Window cleaning robot and method based on negative pressure adsorption technology

Abstract

The invention provides a window cleaning robot and method based on a negative pressure adsorption technology. The window cleaning robot comprises a housing, and propelling structures used for providing propelling power are installed on the two sides of the housing; a mounting plate is fixed to the bottom face of the housing, and a cleaning structure for cleaning a window is mounted on the periphery of the bottom plate. A cavity is formed in the cover shell and the bottom plate, and an auxiliary cleaning structure used for conducting auxiliary cleaning on a window and an adsorption structure used for being adsorbed to the window are distributed and installed in the cavity. An auxiliary device and a control system are further included. According to the robot, the glass window can be cleaned, and manual wiping and cleaning are not needed; the window cleaning device is simple in structure and convenient to use, can span obstacles on the window, wipes and cleans the whole window, improves the cleaning efficiency and quality, and guarantees the safety in the cleaning process.

Description

Technical Field

[0001] The invention relates to the technical field of glass cleaning robots, and in particular to a window cleaning robot and method based on negative pressure adsorption technology. Background Art

[0002] The existing Chinese patent document with the announcement number CN112890654A discloses an intelligent window-cleaning robot that can cross obstacles. It proposes that in the past, window cleaning was done manually, and the indoor side of the window could be cleaned manually. However, with the increasing number of high-rise buildings, the glass curtain walls or ordinary windows of high-rise buildings, the outer glass can only be cleaned by cleaners hanging outdoors. This wiping method is extremely dangerous, and the general wiping time interval is long, and it cannot guarantee that the glass windows are always clean. Although the existing window cleaning robot can automatically adsorb to the glass surface of the window for cleaning, due to the window frame provided between the glass of the window, the existing window cleaning robot cannot cross the window frame to clean the window glass. Summary of the invention

[0003] The purpose of the present invention is to provide a window cleaning robot and method based on negative pressure adsorption technology, which can clean glass windows without manual wiping and cleaning; it can cross window obstacles and wipe and clean the entire window, thereby improving cleaning efficiency and quality and ensuring the safety of the cleaning process.

[0004] In order to realize the above-mentioned technical features, the purpose of the present invention is achieved as follows: a window cleaning robot based on negative pressure adsorption technology, comprising a cover shell, and propulsion structures for providing propulsion power are installed on both sides of the cover shell; a mounting plate is fixed to the bottom surface of the cover shell, and a cleaning structure for cleaning the window is installed around the bottom plate; a cavity is formed inside the cover shell and the bottom plate, and auxiliary cleaning structures for auxiliary cleaning of the window and adsorption structures for adsorption on the window are distributed and installed inside the cavity; it also includes auxiliary devices and a control system.

[0005] A handle is provided on the top surface of the cover shell, air outlets are provided on both sides of the cover shell, and the propulsion structure is installed at the location of the air outlets.

[0006] The propulsion structure includes a transverse propulsion structure and a longitudinal propulsion structure. The transverse propulsion structures are symmetrically arranged and installed on both sides of the cover shell. Each group of transverse propulsion structures includes a first servo motor. The first servo motor is fixed to the top of a support plate. The support plate is fixedly connected to the cover shell through a double-headed stud. The output shaft of the first servo motor is installed with a first propeller blade. A guardrail is arranged on the outside of the first propeller blade and the first servo motor.

[0007] The longitudinal propulsion structure is arranged at the bottom end of the housing, and the longitudinal propulsion structure comprises a first rotary motor, which is fixed at the bottom end of the housing, and the output shaft of the first rotary motor is also equipped with a first propeller blade.

[0008] The adsorption structure includes an adjustment ring arranged at the center of the bottom plate, the adjustment ring is in direct contact and cooperation with the outer surface of the glass to form a closed space, a second servo motor is fixedly installed inside the adjustment ring through a skeleton, a second propeller blade is installed on the output shaft of the second servo motor, and the second propeller blade is driven by the second servo motor to rotate rapidly, thereby generating a negative pressure adsorption force on the glass surface to realize the adsorption of the cleaning robot on the window.

[0009] The cleaning structure includes a fixed plate, an outer edge of the fixed plate is provided with a connecting foot, the connecting foot is fixedly connected to the bottom plate by screws, a telescopic control rod is fixedly installed on the fixed plate, a second rotating motor is fixedly installed at one end of the telescopic control rod, a connecting body is fixedly installed at the end of the output shaft of the second rotating motor, a connecting slot is provided on the bottom side of the connecting body, a through slot is provided on one side of the connecting slot, the connecting slot is adapted to be plugged in with a connecting plug block, a positioning slot is provided on one side of the connecting plug block, the through slot and the positioning slot are plug-in matched by a fastening plug block, a pulling block is provided at one end of the fastening plug block, anti-slip grooves are provided on the pulling block, the connecting plug block is fixedly installed on one end of the bearing column, cleaning soft strips are fixedly installed equidistantly on the outer side wall of the bearing column, and cleaning cotton balls are provided on the cleaning soft strips.

[0010] The auxiliary cleaning structure comprises a water pipe, which is fixed on the bottom plate through a positioning hoop, one end of which is connected to the nozzle, and the other end of which passes through a through hole provided on the cover shell and is connected to an external water pipe.

[0011] The auxiliary device includes a safety device, a power supply device and a water supply device; the safety device provides a safety measure for the operation of the cleaning robot, and the safety device is connected to the cleaning robot body with a safety rope. When the control system detects that the cleaning robot is in an unbalanced state, the safety device will lock the safety rope reel in time; The power supply device provides power, and converts AC power into DC power through a power adapter to power the cleaning robot; The water supply device supplies water to the auxiliary cleaning structure through an external water suction pump.

[0012] The control system is electrically connected to the propulsion structure, the cleaning structure, the auxiliary cleaning structure, the adsorption structure and the auxiliary device respectively; when the cleaning robot performs a cleaning operation, the control system is "started with one button", the power supply device supplies power, and the cleaning robot starts working; The control system consists of a laser navigation component connected to a controller. The laser navigation component is used to obtain environmental data and send it to the controller so that the cleaning robot can plan its walking route according to the environmental data and control the working status of the cleaning robot's propulsion structure, cleaning structure, auxiliary cleaning structure, adsorption structure and auxiliary devices.

[0013] A method for cleaning windows using a window cleaning robot based on negative pressure adsorption technology comprises the following steps: S1: Check whether the cleaning robot has any potential safety hazard. If so, the cleaning robot is not allowed to be used. S2: After confirming that there are no potential safety hazards, hold the cover and place the cleaning robot vertically so that the bottom plate is close to the glass to be cleaned; S3: By sending a start command to the robot control system, the adsorption structure and propulsion structure of the cleaning robot start working; S4: After the cleaning robot is stably adsorbed on the glass, release your hand, and the cleaning structure and auxiliary cleaning structure of the cleaning robot start to work. The cleaning robot officially starts to clean the glass according to the cleaning method pre-designed by the control system.

[0014] S5: After the cleaning work is completed, the robot returns to the starting position, the cleaning structure and auxiliary cleaning structure of the cleaning robot stop working, and after the cleaning robot is removed from the window by personnel, the propulsion structure and adsorption structure of the cleaning robot stop working, and the cleaning robot enters standby state.

[0015] The present invention has the following beneficial effects: 1. By adjusting the skeleton inside the ring and connecting the propeller blades with the servo motor, the robot can generate negative pressure adsorption on the glass surface to achieve stable adsorption. This adsorption mechanism enables the robot to work stably on vertical or inclined glass surfaces, significantly improving cleaning efficiency and safety.

[0016] 2. The design of the propulsion structure can effectively solve the problem that existing window cleaning robots cannot cross obstacles, significantly expanding the application scope of the robot and enabling it to be used in a variety of scenarios.

[0017] 3. The coordinated work of the cleaning structure and the auxiliary cleaning structure improves the cleaning quality and effectively improves the cleaning effect.

[0018] 4. The overall structure is designed to be easy to disassemble, which facilitates regular removal of debris inside the shell and reduces maintenance difficulty and cost.

[0019] 5. The spiral propulsion structure enhances the robot's maneuverability and flexibility, making the robot more flexible in cleaning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0023] Figure 3 It is a structural schematic diagram of another viewing angle inside the present invention.

[0024] Figure 4 It is a left view of the present invention.

[0025] Figure 5 It is a full cross-sectional view of the present invention.

[0026] Figure 6 It is a schematic diagram of the cleaning structure of the present invention.

[0027] In the figure: a cover 100, a bottom plate 200, a propulsion structure 300, a cleaning structure 400, an adsorption structure 500, and an auxiliary cleaning structure 600; Grip 101; Transverse propulsion mechanism 301, longitudinal propulsion structure 302, first servo motor 303, first propeller blade 304, support plate 305, stud 306, guardrail 307, first rotary motor 308; Fixed plate 401, connecting foot 402, telescopic control rod 403, second rotary motor 404, connecting body 405, connecting slot 406, through slot 407, connecting plug 408, fastening plug 409, pulling block 410, positioning card slot 411, bearing column 412, cleaning soft strip 413, screw 414, cleaning cotton ball 415; Adjustment ring 501, second servo motor 502, second propeller blade 503; Water pipe 601, positioning hoop 602, and nozzle 603. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0029] Embodiment 1: See also Figure 1-6A window cleaning robot based on negative pressure adsorption technology includes a housing 100, and a propulsion structure 300 for providing propulsion power is installed on both sides of the housing 100; a mounting plate 200 is fixed on the bottom surface of the housing 100, and a cleaning structure 400 for cleaning the window is installed around the bottom plate 200; the housing 100 and the bottom plate 200 form a cavity inside, and an auxiliary cleaning structure 600 for auxiliary cleaning of the window and an adsorption structure 500 for adsorbing on the window are distributed and installed inside the cavity; and an auxiliary device and a control system are also included. This robot can clean the glass window without manual wiping and cleaning; it can cross the window obstacles and wipe and clean the entire window, thereby improving the cleaning efficiency and quality and ensuring the safety of the cleaning process. In the specific working process, the cleaning robot is adsorbed on the window glass by the adsorption structure 500, and then, through the control system, the propulsion structure 300 is controlled to control the movement of the cleaning machine, and the cleaning structure 400 and the auxiliary cleaning structure 600 are synchronously started to clean the glass.

[0030] Furthermore, a handle 101 is provided on the top surface of the housing 100, air outlets are provided on both sides of the housing 100, and the propulsion structure 300 is installed at the location of the air outlets. The housing 100 can be used to carry and install the entire cleaning robot.

[0031] Further, the propulsion structure 300 includes a transverse propulsion structure 301 and a longitudinal propulsion structure 302. The transverse propulsion structures 301 are symmetrically arranged and installed on both sides of the housing 100. Each group of transverse propulsion structures 301 includes a first servo motor 303. The first servo motor 303 is fixed to the top of a support plate 305. The support plate 305 is fixedly connected to the housing 100 through a stud 306. The output shaft of the first servo motor 303 is installed with a first propeller blade 304. The first propeller blade 304 and the first servo motor 303 are provided with a guardrail 307 outside. The above-mentioned propulsion structure 300 can be used to provide the moving power of the cleaning robot. The first servo motor 303 drives the first propeller blade 304 to rotate rapidly with a stable torque to provide power, thereby realizing the displacement of the window cleaning robot in the horizontal direction.

[0032] Furthermore, the longitudinal propulsion structure 302 is disposed at the bottom end of the housing 100, and includes a first rotary motor 308, which is fixed at the bottom end of the housing 100, and the output shaft of the first rotary motor 308 is also equipped with a first propeller blade 304. The longitudinal propulsion structure 302 can be used to provide lifting and moving power, and the first rotary motor 308 drives the first propeller blade 304 to rotate rapidly with a stable torque, thereby realizing the displacement of the window cleaning robot in the vertical direction.

[0033] Furthermore, the adsorption structure 500 includes an adjustment ring 501 disposed at the center of the bottom plate 200, the adjustment ring 501 is in direct contact with the outer surface of the glass and forms a closed space, a second servo motor 502 is fixedly installed inside the adjustment ring 501 through a frame, a second propeller blade 503 is installed on the output shaft of the second servo motor 502, and the second propeller blade 503 is driven by the second servo motor 502 to rotate rapidly, thereby generating a negative pressure adsorption force on the glass surface to achieve the adsorption of the cleaning robot on the window. The adsorption structure 500 can be used to generate adsorption force, and during operation, the second servo motor 502 drives the second propeller blade 503 to rotate rapidly with a stable torque, thereby generating a negative pressure adsorption force on the glass surface to achieve the adsorption function.

[0034] Furthermore, the cleaning structure 400 includes a fixing plate 401, a connecting foot 402 is provided at the outer edge of the fixing plate 401, the connecting foot 402 is fixedly connected to the bottom plate 200 by a screw 414, a telescopic control rod 403 is fixedly installed on the fixing plate 401, a second rotary motor 404 is fixedly provided at one end of the telescopic control rod 403, a connecting body 405 is fixedly provided at the end of the output shaft of the second rotary motor 404, a connecting slot 406 is provided at the bottom side of the connecting body 405, and a connecting slot 406 is provided at one side thereof. The through slot 407 and the connecting slot 406 are adapted to be plugged with the connecting plug 408. A positioning slot 411 is provided on one side of the connecting plug 408. The through slot 407 and the positioning slot 411 are plugged and matched by the fastening plug 409. A pull block 410 is provided at one end of the fastening plug 409. The pull block 410 is provided with anti-slip grooves. The connecting plug 408 is fixedly installed at one end of the bearing column 412. A cleaning soft strip 413 is fixedly installed at an equal distance on the outer wall of the bearing column 412. A cleaning cotton ball 415 is provided on the cleaning soft strip 413. The cleaning power can be realized by the above-mentioned cleaning structure 400. During the working process, the connecting block 408 is matched with the connecting body 405, and then the connecting body 405 is driven by the second rotating motor 404, the supporting column 412 is driven by the connecting body 405, the cleaning soft strip 413 is driven by the supporting column 412, and the cleaning cotton ball 415 is driven by the cleaning soft strip 413, and then the glass surface is cleaned by the contact between the cleaning cotton ball 415 and the outer surface of the glass.

[0035] Furthermore, the auxiliary cleaning structure 600 includes a water pipe 601, which is fixed to the bottom plate 200 through a positioning hoop 602. One end of the water pipe 601 is connected to the nozzle 603, and the other end passes through a through hole provided on the cover shell 100 and is connected to an external water pipe.

[0036] Furthermore, the auxiliary device includes a safety device, a power supply device and a water supply device; the safety device provides a safety measure for the operation of the cleaning robot, and the safety device is connected to the cleaning robot body with a safety rope. When the control system detects that the cleaning robot is in an unbalanced state, the safety device will lock the safety rope reel in time; Furthermore, the power supply device provides power, and converts AC power into DC power through a power adapter to power the cleaning robot; the above-mentioned power supply device can be used to provide electrical energy.

[0037] Furthermore, the water supply device uses an external water suction pump to supply water to the auxiliary cleaning structure 600. The water supply device can be used to provide water during the cleaning process.

[0038] Furthermore, the control system is electrically connected to the propulsion structure 300, the cleaning structure 400, the auxiliary cleaning structure 600, the adsorption structure 500 and the auxiliary device respectively; when the cleaning robot performs cleaning operations, the control system is "started with one button", the power supply device supplies power, and the cleaning robot starts working. The above control system can realize automatic control of the entire robot.

[0039] Furthermore, the control system is composed of a laser navigation component connected to a controller, and the laser navigation component is used to obtain environmental data and send it to the controller, so that the cleaning robot plans a walking route according to the environmental data, and controls the working states of the cleaning robot propulsion structure 300, the cleaning structure 400, the auxiliary cleaning structure 600, the adsorption structure 500 and the auxiliary device. By connecting the above-mentioned laser navigation component to the controller, the automatic path planning and operation of the entire cleaning robot can be realized.

[0040] Embodiment 2: A method for cleaning windows using a window cleaning robot based on negative pressure adsorption technology comprises the following steps: S1: Check whether the cleaning robot has any potential safety hazard. If so, the cleaning robot is not allowed to be used. S2: After confirming that there are no potential safety hazards, hold the cover 100 and place the cleaning robot vertically so that the bottom plate is close to the glass to be cleaned; S3: By sending a start command to the robot control system, the adsorption structure 500 and the propulsion structure 300 of the cleaning robot start working; S4: After the cleaning robot is stably adsorbed on the glass, release your hands, and the cleaning structure 400 and the auxiliary cleaning structure 600 of the cleaning robot start to work. The cleaning robot officially starts to clean the glass according to the cleaning method pre-designed by the control system.

[0041] S5: After the cleaning work is completed, the robot returns to the starting position, the cleaning structure 400 and the auxiliary cleaning structure 600 of the cleaning robot stop working, and after the cleaning robot is removed from the window by personnel, the propulsion structure 300 and the adsorption structure 500 of the cleaning robot stop working, and the cleaning robot enters a standby state.

Claims

1. A window cleaning robot based on negative pressure adsorption technology, characterized in that: The invention comprises a housing (100), wherein propulsion structures (300) for providing propulsion power are installed on both sides of the housing (100); a mounting plate (200) is fixed to the bottom surface of the housing (100), and cleaning structures (400) for cleaning windows are installed around the bottom plate (200); a cavity is formed inside the housing (100) and the bottom plate (200), and an auxiliary cleaning structure (600) for auxiliary cleaning of windows and an adsorption structure (500) for adsorption on windows are installed in the cavity; and an auxiliary device and a control system are also included.

2. According to claim 1, a window cleaning robot based on negative pressure adsorption technology is characterized in that: A handle (101) is provided on the top surface of the cover shell (100), air outlets are provided on both sides of the cover shell (100), and the propulsion structure (300) is installed at the location of the air outlets.

3. The window cleaning robot based on negative pressure adsorption technology according to claim 1, characterized in that: The propulsion structure (300) comprises a transverse propulsion structure (301) and a longitudinal propulsion structure (302); the transverse propulsion structures (301) are symmetrically arranged and installed on both sides of the housing (100); each group of transverse propulsion structures (301) comprises a first servo motor (303); the first servo motor (303) is fixed to the top of a support plate (305); the support plate (305) is fixedly connected to the housing (100) via a stud (306); a first propeller blade (304) is installed on the output shaft of the first servo motor (303); and a guardrail (307) is arranged outside the first propeller blade (304) and the first servo motor (303).

4. The window cleaning robot based on negative pressure adsorption technology according to claim 3, characterized in that: The longitudinal propulsion structure (302) is arranged at the bottom end of the housing (100), and the longitudinal propulsion structure (302) includes a first rotary motor (308). The first rotary motor (308) is fixed to the bottom end of the housing (100), and the output shaft of the first rotary motor (308) is also equipped with a first propeller blade (304).

5. The window cleaning robot based on negative pressure adsorption technology according to claim 1, characterized in that: The adsorption structure (500) comprises an adjustment ring (501) arranged at the center of the bottom plate (200); the adjustment ring (501) is in direct contact with the outer surface of the glass and forms a closed space; a second servo motor (502) is fixedly mounted inside the adjustment ring (501) via a frame; a second propeller blade (503) is mounted on the output shaft of the second servo motor (502); and the second propeller blade (503) is driven by the second servo motor (502) to rotate rapidly, thereby generating a negative pressure adsorption force on the glass surface to achieve adsorption of the cleaning robot on the window.

6. The window cleaning robot based on negative pressure adsorption technology according to claim 1, characterized in that: The cleaning structure (400) comprises a fixing plate (401), a connecting foot (402) is provided on the outer edge of the fixing plate (401), the connecting foot (402) is fixedly connected to the bottom plate (200) via a screw (414), a telescopic control rod (403) is fixedly mounted on the fixing plate (401), a second rotary motor (404) is fixedly provided at one end of the telescopic control rod (403), a connecting body (405) is fixedly provided at the end of the output shaft of the second rotary motor (404), a connecting slot (406) is provided at the bottom side of the connecting body (405), and a through slot (406) is provided at one side of the connecting slot (406). 407, the connecting slot (406) is adapted to be plugged with the connecting plug block (408), a positioning slot (411) is provided on one side of the connecting plug block (408), the through slot (407) and the positioning slot (411) are plugged and matched through a fastening plug block (409), a pull block (410) is provided at one end of the fastening plug block (409), and an anti-slip pattern is provided on the pull block (410), the connecting plug block (408) is fixedly mounted on one end of a bearing column (412), and a cleaning soft strip (413) is fixedly mounted on the outer wall of the bearing column (412) at an equal distance, and a cleaning cotton ball (415) is provided on the cleaning soft strip (413).

7. The window cleaning robot based on negative pressure adsorption technology according to claim 1, characterized in that: The auxiliary cleaning structure (600) comprises a water pipe (601), which is fixed to the bottom plate (200) via a positioning hoop (602), one end of the water pipe (601) is connected to the spray head (603), and the other end passes through a through hole provided on the cover shell (100) and is connected to an external water pipe.

8. The window cleaning robot based on negative pressure adsorption technology according to claim 7, characterized in that: The auxiliary device includes a safety device, a power supply device and a water supply device; the safety device provides a safety measure for the operation of the cleaning robot, and the safety device is connected to the cleaning robot body with a safety rope. When the control system detects that the cleaning robot is in an unbalanced state, the safety device will lock the safety rope reel in time; The power supply device provides power, and converts AC power into DC power through a power adapter to power the cleaning robot; The water supply device supplies water to the auxiliary cleaning structure (600) through an external water suction pump.

9. The window cleaning robot based on negative pressure adsorption technology according to claim 8, characterized in that: The control system is electrically connected to the propulsion structure (300), the cleaning structure (400), the auxiliary cleaning structure (600), the adsorption structure (500), and the auxiliary device respectively; When the cleaning robot is performing cleaning operations, the control system "starts with one button", the power supply device supplies power, and the cleaning robot starts working; The control system consists of a laser navigation component connected to a controller. The laser navigation component is used to obtain environmental data and send it to the controller so that the cleaning robot plans a walking route according to the environmental data and controls the working states of the cleaning robot's propulsion structure (300), cleaning structure (400), auxiliary cleaning structure (600), adsorption structure (500) and auxiliary devices.

10. A method for cleaning windows using a window cleaning robot based on negative pressure adsorption technology as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Check whether the cleaning robot has any potential safety hazard. If so, the cleaning robot is not allowed to be used; S2: After confirming that there are no potential safety hazards, hold the cover (100) and place the cleaning robot vertically so that the bottom plate is in close contact with the glass to be cleaned; S3: by sending a start command to the robot control system, the adsorption structure (500) and the propulsion structure (300) of the cleaning robot start working; S4: After the cleaning robot is stably adsorbed on the glass, release the hand, and the cleaning structure (400) and the auxiliary cleaning structure (600) of the cleaning robot start to work, and the cleaning robot officially starts to clean the glass according to the cleaning method pre-designed by the control system. S5: After the cleaning work is completed, the robot returns to the starting position, the cleaning structure (400) and the auxiliary cleaning structure (600) of the cleaning robot stop working, and after the cleaning robot is removed from the window by a person, the propulsion structure (300) and the adsorption structure (500) of the cleaning robot stop working, and the cleaning robot enters a standby state.

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