CN213309497U

CN213309497U - Rotary glass cleaning robot

Info

Publication number: CN213309497U
Application number: CN202020313564.1U
Authority: CN
Inventors: 董作峰; 梁悦帅; 柴笑桐
Original assignee: Shanxi Institute of Technology
Current assignee: Shanxi Institute of Technology
Priority date: 2020-03-13
Filing date: 2020-03-13
Publication date: 2021-06-01
Anticipated expiration: 2030-03-13

Abstract

The rotary glass wiping robot comprises an electromagnetic valve (1), a vacuum pump (2), a sucker (3), a rubber wheel (4), a control module (5), an ultrasonic sensor (6), an infrared sensor (7), a digital-to-analog conversion sensor (8), a gray sensor (9), a pressure sensor (10), a steering engine (11), a motor (12), a storage battery (13), a telescopic mechanical arm (14), a fiber flannelette and sponge layer (15), a scraping blade (16) and a water tank (17). The robot main body does not need to move for a large distance, only the mechanical arm needs to be controlled to rotate, one-time scrubbing can be achieved, the cleaning efficiency is greatly improved, and therefore energy consumption is reduced; the robot is monitored by the sensor in real time, the precise fitting condition of the sucker and the wall surface can be judged, and the stability of the machine body and the flexibility of the machine body in the wall surface movement process are ensured.

Description

Rotary glass cleaning robot

Technical Field

The invention relates to a glass cleaning robot, in particular to a rotary glass cleaning robot, and belongs to the technical field of robots.

Background

Nowadays, with the progress of science and technology, people are increasingly unable to participate in production and life with robots, and emerging glass cleaning robots are also listed. In our daily life, the robot can efficiently replace people to do some cleaning work, liberates the hands of people and enables people to do more other things; meanwhile, when some dangerous or extremely complicated environments are met, the robot can replace people to complete some dangerous tasks, such as cleaning the peripheral glass surface of a high-rise building, and the difficulty that the robot cannot reach the glass center is often met if the people use the robot easily to be dangerous and when the robot meets the cleaning of a wider glass curtain wall. Therefore, it is necessary to conduct the research of the glass cleaning robot.

Disclosure of Invention

The invention aims to overcome the difficulties and invents the rotary glass wiping robot which has higher wiping efficiency, lower energy consumption and easier operation.

The invention relates to a rotary glass wiping robot which comprises an electromagnetic valve, a vacuum pump, a sucker, a rubber wheel, a control module, an ultrasonic sensor, an infrared sensor, a digital-to-analog conversion sensor, a gray sensor, a pressure sensor, a steering engine, a motor, a storage battery, a telescopic mechanical arm, a fiber flannelette, a sponge layer, a scraping blade and a water tank.

A control module is arranged on the top of the robot and used for controlling the motion of the whole robot, an electromagnetic valve, a vacuum pump and a storage battery are arranged in the middle interlayer of the robot, and a sucker, a rubber wheel, an ultrasonic sensor and a motor are arranged on a chassis of the robot.

An infrared sensor, a digital-to-analog conversion sensor and a gray sensor are arranged around the robot.

The center of the robot controls a telescopic mechanical arm, the telescopic mechanical arm, a connecting fiber flannelette, a sponge layer, a scraping piece, a water tank and glass to be scrubbed through a steering engine, and a pressure sensor is arranged in an interlayer in the mechanical arm of the robot.

The beneficial technical effects of the invention are as follows: the robot main body does not need to move for a large distance, only the mechanical arm needs to be controlled to rotate, one-time scrubbing can be achieved, the cleaning efficiency is greatly improved, and therefore energy consumption is reduced; a plurality of sensors are installed on the adsorption device and the mechanical arm and used for monitoring the robot in various states in real time, monitored data such as parallelism of the sucker and the wall surface, distance between the sucker and the wall surface and the like are transmitted back to the upper computer, so that the precise condition of the adhesion between the sucker and the wall surface can be judged, and the stability of the machine body and the flexibility of the machine body during wall surface movement are ensured.

Drawings

FIG. 1 is a three-dimensional block diagram of a rotary glass wiping robot of the present invention;

FIG. 2 is a bottom view of the rotary glass wiping robot of the present invention;

fig. 3 is a front view of the rotary glass wiping robot of the present invention.

Wherein: the device comprises an electromagnetic valve 1, a vacuum pump 2, a sucking disc 3, a rubber wheel 4, a control module 5, an ultrasonic sensor 6, an infrared sensor 7, a digital-to-analog conversion sensor 8, a gray sensor 9, a pressure sensor 10, a steering engine 11, a motor 12, a storage battery 13, a telescopic mechanical arm 14, a fiber flannelette 15, a sponge layer 16, a scraping blade 17 and a water tank 17.

Detailed Description

The structure and operation of the present invention will be described with reference to fig. 1-3.

The invention relates to a rotary glass wiping robot which comprises an electromagnetic valve 1, a vacuum pump 2, a sucker 3, a rubber wheel 4, a control module 5, an ultrasonic sensor 6, an infrared sensor 7, a digital-to-analog conversion sensor 8, a gray sensor 9, a pressure sensor 10, a steering engine 11, a motor 12, a storage battery 13, a telescopic mechanical arm 14, a fiber flannelette and sponge layer 15, a scraping blade 16 and a water tank 17.

A control module 5 is arranged on the top of the robot and used for controlling the movement of the whole robot, an electromagnetic valve 1, a vacuum pump 2 and a storage battery 13 are arranged in the middle interlayer of the robot, and a sucker 3, a rubber wheel 4, an ultrasonic sensor 6 and a motor 12 are arranged on a chassis of the robot.

An infrared sensor 7, a digital-to-analog conversion sensor 8 and a gray sensor 9 are arranged around the robot.

The center of the robot controls a telescopic mechanical arm 14, the telescopic mechanical arm 14, a connecting fiber flannelette and sponge layer 15, a scraping blade 16 and a water tank 17 through a steering engine 11 to scrub glass, and a pressure sensor 10 is arranged in an interlayer in the robot mechanical arm.

The control module 5 is a minimum circuit and a peripheral circuit of the microcontroller STM32F 103. The motor 12 is a stepper motor.

The robot adopts wheel foot formula structure to remove, and the position that sucking disc 3 is fixed becomes equilateral triangle each other and is used for resisting gravity, and is furnished with the telescopic link that is used for adjusting the fuselage height on sucking disc 3.

The control system is characterized in that a PC (personal computer) is used as an upper computer, a control module 5 is used as a lower computer, the PC is communicated through a CAN (controller area network), and is communicated with a microcontroller on the sucker 3 through an RS 485.

Defining a special compiling control mode, wherein six commands, namely 0x11, 0x12, 0x13, 0x21, 0x22 and 0x23, are compiled specially during control, wherein 0x represents hexadecimal; the first represents the sucker foot, "1" represents the sucker foot S1, and "2" represents the sucker foot S2; the second bit represents the command, "1" represents the read distance, "2" represents the read pressure, and "3" represents the chuck foot release.

The robot scrubbing mode adopts a rotary mode, namely under the condition that the adsorption center is fixed, the two arms rotate around the central shaft to drive the scrubbing cloth to clean the glass. Meanwhile, two kinds of dry and wet scrubbing cloths can be fixed on the upper side and the lower side of the mechanical arm, and scrubbing is completed by rotating the mechanical arm around the central shaft of the mechanical arm to switch the cloth pieces.

The main scrubbing part of the robot is two mechanical arms which form an angle with each other, and scrubbing cloths are bound on the two mechanical arms, so that the design of the mechanical arms is critical. Firstly, a better scrubbing effect is realized in the rotating process, the two mechanical arms are widened as much as possible in design, and meanwhile, the height of the machine body is intelligently adjusted by the sucker group at the center according to a pressure sensing or deformation sensing device on the mechanical arms, so that the scrubbing cloth is tightly pressed on the wall surface, the friction between the scrubbing cloth and the wall surface is increased, and the height of the machine body is also adjusted when the dry scrubbing cloth and the wet scrubbing cloth are exchanged, so that the cleaning is facilitated; secondly, the mechanical arms are divided into three parts at two sides of the center, the three parts can be combined into one part for scrubbing when scrubbing common-size glass, and when the mechanical arms meet the glass wall surface with a larger area, two mechanical arms can extend from two sides of the mechanical arms to increase the rotating radius on the basis of the original arm exhibition; when the corner of the window is cleaned, the corner cannot be touched in a rotating mode, at the moment, one mechanical arm can be rotated to be parallel to the window frame through sensing of the visual sensor on the mechanical arm, at the moment, the mechanical arm does not rotate continuously, and the machine body is translated to wipe the part which is not wiped.

When the robot is shut down, the mechanical arm can be folded into a long strip shape, and can be automatically extended into a rotating shape after being started, so that the robot enters a working state.

The working process of the rotary glass cleaning robot of the invention is as follows:

the product of the invention is of a charging type, and does not need to be plugged in a power supply. The robot can automatically convert the form (a user needs to grab the proper position of the robot to avoid influencing the form conversion) by starting the switch, after the form conversion is finished, the starting button is pressed, the machine body is attached to the glass, the two mechanical arms enter a trial rotation mode, whether the machine body can hit an obstacle or not is detected, and then the cleaning process is started. The system can estimate the distance from the barrier in real time and compare the distance with the arm length, the central position of the machine body and the extending degree of the extending arm are changed, and the cleaning process is to firstly rotate and scrub most of the wall surface and then move to four corners for translational cleaning. The whole process is completely controlled by a program, and the cleaning device is simple to operate, convenient to use and good in cleaning effect.

Claims

1. The rotary glass wiping robot comprises an electromagnetic valve (1), a vacuum pump (2), a sucker (3), a rubber wheel (4), a control module (5), an ultrasonic sensor (6), an infrared sensor (7), a digital-to-analog conversion sensor (8), a gray sensor (9), a pressure sensor (10), a steering engine (11), a motor (12), a storage battery (13), a telescopic mechanical arm (14), a fiber flannelette and sponge layer (15), a scraping blade (16) and a water tank (17), and is characterized in that the control module (5) is installed at the top of the robot and used for controlling the movement of the whole robot; an electromagnetic valve (1), a vacuum pump (2) and a storage battery (13) are arranged in the middle interlayer of the robot, a sucker (3), a rubber wheel (4), an ultrasonic sensor (6) and a motor (12) are arranged on a chassis of the robot, an infrared sensor (7), a digital-to-analog conversion sensor (8) and a gray sensor (9) are arranged on the whole body of the robot, a telescopic mechanical arm (14) is controlled by a steering engine (11) in the center of the robot, and the telescopic mechanical arm (14) is connected with a fiber flannelette and sponge layer (15), a scraping blade (16) and a water tank (17) to scrub glass; a pressure sensor (10) is arranged in an inner interlayer of the mechanical arm of the robot.

2. A rotary glass wiping robot according to claim 1, characterized in that the motor (12) is a stepper motor.

3. The rotary glass wiping robot according to claim 1, wherein the robot is moved in a wheel-foot type structure, the suction cups (3) are fixed at positions which are equilateral triangles for resisting gravity, and telescopic rods for adjusting the height of the robot body are provided on the suction cups (3).

4. The rotary glass wiping robot according to claim 1, wherein the control system is a PC as an upper computer, the control module (5) is a lower computer, and the PC communicates with the microcontroller on the suction cup (3) through a CAN (controller area network) and an RS 485.