WO2020177137A1 - Robot de nettoyage de fenêtre omnidirectionnel - Google Patents

Robot de nettoyage de fenêtre omnidirectionnel Download PDF

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Publication number
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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WO
WIPO (PCT)
Prior art keywords
arc
plate
shaped
fixedly connected
control box
Prior art date
Application number
PCT/CN2019/077389
Other languages
English (en)
Chinese (zh)
Inventor
檀俊坤
包书海
Original Assignee
檀俊坤
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 檀俊坤 filed Critical 檀俊坤
Priority to PCT/CN2019/077389 priority Critical patent/WO2020177137A1/fr
Publication of WO2020177137A1 publication Critical patent/WO2020177137A1/fr

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Classifications

    • 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;

Landscapes

  • Cleaning In General (AREA)

Abstract

L'invention concerne un robot d'essuyage de fenêtre omnidirectionnel, se rapportant au domaine technique des robots, et comprenant quatre transverses (11). Les extrémités de deux traverses reliées (11) sont reliées de manière articulée l'une à l'autre, une barre de support (12) est montée de manière fixe au bas de chaque traverse (11), et le bas de la barre de support (12) est relié de manière fixe à un chiffon de nettoyage (13) ; une boîte de commande (14) est disposée au milieu d'un parallélogramme délimité par les quatre traverses (11), et un dispositif de déplacement (2) est disposé au bas de la boîte de commande (14) ; des dispositifs de réglage (3) sont disposés sur les deux coins de l'une des lignes diagonales du parallélogramme formé par les quatre traverses (11), et les dispositifs de réglage (3) sont utilisés pour ajuster l'espacement entre les deux coins sur la ligne diagonale. En fonction du robot de nettoyage de fenêtre omnidirectionnel, la rotation d'un moteur à deux arbres (42) provoque l'éloignement synchrone de deux plaques mobiles (32) disposées symétriquement l'une par rapport à l'autre, ce qui permet d'accroître l'espacement entre les deux coins sur la ligne diagonale ; en raison de la propriété du parallélogramme, un angle inclus entre les deux traverses du coin diminue progressivement de 90° de façon à nettoyer de manière adaptative les coins d'un verre diamant, ce qui permet de réaliser un nettoyage sans coins morts.
PCT/CN2019/077389 2019-03-07 2019-03-07 Robot de nettoyage de fenêtre omnidirectionnel WO2020177137A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/077389 WO2020177137A1 (fr) 2019-03-07 2019-03-07 Robot de nettoyage de fenêtre omnidirectionnel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/077389 WO2020177137A1 (fr) 2019-03-07 2019-03-07 Robot de nettoyage de fenêtre omnidirectionnel

Publications (1)

Publication Number Publication Date
WO2020177137A1 true WO2020177137A1 (fr) 2020-09-10

Family

ID=72337645

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/077389 WO2020177137A1 (fr) 2019-03-07 2019-03-07 Robot de nettoyage de fenêtre omnidirectionnel

Country Status (1)

Country Link
WO (1) WO2020177137A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2132478Y (zh) * 1992-05-11 1993-05-12 李文友 擦窗器
CN103082934A (zh) * 2012-12-28 2013-05-08 暨南大学 基于足式爬壁的智能玻璃清洁机器人
JP2013158903A (ja) * 2012-02-07 2013-08-19 Otani Giken Kk 窓拭きロボット
CN205018960U (zh) * 2015-09-02 2016-02-10 科沃斯机器人有限公司 自移动机器人
CN105919502A (zh) * 2016-06-22 2016-09-07 洛阳圣瑞智能机器人有限公司 一种平行四边形擦玻璃装置及其行走方法
CN107440596A (zh) * 2017-08-23 2017-12-08 上海交通大学 一种基于全方位麦克纳姆轮的移动家用擦窗机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2132478Y (zh) * 1992-05-11 1993-05-12 李文友 擦窗器
JP2013158903A (ja) * 2012-02-07 2013-08-19 Otani Giken Kk 窓拭きロボット
CN103082934A (zh) * 2012-12-28 2013-05-08 暨南大学 基于足式爬壁的智能玻璃清洁机器人
CN205018960U (zh) * 2015-09-02 2016-02-10 科沃斯机器人有限公司 自移动机器人
CN105919502A (zh) * 2016-06-22 2016-09-07 洛阳圣瑞智能机器人有限公司 一种平行四边形擦玻璃装置及其行走方法
CN107440596A (zh) * 2017-08-23 2017-12-08 上海交通大学 一种基于全方位麦克纳姆轮的移动家用擦窗机器人

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