-602) The initiative part relay (1-11) of electrical circuit；

Described follower (2) are included outside follower base plate (2-4) and the follower that is fixedly connected at the top of follower base plate (2-4) Shell (2-1), and the first driven wheels, the second driven wheels, follower lifting unit, follower sensing unit, follower control Device (2-5) processed, follower energy source (2-8) and magnetic force adjusting apparatus, are fixedly connected on the bottom surface of follower base plate (2-4) There is follower rag (2-9)；First driven wheels are included first driven gripper shoe (2-203), are turned by first driven shaft Dynamic the first driven pulley (2-201) being connected to outside first driven gripper shoe (2-203) one end and by the connection of the second rotary shaft The second driven pulley (2-202) outside first driven gripper shoe (2-203) other end, the first driven gripper shoe (2- 203) be arranged in follower shell (2-1), the first driven pulley (2-201) and the second driven pulley (2-202) be exposed at from Dynamic portion's shell (2-1) outward；Second driven wheels are included second driven gripper shoe (2-303), are rotated by the 3rd driven shaft The 3rd driven pulley (2-301) that is connected to outside second driven gripper shoe (2-303) one end and it is connected to by the 4th driven shaft The 4th driven pulley (2-302) outside second driven gripper shoe (2-303) other end, second driven gripper shoe (2-303) It is located at the top of first driven gripper shoe (2-203) and arranges with first driven gripper shoe (2-203) decussation, described second Driven gripper shoe (2-303) is arranged in follower shell (2-1), the 3rd driven pulley (2-301) and the 4th driven pulley (2- 302) follower shell (2-1) is exposed at outward；The follower lifting unit includes being fixedly connected on follower base plate (2-4) Follower bobbin (2-601) and the follower solenoid (2-602) on the follower bobbin (2-601), The first spring of follower (2-603) and follower second spring (2-604), one end of the first spring of the follower (2-603) Follower solenoid (2-602) bottom is withstood on, the other end of the first spring of the follower (2-603) withstands on first driven The top of fagging (2-203), the one end of follower second spring (2-604) are withstood on follower solenoid (2-602) Portion, the other end of follower second spring (2-604) withstand on the bottom of second driven gripper shoe (2-303)；Described driven Portion's sensing unit includes follower pressure transducer (2-701), follower speed probe (2-702) and is used for follower (2) the follower obliquity sensor (2-703) detected by inclination angle, the quantity of follower pressure transducer (2-701) For eight, the both sides side at follower shell (2-1) four angles in bottom is each provided with a follower pressure transducer (2- 701), the quantity of follower speed probe (2-702) be four, the first driven shaft, second driven shaft, the 3rd from A follower speed probe (2-702), the follower obliquity sensor (2- is each provided with moving axis and the 4th driven shaft 703) follower base plate (2-4) bottom middle position is arranged on；Follower pressure transducer (2-701), follower turn Fast sensor (2-702) and follower obliquity sensor (2-703) are connected with the input of follower controller (2-5), institute The outfan for stating follower controller (2-5) is further connected with for being switched on or switched off follower energy source (2-8) for follower electromagnetism The follower relay (2-11) of the current supply circuit that coil (2-602) is powered；The magnetic force adjusting apparatus include being erected at driven Outside magnetic force adjustment support (2-102) of portion's bobbin (2-601), magnetic force adjustment support (2-102) the screw top connection There is magnetic force adjustment knob (2-101) being threadedly coupled with follower shell (2-1) and stretch out outside at the top of follower shell (2-1), Magnetic force adjustment support (2-102) bottom is fixedly connected with the follower magnetic piece (2- stretched out outside follower shell (2-1) bottom 103).

2. according to a kind of glass-cleaning robot with lift walking mechanism described in claim 1, it is characterised in that：Described Initiative part energy source (1-8) is rechargeable battery, and the initiative part sensing unit is included for examining to the electricity of rechargeable battery The initiative part electric quantity detecting circuit (1-704) of survey, initiative part electric quantity detecting circuit (1-704) is arranged on initiative part energy source (1-8) top, initiative part electric quantity detecting circuit (1-704) are connected with the input of initiative part controller (1-5), described The output of initiative part controller (1-5) is terminated with initiative part battery capacity indication lamp (1-705)；Follower energy source (2-8) is Rechargeable battery, the follower sensing unit include the follower electric power detection electricity for being detected to the electricity of rechargeable battery Road (2-704), follower electric quantity detecting circuit (2-704) are arranged on the top of follower energy source (2-8), described driven Portion's electric quantity detecting circuit (2-704) is connected with the input of follower controller (2-5), follower controller (2-5's) Output is terminated with follower battery capacity indication lamp (2-705).

3. according to a kind of glass-cleaning robot with lift walking mechanism described in claim 1, it is characterised in that：Described The quantity of initiative part magnetic piece (1-10) is 4～20 pieces, the quantity of follower magnetic piece (2-103) and initiative part magnetic piece (1-10) Equal and installation site is corresponded.

4. according to a kind of glass-cleaning robot with lift walking mechanism described in claim 1, it is characterised in that：Described The quantity of the quantity of initiative part rag (1-9) and follower rag (2-9) is one or more.

5. according to a kind of glass-cleaning robot with lift walking mechanism described in claim 2, it is characterised in that：Described Initiative part controller (1-5) is included initiative part micro controller module (1-51) and is connected with initiative part micro controller module (1-51) Initiative part communication module (1-52), the output of initiative part micro controller module (1-51) is terminated with motor drive module (1-53) with initiative part alarm module (1-54), initiative part pressure transducer (1-701), initiative part speed probe (1- 702), initiative part obliquity sensor (1-703) and initiative part electric quantity detecting circuit (1-704) with initiative part micro controller module (1-51) input connection, initiative part relay (1-11) and initiative part battery capacity indication lamp (1-705) are and initiative part The outfan connection of micro controller module (1-51), the first motor (1-204), the second motor (1-205), the 3rd motor (1-304) it is connected with the outfan of motor drive module (1-53) with the 4th motor (1-305)；The follower controller (2-5) include follower micro controller module (2-51) and connect with follower micro controller module (2-51) and be used for and active The follower communication module (2-52) that portion's communication module (1-52) communicates, the output of follower micro controller module (2-51) It is terminated with follower alarm module (2-54), follower pressure transducer (2-701), follower speed probe (2- 702), follower obliquity sensor (2-703) and follower electric quantity detecting circuit (2-704) with follower micro controller module (2-51) input connection, follower relay (2-11) and follower battery capacity indication lamp (2-705) are and follower The outfan connection of micro controller module (2-51).

6. according to a kind of glass-cleaning robot with lift walking mechanism described in claim 5, it is characterised in that：Described Initiative part communication module (1-52) and follower communication module (2-52) are infrared communication module, radio communication module or indigo plant Tooth communication module.