Spider-imitating glass cleaning machine

Abstract

The invention relates to the technical field of glass cleaning machines, in particular to a spider-imitating glass cleaning machine. The spider-imitating glass cleaning machine imitates the characteristics and behaviors of spiders, the multi-joint design is adopted, the machine can freely move on the surface of glass and adapt to various complex terrains and angles, meanwhile, the suction cups are arranged on the feet of the multi-joint mechanical legs, it is ensured that the machine can be stably attached to the glass during working, and the glass cleaning efficiency is improved. Cleaning is conducted through the cleaning mechanism and the spraying mechanism, the cleaning effect is guaranteed, high-strength and light materials are selected to improve the durability and flexibility of the machine, a power system is optimized through the control mechanism, energy consumption is reduced, and the influence on the environment is reduced. Due to the flexibility and adaptability of the machine, the machine can be applied to different types of glass surfaces and has a wide market prospect.

Description

Technical Field

[0001] The invention relates to the technical field of glass cleaning machinery, and in particular to a spider-like glass cleaning machinery. Background Art

[0002] There are many problems in current glass cleaning, especially in high-rise building glass cleaning. Manual cleaning is inefficient, labor-intensive and has high safety risks. Existing glass cleaning machines are insufficient in adsorption stability, comprehensive cleaning effect and mobility, and cannot meet market demand well.

[0003] Firstly, modern buildings use a large number of glass curtain walls and windows, and their cleaning has become a difficult task. Manual cleaning is not only inefficient, but also poses a safety hazard. Secondly, the market demand for efficient, safe and convenient glass cleaning solutions is growing. In order to meet these needs, designers draw inspiration from spiders in nature and are committed to developing a mechanical device that can efficiently clean glass.

[0004] Spiders have excellent climbing and walking abilities and can move freely on various complex surfaces. Through the study and analysis of spider movements, a mechanical device that can stably walk on glass surfaces and clean them efficiently was designed. Summary of the invention

[0005] The present invention discloses a spider-like glass cleaning machine, which aims to adapt to glass surfaces of different types and sizes, including flat surfaces, curved surfaces and inclined surfaces, etc., and can quickly and thoroughly remove various stains on the glass surface. It has efficient energy utilization and environmental protection characteristics, and has precise motion control to ensure smooth movement on the glass surface without colliding or damaging the glass.

[0006] The present invention provides a spider-like glass cleaning machine, comprising: Main connecting frame; A cleaning mechanism is fixedly connected to one end of the main body connecting frame, and the cleaning mechanism includes a transmission rod, a connecting member, a fixed disc, a first hydraulic rod, a first cleaning brush and a second cleaning brush. One end of the transmission rod is rotatably connected to the main body connecting frame, and the other end of the transmission rod is fixedly connected to the connecting member. An end of the connecting member away from the transmission rod is connected to the fixed disc, and an end of the fixed disc away from the connecting member is detachably provided with a first cleaning brush. A first hydraulic rod is fixedly provided on the surface of an end of the fixed disc close to the connecting member, and a right-angle cleaning rod is fixedly connected to the output end of the first hydraulic rod, and an end of the right-angle cleaning rod away from the first hydraulic rod is detachably connected to the second cleaning brush. A spraying mechanism, fixedly connected to one side end of the main connecting frame; A moving mechanism is fixedly arranged at both side ends of the main body connecting frame, and the moving mechanism comprises a plurality of multi-joint mechanical legs, and the plurality of multi-joint mechanical legs are symmetrically arranged at both sides of the main body connecting frame; A suction cup, fixedly arranged at one end of the multi-joint mechanical leg away from the main body connecting frame; A monitoring mechanism, fixedly arranged at one end of the main body connecting frame away from the cleaning mechanism; The control mechanism is fixedly arranged inside the main body connecting frame, and the control mechanism is electrically connected to the suction cup, the cleaning mechanism, the spraying mechanism and the moving mechanism.

[0007] According to the spider-like glass cleaning machine provided by the present invention, the main connecting frame includes a rectangular main body, a first connecting rod and an array connecting ring, the first connecting rod is fixedly arranged on the seat surface of the rectangular main body close to the cleaning mechanism, one end of the transmission rod is spirally connected to the end of the first connecting rod away from the rectangular main body, the array connecting ring is fixedly arranged on both side walls of the rectangular main body, and the end of the array connecting ring away from the rectangular main body is fixedly connected to a moving mechanism.

[0008] According to the spider-like glass cleaning machine provided by the present invention, the spraying mechanism includes a liquid storage tank, a micro water pump and a water pipe. The side wall of the liquid storage tank is fixedly connected to the side wall of the rectangular body, the output end of the liquid storage tank is connected to the water pipe, the micro water pump is arranged inside the liquid storage tank, the water pipe is a right-angle water pipe, and a spraying through hole is opened on the side wall of one end of the right-angle water pipe away from the liquid storage tank. There are two spraying mechanisms in total, and the two spraying mechanisms are arranged on the same side wall of the rectangular body.

[0009] According to the spider-like glass cleaning machine provided by the present invention, the multi-jointed mechanical leg comprises a connecting ball, an electrically retractable connecting rod, a bendable connecting rod, a hydraulic cylinder, a connecting rod, a second hydraulic rod, a first rotating joint, a lower leg, a leg shell, a rivet, a second rotating joint, a connecting joint and a mechanical foot; The connecting ball is fixedly connected to the array connecting ring through an electrically retractable connecting rod, the hydraulic cylinder is fixedly connected to the rectangular body through a bendable connecting rod, the hydraulic cylinder is fixedly arranged at an adjacent position of the electrically retractable connecting rod through a triangular plate, one end of the electrically retractable connecting rod away from the array connecting ring is rotatably connected to the connecting ball, and one end of the hydraulic cylinder away from the bendable connecting rod is fixedly connected to the side wall of the connecting ball; The side wall of the connecting ball away from the first hydraulic cylinder is also fixedly connected to a connecting rod, the other end of the connecting rod is fixedly connected to the peripheral side wall of the first rotary joint, and the two ends of the second hydraulic rod are respectively fixedly connected to the outer side wall of the first rotary joint and the peripheral side wall of the connecting rod; One end of the lower leg is fixedly connected to one end of the side wall of the annular shaft away from the connecting rod, and the outer side wall of the lower leg is covered with a leg shell, and the leg shell is covered and fixed to the outer side of the lower leg by the first rivet; The other end of the lower leg is fixedly connected to the peripheral side wall of the second rotating joint, and the mechanical foot is fixedly connected thereto. A suction cup is fixedly arranged on a side wall of the lower leg close to the subject connecting frame.

[0010] According to the spider-like glass cleaning machine provided by the present invention, the monitoring mechanism is arranged at one end of the rectangular body away from the cleaning mechanism, and the monitoring mechanism includes a camera, a shell, an antenna, a turntable connector and a base. One end of the base is fixedly arranged on a side of the rectangular body away from the cleaning mechanism, one end of the turntable connector is fixedly arranged on the other end of the base, and the other end of the turntable connector is fixedly connected to the shell, the camera is mounted inside the shell, and the outer wall of the shell is fixedly provided with an antenna.

[0011] According to the spider-like glass cleaning machine provided by the present invention, the control mechanism is integrated with a distance sensor and a pressure sensor.

[0012] According to the spider-like glass cleaning machine provided by the present invention, the control mechanism is electrically connected to the antenna, and the control mechanism is wirelessly connected to the control terminal via the antenna.

[0013] Compared with the prior art, the present invention has the following advantages: The spider-like glass cleaning machine provided by the present invention imitates the characteristics and behaviors of spiders, adopts a multi-joint design, enables the machine to move freely on the glass surface, and adapts to various complex terrains and angles. At the same time, suction cups are arranged on the legs and feet of the multi-joint machine to ensure that the machine can stably adhere to the glass when working, and clean through the cleaning mechanism and the spraying mechanism to ensure the cleaning effect. High-strength and lightweight materials are selected to improve the durability and flexibility of the machine, and the power system is optimized through the control mechanism to reduce energy consumption and reduce the impact on the environment. The flexibility and adaptability of the machine enable it to be applied to different types of glass surfaces, and has broad market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the spider-like glass cleaning machine; Figure 2 It is a schematic diagram of the three-dimensional structure of the spider-like glass cleaning machine; Figure 3 A schematic diagram of a three-dimensional structure connected to a mobile mechanism; Figure 4 This is a schematic diagram of the three-dimensional structure of a multi-joint robotic leg; Figure 5 Schematic diagram of the three-dimensional structure of the monitoring organization.

[0016] Reference numerals: 1. main body connecting frame; 101. rectangular main body; 102. first connecting rod; 103. array connecting ring; 2. cleaning mechanism; 201. transmission rod; 202. connecting piece; 203. fixed disc; 204. first hydraulic rod; 205. first cleaning brush; 206. second cleaning brush; 3. spraying mechanism; 301. liquid storage tank; 302. water pipe; 4. moving mechanism; 401. connecting ball; 402. electric retractable connecting Rod; 403, bendable connecting rod; 404, hydraulic cylinder; 405, connecting rod; 406, second hydraulic rod; 407, first rotating joint; 408, lower leg; 409, leg shell; 410, rivet; 411, second rotating joint; 412, connecting joint; 413, mechanical foot; 5, suction cup; 6, monitoring mechanism; 601, camera; 602, shell; 603, antenna; 604, turntable connector; 605, base. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] In the description of the embodiments of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", etc., are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0019] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be fixed connection, detachable connection, or integrated connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0020] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0021] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms are not directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0022] Combine the following Figure 1-Figure 5 The embodiments shown describe the technical solution of the present invention: The present invention provides a spider-like glass cleaning machine, comprising: a main body connecting frame with reference numeral 1; a cleaning mechanism 2, which is fixedly connected with one end of the main body connecting frame with reference numeral 1; the cleaning mechanism 2 comprises a transmission rod 201, a connecting member 202, a fixed disc 203, a first hydraulic rod 204, a first cleaning brush 205 and a second cleaning brush 206; one end of the transmission rod 201 is rotatably connected with the main body connecting frame with reference numeral 1; the other end of the transmission rod 201 is fixedly connected with the connecting member 202; one end of the connecting member 202 away from the transmission rod 201 is connected with the fixed disc 203; one end of the fixed disc 203 away from the connecting member 202 is detachably provided with the first cleaning brush 205; one end of the fixed disc 203 close to the connecting member 202 is fixedly provided with the first hydraulic rod 204; the first hydraulic rod 204 The output end is fixedly connected with a right-angle cleaning rod, and the end of the right-angle cleaning rod away from the first hydraulic rod 204 is detachably connected to the second cleaning brush 206; the spraying mechanism 3 is fixedly connected to one side end of the main connecting frame with the reference numeral: 1; the moving mechanism 4 is fixedly arranged on both side ends of the main connecting frame with the reference numeral: 1, and the moving mechanism 4 includes a plurality of multi-joint mechanical legs, and the plurality of multi-joint mechanical legs are symmetrically arranged on both sides of the main connecting frame with the reference numeral: 1; the suction cup 5 is fixedly arranged on one end of the multi-joint mechanical leg away from the main connecting frame with the reference numeral: 1; the monitoring mechanism 6 is fixedly arranged on one end of the main connecting frame with the reference numeral: 1 away from the cleaning mechanism 2; the control mechanism is fixedly arranged inside the main connecting frame with the reference numeral: 1, and the control mechanism is electrically connected to the suction cup 5, the cleaning mechanism 2, the spraying mechanism 3 and the moving mechanism 4.

[0023] It can be understood that the spider-like glass cleaning machine provided by the present invention moves on the glass surface through the suction cup 5 fixedly arranged on the moving mechanism 4, because the moving mechanism 4 is composed of multiple multi-joint mechanical legs in the shape of a spider, which can more accurately control the movement of the entire cleaning machine, and the cleaning mechanism 2 is driven by the moving mechanism 4 to clean the glass surface, which is suitable for glass surfaces of different types and sizes, including flat surfaces, curved surfaces and inclined surfaces. The suction cup 5 can be firmly attached to the glass surface, like the foot structure of a spider; the cleaning mechanism 2 has the function of efficiently cleaning the glass, and can remove dust, stains, etc.; the moving mechanism 4 enables the machine to move flexibly on the glass to ensure comprehensive cleaning; the monitoring mechanism 6 can automatically detect the dirt place through the camera 601 and automatically transfer to the cleaning module; the spider-like glass cleaning machine provided by the present invention can automatically complete the glass cleaning work, improve the cleaning efficiency and quality, reduce the labor intensity and safety risks of manual labor, and at the same time, it is small in size and low in price, which can make most families affordable.

[0024] In the present invention, the main connecting frame 1 is a part that connects various mechanisms. The material of the main connecting frame 1 is aluminum alloy. The control mechanism is arranged inside the subject connecting frame and is electrically connected to other mechanisms. The control mechanism provides power for the operation of other mechanisms and controls them. The control mechanism can control the walking speed of the moving mechanism 4 to 0.5-1m / min, and at the same time control the cleaning mechanism 2 to perform sufficient cleaning.

[0025] The cleaning mechanism 2 of the present invention is fixedly connected to one end of the main connecting frame indicated by reference numeral 1. The first cleaning brush 205 and the second cleaning brush 206 are both cleaning brushes made of soft nylon fibers, which can effectively remove dust, dirt, grease and other stains on the glass surface. In the present invention, the first cleaning brush 205 and the second cleaning brush 206 are specifically selected as circular cleaning brushes, the diameter of the first cleaning brush 205 is larger than the diameter of the second cleaning brush 206, the first cleaning brush 205 and the second cleaning brush 206 are rotating cleaning brushes, and when the cleaning mechanism 2 is used, the cleaning machine moves to the position where the glass needs to be cleaned through the moving mechanism 4, adjusts the height of the multi-joint mechanical legs, and after the fiber cleaning surface of the first cleaning brush 205 is brought close to the place where there are stains on the glass surface, starts the first cleaning brush 205 for rotational cleaning, and drives the cleaning mechanism 2 to move through the moving mechanism 4, so as to clean the glass surface, and the stains on the small area of ​​the glass surface or the corners that the first cleaning brush 205 cannot clean are cleaned during the cleaning process of the first cleaning brush 205. The position of the second cleaning brush 206 can be adjusted by extending or shortening the first hydraulic rod 204 and rotating the transmission rod 201. Starting the second cleaning brush 206 can clean the stains in the corners of the glass surface. Both the first hydraulic rod 204 and the transmission rod 201 are adjusted by the control mechanism. Specially designed according to the characteristics of glass cleaning, the first cleaning brush 205 and the second cleaning brush 206 are easy to disassemble and replace, and under normal use conditions, the service life of the cleaning parts is not less than 3 cleaning operations. In the present invention, the spray mechanism 3 is fixedly connected to one side end of the main connecting frame with reference numeral 1. There are two spray mechanisms 3, and water and cleaning liquid are arranged in the spray mechanism 3. The spray mechanism 3 is electrically connected to the control mechanism. The spray mechanism 3 is activated by the control mechanism, and the cleaning effect can be enhanced during the cleaning process. The water spray mechanism can accurately control the flow rate, pressure and angle of the water spray. The water spray coverage range matches the working range of the cleaning component, ensuring that the glass surface is evenly watered, while avoiding excessive water spraying to cause water resource waste and pollution to the surrounding environment.

[0026] If there is a lot of dust at the beginning of cleaning, first start the spraying mechanism 3 to spray water, spray water at an appropriate pressure and angle to wet the glass surface, then start the cleaning brush to scrub, and finally wipe it dry with a wiping cloth. For stubborn stains such as oil stains, you can increase the water spraying force and the speed of the cleaning brush. During the cleaning process, the control mechanism automatically controls the working frequency of the cleaning components and the water spraying amount of the water spraying system according to the set cleaning time or cleaning area. After cleaning a certain area, stop the rotation of the cleaning brush, check the cleaning effect, and clean again if there are residual stains. After cleaning, turn off the cleaning mechanism 2 and the various components of the water spraying mechanism. If the cleaning brush is severely worn, replace it.

[0027] The mobile mechanism 4 in the present invention can realize the flexible movement of the machine in any direction on the glass surface, and the moving speed can be continuously adjusted within a certain range to meet the speed requirements of different cleaning tasks. The driving system of the mobile module has sufficient power output to ensure that the machine can move stably under full load, and will not produce vibration or jamming that affects the cleaning effect during the movement, and the movement accuracy is within the millimeter range. The contact design between the mobile mechanism 4 and the glass surface should minimize friction, use low friction coefficient materials or special contact structures, and ensure that the adhesion of the machine on the glass is not affected, so as to prevent scratches or wear on the glass surface during the movement.

[0028] The suction cup 5 in the present invention is a vacuum suction cup 5, which is fixedly arranged on one end of the multi-joint mechanical leg away from the main connecting frame reference numeral 1, and can generate an adsorption force sufficient to support the weight of the machine and maintain stable attachment on a vertical, inclined or horizontal glass surface, so that the machine will not fall off the glass due to its own movement or slight external interference during the cleaning process. The adsorption and desorption functions can be precisely controlled by a control unit, and the adsorption part in contact with the glass is made of a flexible material that does not scratch or damage the glass.

[0029] When the vacuum suction cup 5 of the present invention is started, the control mechanism sends a command to the suction cup 5 to activate the adsorption function. The suction cup 5 generates an adsorption force on the glass surface by means of a vacuum pump or an electromagnet. For example, when a vacuum pump is used for adsorption, the vacuum pump is started to form a negative pressure between the adsorption component and the glass surface to achieve the purpose of adsorption. During the movement, the control mechanism adjusts the adsorption force in real time according to the movement direction and state of the machine to ensure stable adsorption, such as appropriately increasing the adsorption force when turning to prevent side slipping. When the cleaning is completed or it is necessary to move to the next piece of glass, the control mechanism issues a desorption command to release the adsorption force.

[0030] The control mechanism in the present invention includes the function of controlling the suction cup 5, the cleaning mechanism 2 and the moving mechanism 4. The control of the mechanical cleaning action can be achieved through a preset program or manually operated monitoring mechanism. It has fault detection and alarm functions. When the machine has problems such as insufficient adsorption force, abnormal cleaning components, and movement failure during operation, it can detect them in time and send an alarm message to the user through sound, light or remote communication, and stop the operation of the machine at the same time to avoid further damage or safety accidents.

[0031] The spider-like glass cleaning machine provided by the present invention has a compact overall structure, a reasonable layout between the modules, a firm and reliable internal connection, and the size and weight of the machine meet the requirements of easy transportation, installation and operation, with a maximum size of no more than 25 cm and a weight of no more than 2 kg. The noise level during the operation of the machine is controlled below 50 decibels to meet the noise standards for use in indoor and residential areas, and avoid noise interference to the surrounding environment.

[0032] The adsorption force is required to be greater than 50 Newtons, and the working voltage is 24V. It is necessary to ensure that the motor and other moving parts can operate stably under this voltage to provide the required power so that the walking speed and cleaning effect can reach the expected level. The machine weight is 5kg. Excessive weight may lead to insufficient adsorption force or reduced walking speed.

[0033] According to the spider-like glass cleaning machine provided by the present invention, the main connecting frame is marked with the following reference numerals: 1 includes a rectangular main body 101, a first connecting rod 405102 and an array connecting ring 103, the first connecting rod 405102 is fixedly arranged on the seat surface of the rectangular main body 101 close to the cleaning mechanism 2, one end of the transmission rod 201 is spirally connected to the end of the first connecting rod 405102 away from the rectangular main body 101, the array connecting ring 103 is fixedly arranged on the two side walls of the rectangular main body 101, and the end of the array connecting ring 103 away from the rectangular main body 101 is fixedly connected with the moving mechanism 4.

[0034] In the present invention, the interior of the rectangular main body 101 is a hollow structure for placing the processing unit of the control mechanism. The lower end of the rectangular main body 101 is set as a cleaning mechanism 2, and moving mechanisms 4 are set at the left and right ends. A spraying mechanism 3 is fixedly set at the right end. The two spraying mechanisms 3 are respectively arranged below the alternating positions of the multi-joint mechanical legs in the three moving mechanisms 4 at the right end, so as to improve the beauty and rationality of the device. The monitoring mechanism 6 is arranged above the rectangular main body 101 for easy monitoring.

[0035] According to the spider-like glass cleaning machine provided by the present invention, the spraying mechanism 3 includes a liquid storage tank 301, a micro water pump and a water pipe 302. The side wall of the liquid storage tank 301 is fixedly connected to the side wall of the rectangular main body 101, the output end of the liquid storage tank 301 is connected to the water pipe 302, the micro water pump is arranged inside the liquid storage tank 301, the water pipe 302 is a right-angle water pipe 302, and a spraying through hole is opened on the side wall of one end of the right-angle water pipe 302 away from the liquid storage tank 301. There are two spraying mechanisms 3 in total, and the two spraying mechanisms 3 are arranged on the same side wall of the rectangular main body 101.

[0036] The present invention includes two spraying mechanisms 3, which are used to spray water and cleaning liquid respectively, so as to enhance the cleaning effect. During use, the cleaning mechanism 2 and the water spraying mechanism work simultaneously to clean the glass surface. Before using the cleaning machine, water and cleaning liquid can be added to the liquid storage tank 301. During use, the control mechanism controls the spraying time and volume, thereby improving the cleaning effect and efficiency.

[0037] According to the spider-like glass cleaning machine provided by the present invention, the multi-joint mechanical leg includes a connecting ball 401, an electrically retractable connecting rod 402, a bendable connecting rod 403, a hydraulic cylinder 404, a connecting rod 405, a second hydraulic rod 406, a first rotating joint 407, a lower leg 408, a leg shell 409, a rivet 410, a second rotating joint 411, a connecting joint 412 and a mechanical foot 413; the connecting ball 401 is fixedly connected to the array connecting ring 103 through the electrically retractable connecting rod 402, the hydraulic cylinder 404 is fixedly connected to the rectangular body 101 through the bendable connecting rod 403, the hydraulic cylinder 404 is fixedly arranged at an adjacent position of the electrically retractable connecting rod 402 through a triangular plate, the end of the electrically retractable connecting rod 402 away from the array connecting ring 103 is rotatably connected to the connecting ball 401, and the hydraulic cylinder 404 is away from the bendable connecting rod One end of the folding connecting rod 403 is fixedly connected to the side wall of the connecting ball 401; the side wall of the connecting ball 401 away from the first hydraulic cylinder 404 is also fixedly connected to a connecting rod 405, the other end of the connecting rod 405 is fixedly connected to the peripheral side wall of the first rotating joint 407, and the two ends of the second hydraulic rod 406 are respectively fixedly connected to the outer side wall of the first rotating joint 407 and the peripheral side wall of the connecting rod 405; one end of the lower leg 408 is fixedly connected to the end of the side wall of the circular shaft away from the connecting rod 405, the outer side wall of the lower leg 408 is covered with a leg shell 409, and the leg shell 409 is covered and fixed to the outside of the lower leg 408 by a first rivet 410; the other end of the lower leg 408 is fixedly connected to the peripheral side wall of the second rotating joint 411, and is fixedly connected to a mechanical foot 413, and a suction cup 5 is fixedly provided on one side wall of the lower leg 408 close to the subject connecting frame.

[0038] The multi-joint mechanical legs in the present invention include six legs, which are symmetrically arranged in pairs on both sides of a rectangular body 101. Array connection rings 103 are symmetrically arranged on both sides of the rectangular body 101. Each array connection ring 103 includes three rings, imitating the leg structure of a spider. Each ring is connected to a multi-joint mechanical leg. A suction cup 5 is installed at the end of each mechanical leg, which is in close contact with the glass surface through the principle of vacuum adsorption. The mechanical legs are driven by a motor in a control mechanism, and the walking and turning movements of the machine are realized by controlling the speed and direction of the motor.

[0039] According to the spider-like glass cleaning machine provided by the present invention, the monitoring mechanism 6 is arranged at one end of the rectangular body 101 away from the cleaning mechanism 2, and the monitoring mechanism 6 includes a camera 601, a shell 602, an antenna 603, a turntable connector 604 and a base 605. One end of the base 605 is fixedly arranged on a side of the rectangular body 101 away from the cleaning mechanism 2, one end of the turntable connector 604 is fixedly arranged at the other end of the base 605, and the other end of the turntable connector 604 is fixedly connected to the shell 602. The camera 601 is arranged inside the shell 602, and the antenna 603 is fixedly arranged on the outer wall of the shell 602.

[0040] In the present invention, the monitoring mechanism 6 is above the rectangular body 101 through a turntable. After the camera 601 monitors the stains on the glass surface, the control mechanism controls the suction cup 5 and the moving mechanism 4 to move to the stain position, and then starts the cleaning mechanism 2 and the water spraying mechanism for cleaning.

[0041] According to the spider-like glass cleaning machine provided by the present invention, the control mechanism is integrated with a distance sensor and a pressure sensor.

[0042] The present invention is provided with a distance sensor and a pressure sensor to facilitate precise motion control, ensure smooth movement on the glass surface without colliding or damaging the glass, sense the degree and position of stains on the glass surface and perform targeted cleaning, and detect the distance and adsorption force between the machine and the glass surface through the sensor to ensure walking stability and safety.

[0043] According to the spider-like glass cleaning machine provided by the present invention, the control mechanism is electrically connected to the antenna 603 , and the control mechanism is wirelessly connected to the control terminal via the antenna 603 .

[0044] In the present invention, the camera 601 is connected to an external control terminal by wireless or wired means. The image receiving and processing software is installed on the control terminal to display, analyze and store the images transmitted by the camera 601 in real time. Through the image recognition algorithm, the stains on the glass surface, the degree of cleaning and the position of the machine on the glass can be identified, and feedback information can be provided to the control mechanism to realize intelligent cleaning. The start, stop, travel direction and cleaning mode of the machine can be controlled by sending instructions through the control terminal remote control or mobile phone APP.

[0045] The working principle of the present invention is as follows: first, the suction cup 5 is installed at the bottom of the machine, ensuring that the adsorption parts in contact with the glass are flat and undamaged, and the control circuit of the suction cup 5 is connected according to the design requirements to ensure that the adsorption and desorption functions can be normally controlled by the control mechanism. Then the mobile mechanism 4 is installed, the drive motor and transmission parts are accurately installed and debugged, so that the rotary joint can rotate flexibly and contact the glass well, the sensor and the control circuit of the mobile mechanism 4 are connected to ensure the accuracy and stability of the movement, and then the cleaning season is installed, various cleaning parts are installed in the corresponding positions, and the convenience of replacing the cleaning brush is ensured, the spraying mechanism 3 sprays water and cleaning liquid, and the control circuit of the cleaning module and the spraying mechanism 3 is connected. Finally, the control mechanism is installed, the control circuit board is installed at a suitable position inside the rectangular body 101, the control circuits of each mechanism are connected, the battery is installed or the external power interface is connected, and the control mechanism is initialized and set, the spider glass cleaning machine is placed on the glass surface to be cleaned, the power is turned on, and instructions are sent through the remote control or mobile phone APP to control the start, stop, walking direction and cleaning mode of the machine. Regularly check the wear of the suction cup 5 and the cleaning brush, replace them in time, and check the connection of the motor and circuit to ensure normal operation.

[0046] The above is only a preferred embodiment of this embodiment and does not limit this embodiment in any way. Any simple modification, change and equivalent change made to the above embodiment according to the essence of the invention technology still falls within the protection scope of the technical solution of this embodiment.

Claims

1. A spider-like glass cleaning machine, characterized in that: include: Main body connecting frame (reference numeral: 1); A cleaning mechanism (2) is fixedly connected to one end of the main body connecting frame (reference numeral: 1), the cleaning mechanism (2) comprising a transmission rod (201), a connecting member (202), a fixed disc (203), a first hydraulic rod (204), a first cleaning brush (205) and a second cleaning brush (206), one end of the transmission rod (201) is rotatably connected to the main body connecting frame (reference numeral: 1), the other end of the transmission rod (201) is fixedly connected to the connecting member (202), and the connecting member (202) is away from the main body connecting frame. One end of the transmission rod (201) is connected to the fixed disc (203); one end of the fixed disc (203) away from the connecting member (202) is detachably provided with a first cleaning brush (205); a first hydraulic rod (204) is fixedly provided on the surface of one end of the fixed disc (203) close to the connecting member (202); a right-angle cleaning rod is fixedly connected to the output end of the first hydraulic rod (204); and one end of the right-angle cleaning rod away from the first hydraulic rod (204) is detachably connected to the second cleaning brush (206); A spraying mechanism (3) is fixedly connected to one side end of the main body connecting frame (reference numeral: 1); A moving mechanism (4) is fixedly arranged at both side ends of the main body connecting frame (reference numeral: 1), the moving mechanism (4) comprising a plurality of multi-joint mechanical legs, and the plurality of multi-joint mechanical legs are symmetrically arranged at both sides of the main body connecting frame (reference numeral: 1); A suction cup (5) is fixedly arranged at one end of the multi-joint mechanical leg away from the main body connecting frame (reference numeral: 1); A monitoring mechanism (6) is fixedly arranged on an end of the main body connecting frame (reference numeral 1) away from the cleaning mechanism (2); A control mechanism is fixedly arranged inside the main body connection frame (reference numeral: 1), and the control mechanism is electrically connected to the suction cup (5), the cleaning mechanism (2), the spraying mechanism (3) and the moving mechanism (4).

2. The spider-like glass cleaning machine according to claim 1, characterized in that: The main body connecting frame (reference numeral: 1) comprises a rectangular main body (101), a first connecting rod (405) (102) and an array connecting ring (103), wherein the first connecting rod (405) (102) is fixedly arranged on the seat surface of the rectangular main body (101) close to the cleaning mechanism (2), one end of the transmission rod (201) is spirally connected to an end of the first connecting rod (405) (102) away from the rectangular main body (101), and the array connecting ring (103) is fixedly arranged on two side walls of the rectangular main body (101), and one end of the array connecting ring (103) away from the rectangular main body (101) is fixedly connected to a moving mechanism (4).

3. The spider-like glass cleaning machine according to claim 2, characterized in that: The spraying mechanism (3) comprises a liquid storage tank (301), a micro water pump and a water pipe (302); the side wall of the liquid storage tank (301) is fixedly connected to the side wall of the rectangular body (101); the output end of the liquid storage tank (301) is in communication with the water pipe (302); the micro water pump is arranged inside the liquid storage tank (301); the water pipe (302) is a right-angle water pipe (302); a spraying through hole is provided on the side wall of one end of the right-angle water pipe (302) away from the liquid storage tank (301); a total of two spraying mechanisms (3) are provided, and the two spraying mechanisms (3) are arranged on the same side wall of the rectangular body (101).

4. The spider-like glass cleaning machine according to claim 2, characterized in that: The multi-jointed mechanical leg comprises a connecting ball (401), an electrically retractable connecting rod (405) (402), a bendable connecting rod (405) (403), a hydraulic cylinder (404), a connecting rod (405), a second hydraulic rod (406), a first rotating joint (407), a lower leg (408), a leg shell (602) (409), a rivet (410), a second rotating joint (411), a connecting joint (412) and a mechanical foot (413); The connecting ball (401) is fixedly connected to the array connecting ring (103) via an electrically retractable connecting rod (405) (402); the hydraulic cylinder (404) is fixedly connected to the rectangular body (101) via a bendable connecting rod (405) (403); the hydraulic cylinder (404) is fixedly arranged at an adjacent position of the electrically retractable connecting rod (405) (402) via a triangular plate; one end of the electrically retractable connecting rod (405) (402) away from the array connecting ring (103) is rotatably connected to the connecting ball (401); and one end of the hydraulic cylinder (404) away from the bendable connecting rod (405) (403) is fixedly connected to a side wall of the connecting ball (401); A connecting rod (405) is also fixedly connected to the side wall of the connecting ball (401) away from the first hydraulic cylinder (404); the other end of the connecting rod (405) is fixedly connected to the peripheral side wall of the first rotating joint (407); and the two ends of the second hydraulic rod (406) are respectively fixedly connected to the outer side wall of the first rotating joint (407) and the peripheral side wall of the connecting rod (405); One end of the lower leg (408) is fixedly connected to one end of the side wall of the annular shaft away from the connecting rod (405); the outer wall of the lower leg (408) is covered with a leg shell (602) (409); the leg shell (602) (409) is covered and fixed to the outer side of the lower leg (408) by the first rivet (410); The other end of the lower leg (408) is fixedly connected to the peripheral side wall of the second rotating joint (411), and the mechanical foot (413) is fixedly connected thereto. A suction cup (5) is fixedly provided on a side wall of the lower leg (408) close to the subject connection frame.

5. The spider-like glass cleaning machine according to claim 2, characterized in that: The monitoring mechanism (6) is arranged at one end of the rectangular body (101) away from the cleaning mechanism (2), and comprises a camera (601), a housing (602), an antenna (603), a turntable connecting member (604) (202) and a base (605); one end of the base (605) is fixedly arranged at a side of the rectangular body (101) away from the cleaning mechanism (2); one end of the turntable connecting member (604) (202) is fixedly arranged at the other end of the base (605); the other end of the turntable connecting member (604) (202) is fixedly connected to the housing (602); the camera (601) is sleeved inside the housing (602); and the antenna (603) is fixedly arranged on the outer wall of the housing (602).

6. The spider-like glass cleaning machine according to claim 1, characterized in that: The control mechanism is integrated with a distance sensor and a pressure sensor.

7. The spider-like glass cleaning machine according to claim 5, characterized in that: The control mechanism is electrically connected to the antenna (603), and the control mechanism is wirelessly connected to a control terminal via the antenna (603).

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