CN209518822U - It is a kind of can obstacle detouring Full-automatic window cleaning machine device people - Google Patents

Abstract

The utility model belongs to automatic window wiping robot technical field, and in particular to it is a kind of can obstacle detouring Full-automatic window cleaning machine device people, including shell mechanism and clean structure；There are two the shell mechanism front and back are set relatively, each shell mechanism is made of upper layer and lower layer, lower layer is to turn to chassis, structure based on upper layer, it main structure and turns to chassis and passes through the center axis connection that is located in main structure, the bottom surface connecting sucker on chassis is turned to, the inside of main structure is equipped with water supply device, power supply unit, tooth sector；The outside of main structure is equipped with range sensor；The surface of shell mechanism is equipped with motor deceleration case, lifter and tooth bar fixing device；The utility model can plan cleaning route automatically, and automatic identification simultaneously crosses over the obstacles such as window frame, realizes that job information can be fed back to user at any time by intelligent interactive system by automatic washing, more convenient.

Description

A fully automatic window cleaning robot that can overcome obstacles

technical field

The utility model belongs to the technical field of automatic window cleaning robots, in particular to a fully automatic window cleaning robot that can overcome obstacles.

Background technique

With the continuous improvement of people's living standards and the rapid development of artificial intelligence technology, the application of smart home appliances in people's lives is becoming more and more extensive. Among them, household robots liberate people from complicated housework, greatly improving cleaning efficiency and people's living standards. Among household robots, the technology of window cleaning robots is not yet fully mature, and the types of products on the market are also very limited. The audience of most robots is high-level users with large floor-to-ceiling windows and cannot overcome obstacles such as window frames, and cannot achieve automatic scrubbing.

In the prior art, the utility model patent CN108143343A is a torsion-type window cleaning robot, which has the disadvantage that it cannot climb over obstacles such as window frames, and at the same time, there is a dead angle for cleaning during the window cleaning operation. The utility model patent CN108354505A is a main magnetic suction robot, which has the disadvantage that the anti-falling device can only work when the window is not closed, and the working environment is limited. Fully automatic scrubbing is not possible.

Utility model content

In order to solve the above problems, the present utility model provides a fully automatic window cleaning robot that can overcome obstacles, which focuses on solving the problem that manual window cleaning is time-consuming and inefficient. Other issues have been further improved and optimized.

The utility model is realized through the following technical solutions.

A fully automatic window cleaning robot capable of surmounting obstacles, comprising a shell structure and a scrubbing structure;

There are two shell structures at the front and back opposite to each other. Each shell structure is composed of upper and lower layers. The lower layer is the steering chassis, and the upper layer is the main structure. The main structure and the steering chassis are connected by a central shaft arranged in the main structure. The bottom surface of the main structure is connected with a suction cup, and the interior of the main structure is provided with a water supply device, a power supply device, a negative pressure device, and a steering gear; the exterior of the main structure is provided with a distance sensor; the surface of the housing structure is provided with a motor reducer, a lifter and a rack for fixing The negative pressure device is connected with the suction cup, so that the suction cup has suction; the steering gear is connected with the central shaft, and meshes with the gear box of the motor located inside the main body to control the rotation of the main body

The power supply device includes a motor, a power supply module and a circuit board interlayer; the power supply module is connected to the motor through a circuit board, and the circuit board receives and processes sensor signals and controls various movements of the robot by controlling each motor;

The scrubbing structure includes a cylindrical rack, a motor reduction box a and a cleaning structure;

The cylindrical rack is fixed above the two main structures through a rack fixing device, a rotatable shaft sleeve is arranged in the rack fixing device, and the cylindrical rack is fixed in the shaft sleeve of the rack fixing device;

The cleaning structure and the cylindrical rack are meshed between the two main bodies, and the reciprocating motion is performed by controlling the forward and reverse rotation of the motor reduction box a to achieve the purpose of cleaning;

There are multiple gears in the motor reduction box a and the motor reduction box b. The power output gear of the motor reduction box b and the cylindrical rack are externally meshed at both ends of the rack to control the distance between the main bodies; the power output gear of the motor reduction box a and Cylindrical racks are externally meshed with the middle end of the racks to control the movement of the cleaning structure

The lifter includes a motor control part and a screw rod, the motor control parts are respectively arranged in the two main structures to be connected with the motor, and drive the screw rod to rotate to adjust the height of both ends of the cylindrical rack;

The cleaning structure includes a retractable shaft, a spray head and a triangular prism converter. The middle of the retractable shaft passes through the cylindrical rack and is meshed with it through the power output gear of the motor reduction box a. The two ends are equipped with a nozzle and a triangular prism converter. The nozzle is connected with the water delivery pipe; the water delivery pipe is connected with the water supply device in the main structure, the triangular prism converter is a rotatable triangular prism, and the wiper strip and the cleaning cloth are installed together on the rotatable triangular prism. On the prism, it is possible to switch quickly when cleaning.

The power module is a large-capacity charging module.

There are four cylindrical racks, which are distributed in parallel above the two main structures.

The shell structures are all rectangular parallelepipeds of the same size, and the tops of the shells are all provided with handles.

The number of the suction cups is 8, and each of the four corners of the bottom surface of the left and right shell structures turns to the chassis.

The water supply device is composed of a water pump and a water tank, and a liquid level sensor is installed in the water tank.

The operation method includes moving method, obstacle crossing method and steering method.

The outside of the main structure is provided with a distance sensor, which can judge the distance from the surrounding obstacles to itself, and make corresponding actions according to different environmental conditions. The moving method includes the following steps in sequence:

a. Move the automatic window cleaning robot to a smooth working plane with no barriers and no joints;

b. The bottom surface suction cup of the shell structure located in the front is adsorbed on the working plane;

c. The bottom suction cup of the shell structure located at the rear loosens the working plane, and the lifter lifts up a small height;

d. The rear shell structure is close to the front shell structure, and the working plane is tightened after approaching;

e. The suction cup of the front shell structure releases the working plane, and the lifter lifts up a small height;

f. The front shell structure moves forward, stops moving when it moves to the maximum working span, and tightens the working plane;

g. The cleaning device starts to work;

After the cleaning device is cleaned, repeat steps a-g;

The obstacle crossing method includes the following steps in sequence:

a. Move the automatic window cleaning robot to a working plane with raised obstacles, and stop moving when the front of the shell structure in front touches the obstacle;

b. The suction cup of the shell structure located at the rear loosens the working plane, and the lifter lifts up a small height, the rear shell structure approaches the front shell structure, and tightens the working plane after approaching;

c. The suction cup of the front shell structure releases the working plane, and the lifter lifts up the height that can overcome the obstacle

d. The front shell structure moves forward, and stops when it moves to the maximum working span;

e. The lifter descends to the height of the working plane, and the front shell structure tightens the working plane;

f. The suction cup of the rear shell structure releases the working plane and approaches the front shell structure;

g. After the rear shell structure tightens the working plane, move the cylindrical rack forward to the farthest distance;

h. The suction cup of the front shell structure loosens the working surface and moves forward to the farthest distance and then tightens the working surface;

i. The rear shell structure loosens the working plane, and is lifted up by the lifter to the height that can overcome the obstacle;

j. The rear shell structure moves forward to the other end of the obstacle;

k. The rear shell structure tightens the working plane after crossing the obstacle.

For the above obstacle clearance method, please refer to FIG. 4 .

The obstacle crossing method includes the following steps in sequence:

The steps of the steering method include:

a. The front shell structure is adsorbed on the working surface, and the rear shell structure is separated from the working surface;

b. The main structure of the shell structure adsorbed on the working surface rotates its central axis, so that the main structure and the steering suction cup rotate relative to each other;

c. Stop the rotation when the other shell structure rotates to a proper position, and make the steering suction cup of the shell structure adsorb on the working surface to start cleaning.

The above steering method can refer to Figure 5

The beneficial effects of the present utility model:

The utility model is a fully automatic window cleaning robot capable of surmounting obstacles, aiming at the internal and external cleaning problems of small-area old-fashioned windows with window frames and high-rise large-area floor-to-ceiling windows, applying artificial intelligence to daily cleaning work, and can automatically plan cleaning routes. , automatically identify and cross obstacles such as window frames, and realize fully automatic cleaning.

Because the window cleaning robot of the utility model adopts the suction cup adsorption instead of the negative pressure adsorption of the traditional air suction machine, the power consumption is extremely low, and the reliability is high. , can also replace workers in hazardous outdoor cleaning jobs.

The window cleaning robot of the utility model also has certain auxiliary functions, which can not only clean the glass windows, but also need to replace different cleaning agents and cleaning cloths for the indoor wardrobe and dining table. Therefore, it has various functions, is flexible, and has strong practicability.

Description of drawings

In order to facilitate the understanding of those skilled in the art, the present utility model will be further described below with reference to the accompanying drawings.

Fig. 1 is the axial view of a kind of automatic window cleaning robot that can overcome obstacles of the present utility model;

Fig. 2 is the internal structure diagram of a kind of automatic window cleaning robot that can overcome obstacles of the present invention;

3 is a structural diagram of a cleaning mechanism of a fully automatic window cleaning robot capable of surmounting obstacles of the present utility model;

4 is a schematic diagram of an obstacle-crossing method of a fully automatic window cleaning robot that can overcome obstacles of the present invention;

FIG. 5 is a schematic diagram of the in-situ steering method of a fully automatic window cleaning robot capable of surmounting obstacles of the present invention.

Detailed ways

Example 1

A fully automatic window cleaning robot capable of surmounting obstacles, comprising a shell structure and a scrubbing structure;

There are two shell structures at the front and back opposite to each other. Each shell structure is composed of upper and lower layers. The lower layer is the steering chassis 1 and the upper layer is the main structure 2. The main structure 2 and the steering chassis 1 pass through the center of the main structure 2. The shaft is connected, and the bottom surface of the steering chassis 1 is connected to the suction cup. The interior of the main structure 2 is provided with a water supply device, a power supply device, and a steering gear 15; , lifter 5, sliding shaft sleeve 51 and rack fixing device;

The power supply device includes a motor, a power module and a circuit board interlayer 6; the power module is connected to the motor, and the power module and the motor are both arranged in the circuit board interlayer 6; the steering gear 15 is connected to the central shaft, and is located in the main body. The power output gear of the internal motor reduction box 16 is meshed to control the rotation of the main body;

The scrubbing structure includes a cylindrical rack 7, a motor reduction box b8 and a cleaning structure;

The cylindrical rack is fixed above the two main structures through a rack fixing device, and a rotatable shaft sleeve 9 is arranged in the rack fixing device, and the cylindrical rack 7 is fixed in the shaft sleeve 9 of the rack fixing device. ;

The cleaning structure and the cylindrical rack 7 are meshed between the two main bodies, and perform reciprocating motion to achieve the purpose of cleaning. The side of the cleaning structure and the cylindrical rack 7 is also provided with a motor reduction box a8;

The motor reduction box b4 and the motor reduction box a8 are provided with a plurality of gears. The power output gear of the motor reduction box b4 and the cylindrical rack 7 are externally meshed at both ends of the rack to control the distance between the main bodies; the power output gear of the motor reduction box a8 It is externally meshed with the cylindrical rack 7 at the middle end of the rack to control the movement of the cleaning structure;

The lifter 5 is connected with the cylindrical rack 7 through the shaft sleeve 51. The lifter 5 includes a motor control part and a screw rod. The motor control part is respectively arranged in the two main structures 2 and connected to the motor, and drives the screw rod. Rotate to adjust the height of both ends of the cylindrical rack 7;

The cleaning structure includes a retractable shaft 10, a spray head 11 and a triangular prism converter. The middle of the retractable shaft passes through the cylindrical rack 7 and is meshed with the power output gear of the motor reduction box a8, and the spray heads 11 are installed at both ends. and the triangular prism converter; the spray head 11 is connected with the water delivery pipe 12; the water delivery pipe 12 is connected with the water supply device in the main structure 2, the triangular prism converter is a rotatable triangular prism shape, the scraper 13 and The cleaning cloth 14 is jointly mounted on the rotatable triangular prism, which can be quickly switched during cleaning.

The power module is a large-capacity charging module, which can get rid of the restraint of the power cord on the body and ensure the flexibility and practicability of the window cleaning robot.

There are four cylindrical racks 7 , which are distributed in parallel above the two main structures 2 .

The shell structures 1 are all rectangular parallelepipeds of the same size, and the tops of the shell structures are all provided with handles.

The number of the suction cups is 8, and each of the four corners of the bottom surface of the left and right casing structures 1 turns to the chassis; the suction cups are adsorbed on the glass on both sides of the inner and outer windows.

The water supply device is composed of a water pump 13 and a water tank 14. The water tank 14 is equipped with a liquid level sensor. Once the cleaning liquid or water is insufficient, the indicator light will be turned on, and a message will be sent wirelessly to notify the user to add liquid.

The distance sensor 3 on the robot shell structure 1 can judge the distance from the surrounding obstacles to itself, and make corresponding actions according to different environmental conditions. When in use, just place the robot parallel to the window frame on the glass that needs to be cleaned, the window frame robot will use the bottom suction cup of steering chassis 2 to be adsorbed on it. The cleaning structure does reciprocating motion. During the first reciprocating motion, the water pump 13 located inside the main structure 1 starts to work. At the end of the reciprocating motion, the pump stops working. When the cleaning structure makes three reciprocating movements, the cleaning structure stops working. Sensors located on the side of the robot feed back information about the surroundings to the robot, and the robot will choose to move to a position without obstacles, and then proceed to the next cleaning job. The robot will record the cleaned area and plan the route reasonably according to the surrounding obstacles. Through the intelligent interactive system, the robot can feed back working information to the user at any time, which is more convenient and quicker, and is equipped with a remote control to manually adjust the posture to deal with occasional failures; since all the motors of the robot are powered by circuits located in the casing structure Board control, after adding the remote control device, you can manually adjust the working condition of each motor and then adjust the action of the robot, so as to deal with some occasional failures

Embodiment 2:

An obstacle surmounting method of a fully automatic window cleaning robot capable of surmounting obstacles, as shown in Figures 4 and 5, a schematic diagram of an obstacle surmounting method and an in-situ steering method of an obstacle surmountable automatic window cleaning robot;

The steps of the obstacle surmounting method include: moving a fully automatic window cleaning robot capable of surmounting obstacles to a working plane with raised obstacles. The front edge of the shell structure 1 located in the front stops moving when it touches the obstacle. The steering chassis on the underside of the rear housing structure releases the working plane and is lifted up by the lifter 5 by a small height. The steering chassis 2 on the bottom surface of the rear shell structure approaches the front shell structure, and sucks the working plane after approaching. The steering chassis 2 on the bottom surface of the front shell structure releases the working plane, and is lifted up by the lifter 5 to a height that can overcome obstacles. The front housing structure moves forward through the cylindrical rack 7, stops when it moves to the maximum working span, and tightens the working plane. The steering chassis on the bottom surface of the rear shell structure releases the working plane, and is lifted up by the lifter 5 spanning to the shell structure on the other side to a height that can overcome the obstacle. The rear shell structure approaches the front shell structure and grips the work plane after crossing the obstacle.

Embodiment three:

A steering method of a fully automatic window cleaning robot that can overcome obstacles

First move to the rotatable plane, the steering chassis on the bottom surface of the front shell structure is decompressed and adsorbed on the working surface, the steering chassis on the bottom surface of the rear shell structure is pressurized to make it separate from the working surface, and the motor reducer of the steering chassis on the bottom surface of the front shell structure When working, the upper and lower parts of the front casing structure rotate relative to each other through gear meshing. When it is rotated to a suitable position, there is a negative pressure device in the casing structure to control the decompression and pressure increase of the suction cup and adsorb it on the working surface, which can be cleaned.

The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details, nor do they limit the invention to only the described embodiments. Obviously, many modifications and variations are possible in light of the content of this specification. This specification selects and describes these embodiments in order to better explain the principle and practical application of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims (6)

1. a fully automatic window cleaning robot capable of surmounting obstacles, is characterized in that, comprises shell structure and scrubbing structure; There are two shell structures at the front and back opposite to each other. Each shell structure is composed of upper and lower layers. The lower layer is the steering chassis, and the upper layer is the main structure. The main structure and the steering chassis are connected by a central shaft arranged in the main structure. The bottom surface of the main structure is connected to a suction cup, and the inside of the main structure is provided with a negative pressure device, a water supply device, a power supply device, and a steering gear; the outside of the main structure is provided with a distance sensor; the surface of the main structure is provided with a motor reducer, a lifter and a rack for fixing The negative pressure device is connected with the suction cup, so that the suction cup has suction; the steering gear is connected with the central shaft, and meshes with the gear box of the motor located inside the main body to control the rotation of the main body; The power supply device includes a motor, a power module and a circuit board interlayer; the power module is connected to the motor, and both the power module and the motor are arranged in the circuit board interlayer; The scrubbing structure includes a cylindrical rack, a motor reduction box a and a cleaning structure; The cylindrical rack is fixed above the two main structures through a rack fixing device, a rotatable shaft sleeve is arranged in the rack fixing device, and the cylindrical rack is fixed in the shaft sleeve of the rack fixing device; The cleaning structure and the cylindrical rack are engaged between the two main bodies and perform reciprocating motion to achieve the purpose of cleaning; There are multiple gears in the motor reduction box a and the motor reduction box b. The power output gear of the motor reduction box b and the cylindrical rack are externally meshed at both ends of the rack to control the distance between the main bodies; the power output gear of the motor reduction box a and The cylindrical rack is externally meshed with the middle end of the rack to control the movement of the cleaning structure; The lifter includes a motor control part and a screw rod, the motor control parts are respectively arranged in the two main structures to be connected with the motor, and drive the screw rod to rotate to adjust the height of both ends of the cylindrical rack; The cleaning structure includes a retractable shaft, a spray head and a triangular prism converter. The middle of the retractable shaft passes through the cylindrical rack and is meshed with it through the power output gear of the motor reduction box a. The two ends are equipped with a nozzle and a triangular prism converter. The nozzle is connected with the water delivery pipe; the water delivery pipe is connected with the water supply device in the main structure, the triangular prism converter is a rotatable triangular prism, and the wiper strip and the cleaning cloth are installed together on the rotatable triangular prism. On the prism, it is possible to switch quickly when cleaning. 2 . The fully automatic window cleaning robot capable of surmounting obstacles according to claim 1 , wherein the power module is a large-capacity charging module. 3 . 3 . The fully automatic window cleaning robot capable of surmounting obstacles according to claim 1 , wherein there are four cylindrical racks, which are distributed in parallel above the two main structures. 4 . 4 . The fully automatic window cleaning robot capable of surmounting obstacles according to claim 1 , wherein the casing structures are all rectangular parallelepipeds of the same size, and the tops of the casings are all provided with handles. 5 . 5 . The fully automatic window cleaning robot capable of surmounting obstacles according to claim 1 , wherein the number of the suction cups is 8, and each of the four corners of the bottom surface of the left and right shell structures turns to the chassis. 6 . 6 . The fully automatic window cleaning robot capable of surmounting obstacles according to claim 1 , wherein the water supply device is composed of a water pump and a water tank, and a liquid level sensor is installed in the water tank. 7 .