WO2020177137A1 - Omni-directional window wiping robot - Google Patents
Omni-directional window wiping robot Download PDFInfo
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- WO2020177137A1 WO2020177137A1 PCT/CN2019/077389 CN2019077389W WO2020177137A1 WO 2020177137 A1 WO2020177137 A1 WO 2020177137A1 CN 2019077389 W CN2019077389 W CN 2019077389W WO 2020177137 A1 WO2020177137 A1 WO 2020177137A1
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- arc
- plate
- shaped
- fixedly connected
- control box
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
Definitions
- the invention relates to the technical field of robots, in particular to an omnidirectional window cleaning robot.
- the scrubbing cloth in the prior art is square. With people’s pursuit of the beautiful appearance of buildings, some special-shaped glass such as rhombic glass and triangular glass are applied on the curtain wall of the building, which makes the traditional square scrubbing cloth unable to deal with sharp angles and the like. Scrub the corners of the machine, which makes it impossible to do all-round cleaning.
- the present invention proposes an omnidirectional window cleaning robot to solve the technical problem of the inability to achieve omnidirectional cleaning of special-shaped glass in the prior art.
- the omnidirectional window cleaning robot of the present invention includes four beams, the four beams form a parallelogram, the ends of the two connected beams are hingedly connected, and a support bar is fixedly installed at the bottom of each beam.
- the support bar The bottom of the control box is fixedly connected with a scrubbing cloth; a control box is provided in the middle of the parallelogram surrounded by four beams, and the bottom of the control box is provided with a walking device;
- the walking device includes a turntable that is rotatably installed at the bottom of the control box.
- a set of telescopic arms are evenly distributed on the outer ring of the turntable.
- a set of suction cups are fixedly connected to the bottom of each telescopic arm.
- An air pump and a controller are fixedly installed inside the control box. The suction pump is connected to the suction cup through the trachea, and the suction cup is controlled by the controller to adsorb and detach from the glass surface; the two corners on one of the diagonals of the parallelogram formed by the four beams are equipped with adjusting devices. To adjust the distance between the two corners on the diagonal.
- the adjusting device includes a cantilever.
- a cantilever is fixedly installed on two opposite sides of the control box.
- a movable plate is slidably installed on the upper side of each cantilever.
- the bottom edge of the movable plate is fixedly connected with a sliding block.
- a first sliding groove is provided corresponding to the sliding block, and the sliding block is installed in the first sliding groove in a sliding fit.
- the sliding block passes through the first sliding groove and is fixedly installed with a rotating shaft at the bottom.
- the ends of the two beams are connected by rotating
- the shafts are connected in rotation; the two movable plates installed on the two sides of the control box are controlled by the drive device to synchronize relative or separate sliding.
- the driving device includes a vertical plate, the other end edge of the top of the movable plate is fixedly installed with the vertical plate, and a dual-axis motor is fixedly installed on the top of the control box, and the two output shafts of the dual-axis motor are respectively fixedly connected with a screw rod, Each screw rod penetrates its opposite vertical plate and is connected with its screw thread; a winding device is provided on the corner on the other diagonal line, and two winding devices are symmetrically arranged on one corner, and the winding device is used Yu rolled up the scrub cloth.
- each winding device includes a first arc-shaped slide plate and a second arc-shaped slide plate that are concentrically arranged, and the first arc-shaped slide plate and the second arc-shaped slide plate are respectively provided on the beams corresponding to the winding device.
- the arc slide groove and the second arc slide groove, one end of the first arc slide is slidably installed in the first arc slide groove, and a first support spring installed in the first arc slide groove is provided at this end.
- One end of the two arc-shaped sliding plates is slidably installed in the second arc-shaped sliding groove, and a second support spring installed in the second arc-shaped sliding groove is provided at this end; the first arc-shaped sliding groove extends from the first curved sliding plate
- a tapered roller is rotatably installed between the outer arc surface edge of the second arc-shaped slide plate and the inner arc surface edge of the second arc-shaped slide groove, and one end of the scrubbing cloth is fixed on the tapered surface of the tapered roller.
- the conical roller is controlled to rotate through a driving mechanism.
- the driving mechanism includes a driving wheel, wherein the rotation shaft of one tapered roller penetrates the second arc-shaped sliding plate and the driving wheel is fixedly installed at the end, and the rotation shaft end of the corresponding other tapered roller is fixedly connected from
- the driving wheel, the driving wheel and the driven wheel are meshed for transmission, the outer side of the driving wheel is coaxially fixedly connected with the driving wheel, and a tooth plate is fixedly installed on the side of the beam corresponding to the driving wheel, and the tooth plate is meshed with the driving wheel.
- the scrubbing cloth is pressed against the glass to be scrubbed by a pressure plate, one end of the pressure plate is pressed against the scrubbing cloth, the other end of the pressure plate is fixedly connected to the bottom of the crossbar, and one end of the crossbar is connected to the first arc.
- the sliding plate is fixedly connected, and the other end of the cross bar is fixedly connected with the second arc-shaped sliding plate.
- the two symmetrically arranged movable plates are rotated by the two-axis motor to synchronize and slide apart, so that the distance between the two corners on the diagonal is increased. Due to the nature of the parallelogram, the two crossbeams at the corner are The included angle is gradually reduced from 90°, so that the corners of the diamond-shaped glass can be wiped adaptively to eliminate the dead corners.
- Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.
- Figure 2 is a partial enlarged view of E in Figure 1;
- Figure 3 is another view of Figure 1;
- Figure 4 is a partial enlarged view of F in Figure 3;
- Figure 5 is a schematic diagram of the structure of the walking device of the present invention.
- FIG. 7 is a view from another perspective of FIG. 6.
- a set of telescopic arms 22 are evenly distributed on the outer ring of the turntable 21, and a set of suction cups 23 are fixedly connected to the bottom of each telescopic arm 22.
- the control box 14 A suction pump and a controller are fixedly installed inside, which are not shown in the figure.
- the suction pump is connected to the suction cup 23 through a trachea, and the suction cup 23 is controlled by the controller to adsorb and detach from the glass surface; in the parallelogram formed by the four beams 11
- Two corners on a diagonal line are provided with an adjusting device 3, the adjusting device 3 is used to adjust the distance between the two corners on the diagonal, the adjusting device 3 includes a cantilever 31, opposite to the control box 14
- a cantilever 31 is fixedly installed on both sides of each cantilever 31, and a movable plate 32 is slidably installed on the upper side of each cantilever 31.
- the bottom edge of the movable plate 32 is fixedly connected to the slider 33.
- the cantilever 31 is provided with a first sliding plate corresponding to the slider 33.
- the sliding block 33 is installed in the first sliding groove 34 in a sliding fit, and the sliding block 33 passes through the first sliding groove 34 and is fixedly installed with a rotating shaft 35 at the bottom.
- the ends of the two cross beams 11 are connected by rotating
- the shaft 35 is rotatably connected;
- the two movable plates 32 installed on the two sides of the control box 14 are synchronously slid relative or separated by the driving device 4;
- the driving device 4 includes a vertical plate 41, and the other end edge of the movable plate 32 is fixed
- the vertical plate 41 is installed, and a dual-axis motor 42 is fixedly installed on the top of the control box 14.
- each winding device 5 includes a first arc-shaped sliding plate 51 and a second arc-shaped sliding plate 52 arranged concentrically with the hinge point A, respectively corresponding to the beam 11 connected to the winding device 5
- the first arc-shaped slide plate 51 and the second arc-shaped slide plate 52 are provided with a first arc-shaped slide groove and a second arc-shaped slide groove.
- first arc-shaped slide plate 51 is slidably mounted in the first arc-shaped slide groove and is provided at this end.
- first support spring 55 installed in the first arc-shaped chute.
- second arc-shaped slide plate 52 is slidably installed in the second arc-shaped chute, and at the end is provided with a second arc-shaped chute.
- the driving wheel 61 meshes with the driven wheel 62 for transmission.
- the outer side of the driving wheel 61 is coaxially fixedly connected to the driving wheel 63.
- a tooth plate 7 is fixedly installed on the side of the beam 11 corresponding to the driving wheel 61, and the tooth plate 7 is engaged with the driving wheel 63; the scrubbing cloth 13 is pressed against the glass to be cleaned by the pressure plate 8, and one end of the pressure plate 8 is pressed against On the scrub cloth 13, the other end of the pressure plate 8 is fixedly connected to the bottom of the cross bar 9, one end of the cross bar 9 is fixedly connected to the first arc-shaped sliding plate 51, and the other end of the cross bar 9 is connected to the second arc-shaped sliding plate 52. Fixed connection.
- the suction cup 23 is adsorbed on the glass surface. If necessary, the suction cup 23 on one of the telescopic arms 22 of the controller generates adsorption force while the other suction cups 23 are not adsorbed.
- the telescoping makes the robot move on the glass surface to wipe the glass surface.
- the turntable 21 is controlled by the telescopic arms 22 in different directions, thereby realizing omnidirectional movement.
- the two-axis motor 42 rotates to make the two symmetrically arranged movable plates 32 slide apart synchronously, so that the distance between the two corners on the diagonal increases.
- the nature of the quadrilateral so that the angle between the two beams 11 at the corner is gradually reduced from 90°, so as to adaptively wipe the corner of the diamond glass to eliminate the scrubbing dead corner;
- the scrubbing cloth 13 forms a square shape, and because the included angle of the beam 11 becomes smaller, the scrubbing cloth 13 at the bottom of the beam 11 is pressed and swelled, which affects the scrubbing effect, and the tapered roller 57 rotates to remove excess The scrubbing cloth 13 is rolled up; in order to adapt to the winding, the scrubbing cloth 13 is made of elastic cloth;
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- Cleaning In General (AREA)
Abstract
An omni-directional window wiping robot, relating to the technical field of robots, and comprising four cross beams (11). The ends of two connected cross beams (11) are hinged to each other, a support bar (12) is fixedly mounted at the bottom of each cross beam (11), and the bottom of the support bar (12) is fixedly connected to a wiping cloth (13); a control box (14) is provided in the middle of a parallelogram enclosed by the four cross beams (11), and a traveling device (2) is provided at the bottom of the control box (14); adjusting devices (3) are provided on both corners of one of diagonal lines of the parallelogram formed by the four cross beams (11), and the adjusting devices (3) are used for adjusting the spacing between the two corners on the diagonal line. According to the omni-directional window wiping robot, rotation of a dual-shaft motor (42) causes two movable plates (32) symmetrically arranged to synchronously move away from each other, thereby increasing the spacing between the two corners on the diagonal line; due to the property of the parallelogram, an included angle between the two cross beams of the corner gradually reduces from 90° so as to adaptively wipe the corners of a diamond glass, thereby realizing wiping without dead corners.
Description
本发明涉及机器人技术领域，具体的说是一种全方位擦窗机器人。The invention relates to the technical field of robots, in particular to an omnidirectional window cleaning robot.
现在很多商业大厦的层数都在二三十层以上，且周边都是用玻璃窗围绕着，这些大厦看来非常的高大且有档次，但是其外侧玻璃窗的卫生是一个难题，因为这些高空玻璃的擦拭需要让清洁工高空作业，存在着很大的危险性且由于清洁人员心里紧张影响清洁的效率，因此如何设计出替代清洁工高空作用的设备是现今研究的主题。Many commercial buildings now have more than 20 or 30 floors, and the surroundings are surrounded by glass windows. These buildings appear to be very tall and high-grade, but the hygiene of the outer glass windows is a problem because of these high altitudes. The wiping of glass requires cleaners to work at heights. There is a great danger and the cleaning efficiency is affected by the nervousness of the cleaners. Therefore, how to design equipment that replaces the cleaners' height role is the subject of current research.
现有技术的擦洗布是方形的，而随着人们对建筑外观美的追求，一些菱形玻璃、三角形玻璃等异形玻璃被应用在建筑物幕墙上，这就使得传统的方形擦洗布无法对锐角之类的拐角进行擦洗，从而无法做到全方位的清洁作业。The scrubbing cloth in the prior art is square. With people’s pursuit of the beautiful appearance of buildings, some special-shaped glass such as rhombic glass and triangular glass are applied on the curtain wall of the building, which makes the traditional square scrubbing cloth unable to deal with sharp angles and the like. Scrub the corners of the machine, which makes it impossible to do all-round cleaning.
发明内容Summary of the invention
为了弥补现有技术的不足，本发明提出的一种全方位擦窗机器人，以解决现有技术中，针对异形玻璃无法做到全方位清洁的技术问题。In order to make up for the shortcomings of the prior art, the present invention proposes an omnidirectional window cleaning robot to solve the technical problem of the inability to achieve omnidirectional cleaning of special-shaped glass in the prior art.
本发明解决其技术问题所采用的技术方案是：The technical solutions adopted by the present invention to solve its technical problems are:
本发明所述的一种全方位擦窗机器人，包括四根横梁，四根横梁组成平行四边形，相连两个横梁端头均铰接连接，在每个横梁底部均固定安装支撑条，所述支撑条的底部固定连接擦洗布；在四根横梁围成的平行四边形中部设有控制箱，所述控制箱底部设有行走装置；The omnidirectional window cleaning robot of the present invention includes four beams, the four beams form a parallelogram, the ends of the two connected beams are hingedly connected, and a support bar is fixedly installed at the bottom of each beam. The support bar The bottom of the control box is fixedly connected with a scrubbing cloth; a control box is provided in the middle of the parallelogram surrounded by four beams, and the bottom of the control box is provided with a walking device;
所述行走装置包括转动安装在控制箱底部的转盘，所述转盘外圈均布一组伸缩臂，每个伸缩臂底部固定连接一组吸盘，所述控制箱内部固定安装有抽气泵和控制器，所述抽气泵通过气管连接吸盘并通过控制器控制吸盘吸附及脱离玻璃表面；在四根横梁形成的平行四边形的其中一条对角线上的两个 拐角上均设有调节装置，调节装置用于调整该对角线上的两个拐角之间间距。The walking device includes a turntable that is rotatably installed at the bottom of the control box. A set of telescopic arms are evenly distributed on the outer ring of the turntable. A set of suction cups are fixedly connected to the bottom of each telescopic arm. An air pump and a controller are fixedly installed inside the control box. The suction pump is connected to the suction cup through the trachea, and the suction cup is controlled by the controller to adsorb and detach from the glass surface; the two corners on one of the diagonals of the parallelogram formed by the four beams are equipped with adjusting devices. To adjust the distance between the two corners on the diagonal.
优选地，所述调节装置包括悬臂，在控制箱相对的两侧均分别固定安装一个悬臂，每个悬臂上侧滑动安装活动板，所述活动板底部一端边缘固定连接滑块，所述悬臂上对应滑块设置第一滑槽，所述滑块滑动配合安装在第一滑槽内，所述滑块由第一滑槽穿过并在底部固定安装旋转轴，相连两个横梁端头通过旋转轴转动相连；相对安装在控制箱两边的两个活动板通过驱动装置控制同步相对或相离滑动。Preferably, the adjusting device includes a cantilever. A cantilever is fixedly installed on two opposite sides of the control box. A movable plate is slidably installed on the upper side of each cantilever. The bottom edge of the movable plate is fixedly connected with a sliding block. A first sliding groove is provided corresponding to the sliding block, and the sliding block is installed in the first sliding groove in a sliding fit. The sliding block passes through the first sliding groove and is fixedly installed with a rotating shaft at the bottom. The ends of the two beams are connected by rotating The shafts are connected in rotation; the two movable plates installed on the two sides of the control box are controlled by the drive device to synchronize relative or separate sliding.
优选地，所述驱动装置包括立板，所述活动板顶部另一端边缘固定安装立板，在控制箱顶部固定安装双轴电机，双轴电机的两个输出轴均分别固定连接一个丝杆，每个丝杆分别贯穿其相对的立板并与其螺纹配合连接；在另一条对角线上的拐角上均设有收卷装置，其中一个拐角上对称设置两个收卷装置，收卷装置用于卷起擦洗布。Preferably, the driving device includes a vertical plate, the other end edge of the top of the movable plate is fixedly installed with the vertical plate, and a dual-axis motor is fixedly installed on the top of the control box, and the two output shafts of the dual-axis motor are respectively fixedly connected with a screw rod, Each screw rod penetrates its opposite vertical plate and is connected with its screw thread; a winding device is provided on the corner on the other diagonal line, and two winding devices are symmetrically arranged on one corner, and the winding device is used Yu rolled up the scrub cloth.
优选地，每个收卷装置均包括同心设置的第一弧形滑板和第二弧形滑板，与收卷装置对应相连的横梁上分别对应第一弧形滑板和第二弧形滑板设置第一弧形滑槽和第二弧形滑槽，第一弧形滑板一端滑动安装在第一弧形滑槽内并在该端设有安装在第一弧形滑槽内的第一支撑弹簧，第二弧形滑板一端滑动安装在第二弧形滑槽内并在该端设有安装在第二弧形滑槽内的第二支撑弹簧；在第一弧形滑板伸出第一弧形滑槽的外弧面边缘与第二弧形滑板伸出第二弧形滑槽的内弧面边缘之间转动安装锥形转辊，所述擦洗布一端固定在锥形转辊的锥形面上，所述锥形转辊通过驱动机构控制转动，。Preferably, each winding device includes a first arc-shaped slide plate and a second arc-shaped slide plate that are concentrically arranged, and the first arc-shaped slide plate and the second arc-shaped slide plate are respectively provided on the beams corresponding to the winding device. The arc slide groove and the second arc slide groove, one end of the first arc slide is slidably installed in the first arc slide groove, and a first support spring installed in the first arc slide groove is provided at this end. One end of the two arc-shaped sliding plates is slidably installed in the second arc-shaped sliding groove, and a second support spring installed in the second arc-shaped sliding groove is provided at this end; the first arc-shaped sliding groove extends from the first curved sliding plate A tapered roller is rotatably installed between the outer arc surface edge of the second arc-shaped slide plate and the inner arc surface edge of the second arc-shaped slide groove, and one end of the scrubbing cloth is fixed on the tapered surface of the tapered roller. The conical roller is controlled to rotate through a driving mechanism.
优选地，所述驱动机构包括主动轮，其中一个锥形转辊的转轴贯穿第二弧形滑板并在端头固定安装主动轮，与其对应的另一锥形转辊的转轴端头固定连接从动轮，主动轮与从动轮啮合传动，所述主动轮外侧同轴固定连接驱动轮，在与主动轮对应的横梁侧边固定安装齿板，所述齿板与驱动轮相啮合。Preferably, the driving mechanism includes a driving wheel, wherein the rotation shaft of one tapered roller penetrates the second arc-shaped sliding plate and the driving wheel is fixedly installed at the end, and the rotation shaft end of the corresponding other tapered roller is fixedly connected from The driving wheel, the driving wheel and the driven wheel are meshed for transmission, the outer side of the driving wheel is coaxially fixedly connected with the driving wheel, and a tooth plate is fixedly installed on the side of the beam corresponding to the driving wheel, and the tooth plate is meshed with the driving wheel.
优选地，所述擦洗布通过压板压紧在待擦洗玻璃上，所述压板一端压触 在擦洗布上，所述压板另一端固定连接在横杆底部，所述横杆一端与第一弧形滑板固定相连，所述横杆另一端与第二弧形滑板固定相连。Preferably, the scrubbing cloth is pressed against the glass to be scrubbed by a pressure plate, one end of the pressure plate is pressed against the scrubbing cloth, the other end of the pressure plate is fixedly connected to the bottom of the crossbar, and one end of the crossbar is connected to the first arc. The sliding plate is fixedly connected, and the other end of the cross bar is fixedly connected with the second arc-shaped sliding plate.
本发明的有益效果如下：The beneficial effects of the present invention are as follows:
本发明通过双轴电机转动，使得对称设置的两个活动板同步相离滑动，从而使得该对角线上的两个拐角间距增大，由于平行四边形的性质，从而使得该拐角的两根横梁的夹角由90°逐渐减小，从而适应性的对菱形玻璃的拐角进行擦拭，消除擦洗死角。In the present invention, the two symmetrically arranged movable plates are rotated by the two-axis motor to synchronize and slide apart, so that the distance between the two corners on the diagonal is increased. Due to the nature of the parallelogram, the two crossbeams at the corner are The included angle is gradually reduced from 90°, so that the corners of the diamond-shaped glass can be wiped adaptively to eliminate the dead corners.
下面结合附图对本发明作进一步说明。The present invention will be further described below in conjunction with the drawings.
图1是本发明的立体结构示意图；Figure 1 is a schematic diagram of the three-dimensional structure of the present invention;
图2是图1中E处局部放大图；Figure 2 is a partial enlarged view of E in Figure 1;
图3是图1的另一视角视图；Figure 3 is another view of Figure 1;
图4是图3中F处局部放大图；Figure 4 is a partial enlarged view of F in Figure 3;
图5是本发明行走装置的结构示意图；Figure 5 is a schematic diagram of the structure of the walking device of the present invention;
图6是图2局部剖开的示意图；Fig. 6 is a partial cutaway schematic view of Fig. 2;
图7是图6的另一视角视图。FIG. 7 is a view from another perspective of FIG. 6.
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。In order to make it easy to understand the technical means, creative features, goals and effects achieved by the present invention, the present invention will be further explained below in conjunction with specific embodiments.
实施例1Example 1
如图1至图7所示，本发明所述的一种全方位擦窗机器人，包括四根横梁11，四根横梁11组成平行四边形，相连两个横梁11端头均铰接连接，在每个横梁11底部均固定安装支撑条12，所述支撑条12的底部固定连接擦洗布13；在四根横梁11围成的平行四边形中部设有控制箱14，所述控制箱14 底部设有行走装置2，所述行走装置2包括转动安装在控制箱14底部的转盘21，所述转盘21外圈均布一组伸缩臂22，每个伸缩臂22底部固定连接一组吸盘23，所述控制箱14内部固定安装有抽气泵和控制器，图中未示出，所述抽气泵通过气管连接吸盘23并通过控制器控制吸盘23吸附及脱离玻璃表面；在四根横梁11形成的平行四边形的其中一条对角线上的两个拐角上均设有调节装置3，调节装置3用于调整该对角线上的两个拐角之间间距，所述调节装置3包括悬臂31，在控制箱14相对的两侧均分别固定安装一个悬臂31，每个悬臂31上侧滑动安装活动板32，所述活动板32底部一端边缘固定连接滑块33，所述悬臂31上对应滑块33设置第一滑槽34，所述滑块33滑动配合安装在第一滑槽34内，所述滑块33由第一滑槽34穿过并在底部固定安装旋转轴35，相连两个横梁11端头通过旋转轴35转动相连；相对安装在控制箱14两边的两个活动板32通过驱动装置4控制同步相对或相离滑动；所述驱动装置4包括立板41，所述活动板32顶部另一端边缘固定安装立板41，在控制箱14顶部固定安装双轴电机42，双轴电机42的两个输出轴均分别固定连接一个丝杆43，每个丝杆43分别贯穿其相对的立板41并与其螺纹配合连接；在另一条对角线上的拐角上均设有收卷装置5，其中一个拐角上对称设置两个收卷装置5，收卷装置5用于卷起擦洗布13，两个横梁11绕铰接点A相对转动，每个收卷装置5均包括与铰接点A同心设置的第一弧形滑板51和第二弧形滑板52，与收卷装置5对应相连的横梁11上分别对应第一弧形滑板51和第二弧形滑板52设置第一弧形滑槽和第二弧形滑槽，第一弧形滑板51一端滑动安装在第一弧形滑槽内并在该端设有安装在第一弧形滑槽内的第一支撑弹簧55，第二弧形滑板52一端滑动安装在第二弧形滑槽内并在该端设有安装在第二弧形滑槽内的第二支撑弹簧56；在第一弧形滑板51伸出第一弧形滑槽的外弧面边缘与第二弧形滑板52伸出第二弧形滑槽的内弧面边缘之间转动安装锥形转辊57，所述擦洗布13一端固定在锥形转辊57的锥形面上，所述锥 形转辊57通过驱动机构6控制转动，所述驱动机构6包括主动轮61，其中一个锥形转辊57的转轴贯穿第二弧形滑板52并在端头固定安装主动轮61，与其对应的另一锥形转辊57的转轴端头固定连接从动轮62，主动轮61与从动轮62啮合传动，所述主动轮61外侧同轴固定连接驱动轮63，在与主动轮61对应的横梁11侧边固定安装齿板7，所述齿板7与驱动轮63相啮合；所述擦洗布13通过压板8压紧在待擦洗玻璃上，所述压板8一端压触在擦洗布13上，所述压板8另一端固定连接在横杆9底部，所述横杆9一端与第一弧形滑板51固定相连，所述横杆9另一端与第二弧形滑板52固定相连。As shown in Figures 1 to 7, the omnidirectional window cleaning robot of the present invention includes four beams 11, the four beams 11 form a parallelogram, and the ends of the two connected beams 11 are hingedly connected. A support bar 12 is fixedly installed at the bottom of the beam 11, and the bottom of the support bar 12 is fixedly connected with a scrubbing cloth 13; a control box 14 is provided in the middle of the parallelogram enclosed by the four beams 11, and a walking device is provided at the bottom of the control box 14 2. The walking device 2 includes a turntable 21 rotatably installed at the bottom of the control box 14. A set of telescopic arms 22 are evenly distributed on the outer ring of the turntable 21, and a set of suction cups 23 are fixedly connected to the bottom of each telescopic arm 22. The control box 14 A suction pump and a controller are fixedly installed inside, which are not shown in the figure. The suction pump is connected to the suction cup 23 through a trachea, and the suction cup 23 is controlled by the controller to adsorb and detach from the glass surface; in the parallelogram formed by the four beams 11 Two corners on a diagonal line are provided with an adjusting device 3, the adjusting device 3 is used to adjust the distance between the two corners on the diagonal, the adjusting device 3 includes a cantilever 31, opposite to the control box 14 A cantilever 31 is fixedly installed on both sides of each cantilever 31, and a movable plate 32 is slidably installed on the upper side of each cantilever 31. The bottom edge of the movable plate 32 is fixedly connected to the slider 33. The cantilever 31 is provided with a first sliding plate corresponding to the slider 33. The sliding block 33 is installed in the first sliding groove 34 in a sliding fit, and the sliding block 33 passes through the first sliding groove 34 and is fixedly installed with a rotating shaft 35 at the bottom. The ends of the two cross beams 11 are connected by rotating The shaft 35 is rotatably connected; the two movable plates 32 installed on the two sides of the control box 14 are synchronously slid relative or separated by the driving device 4; the driving device 4 includes a vertical plate 41, and the other end edge of the movable plate 32 is fixed The vertical plate 41 is installed, and a dual-axis motor 42 is fixedly installed on the top of the control box 14. The two output shafts of the dual-axis motor 42 are respectively fixedly connected to a screw rod 43, and each screw rod 43 penetrates its opposite vertical plate 41 and is connected to it. Thread matching connection; on the corners on the other diagonal line are all equipped with a winding device 5, one of the corners is symmetrically provided with two winding devices 5, the winding device 5 is used to roll up the scrubbing cloth 13, two beams 11 Relatively rotate around the hinge point A, each winding device 5 includes a first arc-shaped sliding plate 51 and a second arc-shaped sliding plate 52 arranged concentrically with the hinge point A, respectively corresponding to the beam 11 connected to the winding device 5 The first arc-shaped slide plate 51 and the second arc-shaped slide plate 52 are provided with a first arc-shaped slide groove and a second arc-shaped slide groove. One end of the first arc-shaped slide plate 51 is slidably mounted in the first arc-shaped slide groove and is provided at this end. There is a first support spring 55 installed in the first arc-shaped chute. One end of the second arc-shaped slide plate 52 is slidably installed in the second arc-shaped chute, and at the end is provided with a second arc-shaped chute. The second support spring 56; rotatingly installed between the outer arc surface edge of the first arc-shaped sliding plate 51 extending out of the first arc-shaped sliding groove and the second arc-shaped sliding plate 52 extending out of the inner arc surface edge of the second arc-shaped sliding groove Cone roller 57, one end of the scrub cloth 13 is fixed on the cone of the conical roller 57 On the surface, the tapered roller 57 is controlled to rotate by the driving mechanism 6, and the driving mechanism 6 includes a driving wheel 61. The shaft of one of the tapered rollers 57 penetrates the second arc-shaped sliding plate 52 and is fixedly installed at the end. The driving wheel 61 is fixedly connected to the driven wheel 62 with the shaft end of the corresponding tapered roller 57. The driving wheel 61 meshes with the driven wheel 62 for transmission. The outer side of the driving wheel 61 is coaxially fixedly connected to the driving wheel 63. A tooth plate 7 is fixedly installed on the side of the beam 11 corresponding to the driving wheel 61, and the tooth plate 7 is engaged with the driving wheel 63; the scrubbing cloth 13 is pressed against the glass to be cleaned by the pressure plate 8, and one end of the pressure plate 8 is pressed against On the scrub cloth 13, the other end of the pressure plate 8 is fixedly connected to the bottom of the cross bar 9, one end of the cross bar 9 is fixedly connected to the first arc-shaped sliding plate 51, and the other end of the cross bar 9 is connected to the second arc-shaped sliding plate 52. Fixed connection.
本发明的工作原理如下：The working principle of the present invention is as follows:
将该机器人安放在待清洁玻璃面上，吸盘23吸附在玻璃面上，根据需要，通过控制器其中一个伸缩臂22上的吸盘23产生吸附力而其余的吸盘23不吸附，此时伸缩臂22伸缩，进而使得机器人在玻璃面上位移，以对玻璃面进行擦拭，转盘21配合不同方向的伸缩臂22控制，从而实现全方位的移动。Place the robot on the glass surface to be cleaned, and the suction cup 23 is adsorbed on the glass surface. If necessary, the suction cup 23 on one of the telescopic arms 22 of the controller generates adsorption force while the other suction cups 23 are not adsorbed. The telescoping, in turn, makes the robot move on the glass surface to wipe the glass surface. The turntable 21 is controlled by the telescopic arms 22 in different directions, thereby realizing omnidirectional movement.
在针对一些菱形等夹角不垂直的玻璃，通过双轴电机42转动，使得对称设置的两个活动板32同步相离滑动，从而使得该对角线上的两个拐角间距增大，由于平行四边形的性质，从而使得该拐角的两根横梁11的夹角由90°逐渐减小，从而适应性的对菱形玻璃的拐角进行擦拭，消除擦洗死角；For some non-perpendicular glass, the two-axis motor 42 rotates to make the two symmetrically arranged movable plates 32 slide apart synchronously, so that the distance between the two corners on the diagonal increases. The nature of the quadrilateral, so that the angle between the two beams 11 at the corner is gradually reduced from 90°, so as to adaptively wipe the corner of the diamond glass to eliminate the scrubbing dead corner;
进一步的，由于擦洗布13组成方形，而由于横梁11的夹角变小，使得横梁11底部的擦洗布13受压并会产生***，影响擦洗效果，而锥形转辊57利用转动，将多余的擦洗布13绕卷起来；为了适应绕卷，擦洗布13选用弹性布制成；Furthermore, because the scrubbing cloth 13 forms a square shape, and because the included angle of the beam 11 becomes smaller, the scrubbing cloth 13 at the bottom of the beam 11 is pressed and swelled, which affects the scrubbing effect, and the tapered roller 57 rotates to remove excess The scrubbing cloth 13 is rolled up; in order to adapt to the winding, the scrubbing cloth 13 is made of elastic cloth;
更进一步，锥形转辊57通过驱动机构6控制旋转，而驱动机构6的主动轮61一侧设置驱动轮63，驱动轮63与齿板7相对啮合，在两个横梁11之间角度变化时，第二弧形滑板52伸出第二弧形滑槽的长度随之变化，从而使得齿板7与驱动轮63产生相对位移，进而驱使锥形转辊57旋转，无需外加动 力。Furthermore, the tapered roller 57 is controlled to rotate by the driving mechanism 6, and the driving wheel 61 of the driving mechanism 6 is provided with a driving wheel 63. The driving wheel 63 meshes with the tooth plate 7 oppositely. When the angle between the two beams 11 changes , The length of the second arc-shaped sliding plate 52 protruding from the second arc-shaped chute changes accordingly, so that the tooth plate 7 and the driving wheel 63 are relatively displaced, thereby driving the tapered roller 57 to rotate without external power.
虽然本发明是通过具体实施例进行说明的，本领域技术人员应当明白，在不脱离本发明范围的情况下，还可以对本发明进行各种变换及等同替代。另外，针对特定情形或材料，可以对本发明做各种修改，而不脱离本发明的范围。因此，本发明不局限于所公开的具体实施例，而应当包括落入本发明权利要求范围内的全部实施方式。Although the present invention is described through specific embodiments, those skilled in the art should understand that various changes and equivalent substitutions can be made to the present invention without departing from the scope of the present invention. In addition, various modifications can be made to the present invention for specific situations or materials without departing from the scope of the present invention. Therefore, the present invention is not limited to the disclosed specific embodiments, but should include all embodiments falling within the scope of the claims of the present invention.
Claims (6)
- 一种全方位擦窗机器人，包括四根横梁(11)，四根横梁(11)组成平行四边形，相连两个横梁(11)端头均铰接连接，在每个横梁(11)底部均固定安装支撑条(12)，所述支撑条(12)的底部固定连接擦洗布(13)；在四根横梁(11)围成的平行四边形中部设有控制箱(14)，所述控制箱(14)底部设有行走装置(2)；An omnidirectional window cleaning robot, comprising four beams (11), the four beams (11) form a parallelogram, the ends of the two connected beams (11) are hingedly connected, and the bottom of each beam (11) is fixedly installed A support bar (12), the bottom of the support bar (12) is fixedly connected with a scrubbing cloth (13); a control box (14) is provided in the middle of the parallelogram surrounded by four beams (11), the control box (14) ) There is a walking device (2) at the bottom;其特征在于，所述行走装置(2)包括转动安装在控制箱(14)底部的转盘(21)，所述转盘(21)外圈均布一组伸缩臂(22)，每个伸缩臂(22)底部固定连接一组吸盘(23)，所述控制箱(14)内部固定安装有抽气泵和控制器，所述抽气泵通过气管连接吸盘(23)并通过控制器控制吸盘(23)吸附及脱离玻璃表面；在四根横梁(11)形成的平行四边形的其中一条对角线上的两个拐角上均设有调节装置(3)，调节装置(3)用于调整该对角线上的两个拐角之间间距。It is characterized in that the walking device (2) includes a turntable (21) which is rotatably installed at the bottom of the control box (14), and a set of telescopic arms (22) are evenly distributed on the outer ring of the turntable (21), and each telescopic arm ( 22) A set of suction cups (23) are fixedly connected to the bottom. The control box (14) is fixedly installed with an air pump and a controller. The suction pump is connected to the suction cup (23) through a trachea and the suction cup (23) is controlled by the controller to absorb And off the glass surface; two corners on one of the diagonals of the parallelogram formed by the four beams (11) are equipped with adjusting devices (3), and the adjusting devices (3) are used to adjust the diagonal The distance between the two corners.
- 根据权利要求1所述的一种全方位擦窗机器人，其特征在于：所述调节装置(3)包括悬臂(31)，在控制箱(14)相对的两侧均分别固定安装一个悬臂(31)，每个悬臂(31)上侧滑动安装活动板(32)，所述活动板(32)底部一端边缘固定连接滑块(33)，所述悬臂(31)上对应滑块(33)设置第一滑槽(34)，所述滑块(33)滑动配合安装在第一滑槽(34)内，所述滑块(33)由第一滑槽(34)穿过并在底部固定安装旋转轴(35)，相连两个横梁(11)端头通过旋转轴(35)转动相连；相对安装在控制箱(14)两边的两个活动板(32)通过驱动装置(4)控制同步相对或相离滑动。The omnidirectional window cleaning robot according to claim 1, characterized in that: the adjusting device (3) includes a cantilever (31), and a cantilever (31) is fixedly installed on the opposite sides of the control box (14). ), a movable plate (32) is slidably installed on the upper side of each cantilever (31), the bottom edge of the movable plate (32) is fixedly connected to the sliding block (33), and the cantilever (31) is set corresponding to the sliding block (33) The first sliding groove (34), the sliding block (33) is installed in the first sliding groove (34) in a sliding fit, and the sliding block (33) passes through the first sliding groove (34) and is fixedly installed at the bottom Rotating shaft (35), connecting the ends of the two cross beams (11) are connected by rotating shaft (35); the two movable plates (32) installed on both sides of the control box (14) are controlled synchronously by the driving device (4) Or slide apart.
- 根据权利要求2所述的一种全方位擦窗机器人，其特征在于：所述驱动装置(4)包括立板(41)，所述活动板(32)顶部另一端边缘固定安装立板(41)，在控制箱(14)顶部固定安装双轴电机(42)，双轴电机(42)的两个输出轴均分别固定连接一个丝杆(43)，每个丝杆(43)分别贯穿其相对的立板(41)并与其螺纹配合连接；在另一条对角线上的拐角上均设有 收卷装置(5)，其中一个拐角上对称设置两个收卷装置(5)，收卷装置(5)用于卷起擦洗布(13)。The omnidirectional window cleaning robot according to claim 2, characterized in that: the driving device (4) comprises a vertical plate (41), and the other edge of the top of the movable plate (32) is fixedly installed with the vertical plate (41). ), a dual-axis motor (42) is fixedly installed on the top of the control box (14). The two output shafts of the dual-axis motor (42) are respectively fixedly connected to a screw rod (43), and each screw rod (43) penetrates through it. The opposite vertical plate (41) is connected with its thread; the corners on the other diagonal line are equipped with winding devices (5), and two winding devices (5) are symmetrically arranged on one corner, and the winding The device (5) is used to roll up the scrubbing cloth (13).
- 根据权利要求3所述的一种全方位擦窗机器人，其特征在于：每个收卷装置(5)均包括同心设置的第一弧形滑板(51)和第二弧形滑板(52)，与收卷装置(5)对应相连的横梁(11)上分别对应第一弧形滑板(51)和第二弧形滑板(52)设置第一弧形滑槽和第二弧形滑槽，第一弧形滑板(51)一端滑动安装在第一弧形滑槽内并在该端设有安装在第一弧形滑槽内的第一支撑弹簧(55)，第二弧形滑板(52)一端滑动安装在第二弧形滑槽内并在该端设有安装在第二弧形滑槽内的第二支撑弹簧(56)；在第一弧形滑板(51)伸出第一弧形滑槽的外弧面边缘与第二弧形滑板(52)伸出第二弧形滑槽的内弧面边缘之间转动安装锥形转辊(57)，所述擦洗布(13)一端固定在锥形转辊(57)的锥形面上，所述锥形转辊(57)通过驱动机构(6)控制转动，。The omnidirectional window cleaning robot according to claim 3, characterized in that: each winding device (5) comprises a first arc-shaped sliding board (51) and a second arc-shaped sliding board (52) arranged concentrically, The beam (11) corresponding to the winding device (5) is provided with a first arc-shaped slide groove and a second arc-shaped slide groove corresponding to the first arc-shaped slide plate (51) and the second arc-shaped slide plate (52) respectively. One end of an arc-shaped sliding plate (51) is slidably installed in the first arc-shaped sliding groove, and at this end is provided a first support spring (55) installed in the first arc-shaped sliding groove, and a second arc-shaped sliding plate (52) One end is slidably installed in the second arc-shaped slide groove, and a second support spring (56) installed in the second arc-shaped slide groove is provided at this end; the first arc-shaped slide plate (51) extends A tapered roller (57) is rotatably installed between the outer arc surface edge of the chute and the inner arc surface edge of the second arc-shaped sliding plate (52) protruding from the second arc-shaped chute, and one end of the scrubbing cloth (13) is fixed On the tapered surface of the tapered roller (57), the tapered roller (57) is controlled to rotate through a driving mechanism (6).
- 根据权利要求4所述的一种全方位擦窗机器人，其特征在于：所述驱动机构(6)包括主动轮(61)，其中一个锥形转辊(57)的转轴贯穿第二弧形滑板(52)并在端头固定安装主动轮(61)，与其对应的另一锥形转辊(57)的转轴端头固定连接从动轮(62)，主动轮(61)与从动轮(62)啮合传动，所述主动轮(61)外侧同轴固定连接驱动轮(63)，在与主动轮(61)对应的横梁(11)侧边固定安装齿板(7)，所述齿板(7)与驱动轮(63)相啮合。The omnidirectional window cleaning robot according to claim 4, characterized in that: the driving mechanism (6) comprises a driving wheel (61), and the shaft of one of the tapered rollers (57) penetrates the second arc-shaped sliding plate (52) The driving wheel (61) is fixedly installed at the end, and the end of the shaft of the corresponding tapered roller (57) is fixedly connected to the driven wheel (62), the driving wheel (61) and the driven wheel (62) For meshing transmission, the outer side of the driving wheel (61) is coaxially fixedly connected to the driving wheel (63), and a tooth plate (7) is fixedly installed on the side of the cross beam (11) corresponding to the driving wheel (61). ) Is engaged with the driving wheel (63).
- 根据权利要求4或5所述的一种全方位擦窗机器人，其特征在于：所述擦洗布(13)通过压板(8)压紧在待擦洗玻璃上，所述压板(8)一端压触在擦洗布(13)上，所述压板(8)另一端固定连接在横杆(9)底部，所述横杆(9)一端与第一弧形滑板(51)固定相连，所述横杆(9)另一端与第二弧形滑板(52)固定相连。The omnidirectional window cleaning robot according to claim 4 or 5, characterized in that: the cleaning cloth (13) is pressed against the glass to be cleaned by a pressing plate (8), and one end of the pressing plate (8) is pressed against On the scrubbing cloth (13), the other end of the pressure plate (8) is fixedly connected to the bottom of the cross bar (9), and one end of the cross bar (9) is fixedly connected to the first arc-shaped sliding plate (51). (9) The other end is fixedly connected with the second arc-shaped sliding plate (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/077389 WO2020177137A1 (en) | 2019-03-07 | 2019-03-07 | Omni-directional window wiping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/077389 WO2020177137A1 (en) | 2019-03-07 | 2019-03-07 | Omni-directional window wiping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2020177137A1 true WO2020177137A1 (en) | 2020-09-10 |
Family
ID=72337645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2019/077389 WO2020177137A1 (en) | 2019-03-07 | 2019-03-07 | Omni-directional window wiping robot |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2020177137A1 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2132478Y (en) * | 1992-05-11 | 1993-05-12 | 李文友 | Window cleaner |
| CN103082934A (en) * | 2012-12-28 | 2013-05-08 | 暨南大学 | Intelligent glass robot cleaner based on foot type wall climbing |
| JP2013158903A (en) * | 2012-02-07 | 2013-08-19 | Otani Giken Kk | Window wiping robot |
| CN205018960U (en) * | 2015-09-02 | 2016-02-10 | 科沃斯机器人有限公司 | Automatic mobile robot |
| CN105919502A (en) * | 2016-06-22 | 2016-09-07 | 洛阳圣瑞智能机器人有限公司 | Parallelogram glass wiping device and travel method implemented by same |
| CN107440596A (en) * | 2017-08-23 | 2017-12-08 | 上海交通大学 | A kind of mobile family expenses window wiping robot based on comprehensive Mecanum wheel |
-
2019
- 2019-03-07 WO PCT/CN2019/077389 patent/WO2020177137A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2132478Y (en) * | 1992-05-11 | 1993-05-12 | 李文友 | Window cleaner |
| JP2013158903A (en) * | 2012-02-07 | 2013-08-19 | Otani Giken Kk | Window wiping robot |
| CN103082934A (en) * | 2012-12-28 | 2013-05-08 | 暨南大学 | Intelligent glass robot cleaner based on foot type wall climbing |
| CN205018960U (en) * | 2015-09-02 | 2016-02-10 | 科沃斯机器人有限公司 | Automatic mobile robot |
| CN105919502A (en) * | 2016-06-22 | 2016-09-07 | 洛阳圣瑞智能机器人有限公司 | Parallelogram glass wiping device and travel method implemented by same |
| CN107440596A (en) * | 2017-08-23 | 2017-12-08 | 上海交通大学 | A kind of mobile family expenses window wiping robot based on comprehensive Mecanum wheel |
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