Semi-automatic outdoor glass cleaning robot

Abstract

The invention discloses a semi-automatic outdoor glass cleaning robot, and belongs to the technical field of cleaning robots, the semi-automatic outdoor glass cleaning robot comprises a rack, and the rack is provided with an arm capable of extending to the outer side of a window to clean outdoor glass and a control device used for controlling the robot; the tail end of the arm is provided with a cleaning workbench capable of being turned over to achieve the cleaning cloth cleaning function and the water scraping plate cleaning function respectively, and a deflection mechanism used for adjusting the posture of the cleaning workbench, a displacement device used for enabling the tail end of the arm to do vertical movement and a rotating mechanism used for adjusting the direction of the arm are arranged between the rack and the arm. The semi-automatic outdoor glass cleaning robot is low in cost, and outdoor glass can be conveniently cleaned without being attracted to the glass through a suction cup or inner and outer magnets or the like.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and in particular to a semi-automatic outdoor glass cleaning robot. Background Technology

[0002] Currently, some cleaning robots capable of automatically cleaning glass have appeared on the market. However, due to shortcomings such as poor practicality, high operating costs, and poor cleaning results, these cleaning robots have not been widely adopted. Furthermore, these robots are mainly used for cleaning large glass curtain walls, with very few robots suitable for cleaning residential windows. Traditional glass cleaning methods still primarily rely on manual labor, and those performing this work are generally referred to as "spider-men." They typically use a safety rope and a working rope to suspend themselves outside several or even dozens of stories of buildings to clean the glass. Some residential glass cleaners even operate without any safety measures, leaning out of windows or standing directly outside to clean the exterior glass. This type of cleaning work poses significant safety hazards and is extremely dangerous.

[0003] Traditional glass cleaning robots primarily rely on vacuum suction cup adsorption technology. An internal vacuum pump removes air from the suction cup, creating a negative pressure environment that allows the robot to firmly adhere to the glass surface. Invention patent CN106725082B discloses a glass cleaning robot that includes a detergent circulator, an external cleaner positioned on the outside of the glass, and an internal actuator positioned on the inside of the glass. The external cleaner includes an inner frame, a cleaning tray assembly mounted on the inner frame and attached to the glass wall, and an external magnetic block embedded in the inner frame. The internal actuator contains an internal magnetic block for magnetic engagement with the external magnetic block. The detergent circulator is connected to the cleaning tray assembly via a detergent hose. The magnetic attraction between the external and internal magnetic blocks creates an internal and external clamping effect on the glass. Cleaning personnel only need to move the internal actuator within the room to move the external cleaner along the glass for cleaning.

[0004] This technology has low requirements for the medium; it only needs a flat surface without obvious protrusions to be used. It only supports flat glass and cannot adapt to curved or arched glass. It is prone to slipping or getting stuck when encountering obstacles such as window frames. In addition, there are problems such as falsely advertised suction power and poor sealing performance, and there is a risk of falling when used in high-rise buildings. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a low-cost, semi-automatic outdoor glass cleaning robot that can easily clean outdoor glass without the need for suction cups or internal and external magnetic attraction to adhere to the glass.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] A semi-automatic outdoor glass cleaning robot includes a frame, on which is provided an arm capable of extending to the outside of a window to clean outdoor glass and a control device for controlling the robot. The end of the arm is provided with a cleaning worktable for mounting a cleaning cloth. Between the frame and the arm are provided a deflection mechanism for adjusting the posture of the cleaning worktable, a displacement device for making the end of the arm move vertically, and a rotation mechanism for adjusting the direction of the arm.

[0008] Furthermore, the frame includes a U-shaped column and a vertical column located on one side of the U-shaped column. The U-shaped column includes a bent portion at the top and two vertical portions at the bottom. An operating platform is provided between the U-shaped column and the vertical column to form a triangular support structure. The control device is located on the operating platform.

[0009] Furthermore, the deflection mechanism includes a rocker base vertically hinged to the middle of the other side of the U-shaped column, a first ear seat on the rocker base, and a second ear seat on one of the vertical parts of the U-shaped column at a position corresponding to the first ear seat.

[0010] The deflection mechanism further includes a connecting rod and a right-angle rocker arm. One end of the connecting rod is hinged to the first lug, and the other end is hinged to one end of the right-angle rocker arm. The bent part of the right-angle rocker arm is hinged to the second lug, and the other end of the right-angle rocker arm is provided with a rotating handle.

[0011] Furthermore, the displacement device includes a slider bracket fixedly connected to the rocker base. The slider bracket has an upper connecting plate and a lower connecting plate. A lead screw and a slider cooperating with the lead screw are disposed between the upper and lower connecting plates. The slider bracket also has a drive motor for driving the lead screw to rotate.

[0012] Guide rods for guiding the slider are provided on both sides of the lead screw between the upper connecting plate and the lower connecting plate;

[0013] And / or, the drive motor is fixed below the lower connecting plate by a motor mounting plate;

[0014] And / or, a coupling is provided between the drive motor and the lead screw.

[0015] Furthermore, the rotating mechanism includes a connecting base fixedly connected to the slider, an annular base fixedly mounted on the connecting base, a rotating steering wheel that can rotate around the base for mounting the arm on the base, a U-shaped fixing buckle on the side surface of the rotating steering wheel near the base, and a fixing pin that can extend into the U-shaped fixing buckle to lock the rotating steering wheel through the base.

[0016] Furthermore, a screw shaft is provided at the center of the end face of the base near the steering wheel, and the steering wheel is fixed between the base and the end of the screw shaft by the screw shaft;

[0017] And / or, the steering wheel has a base receiving hole on the side surface near the base;

[0018] And / or, both ends of the fixing pin are provided with hook portions for cooperating with the U-shaped fixing buckles, and the U-shaped fixing buckles are an even number and are evenly distributed around the circumference of the steering wheel;

[0019] And / or, a spring is fitted on the fixing pin for resetting the fixing pin;

[0020] And / or, the end of the fixing pin is provided with a button for driving the fixing pin.

[0021] Furthermore, the arm includes an arm base, first and second drive rockers, first and third connecting rods, a connecting frame rod, a cross link, a T-shaped rod, and a Z-shaped rod. The arm base is equipped with a first drive motor and a second drive motor, wherein:

[0022] The first drive motor drives one end of the first drive rocker arm;

[0023] The second drive motor drives one end of the second drive rocker arm, the other end of the second drive rocker arm is hinged to one end of the first connecting rod, and the other end of the first connecting rod is hinged to one end of the second connecting rod;

[0024] The arm base is also provided with a third ear seat, which is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the end of the vertical part of the T-shaped rod;

[0025] The other end of the first drive rocker is hinged to the near part of the second connecting rod. The horizontal connecting rod is provided at the hinge of the first drive rocker and the second connecting rod. The end of the horizontal connecting rod is hinged to one end of the horizontal bar of the T-shaped rod, and the other end of the horizontal bar of the T-shaped rod is hinged to one end of the third connecting rod.

[0026] The Z-shaped rod is hinged between the other end of the second connecting rod and the other end of the third connecting rod, and the cleaning workbench is installed in the middle of the Z-shaped rod.

[0027] Furthermore, a transmission device is provided between the second drive motor and the second drive rocker arm. The transmission device includes a first synchronous pulley, a second synchronous pulley, a bolt shaft, and a stepped shaft, wherein:

[0028] The connection end between the first drive rocker and the first drive motor includes a B1 end away from the first drive motor and a B2 end close to the first drive motor. The first drive motor is keyed to the B2 end of the first drive rocker. The threaded end of the bolt shaft is fixedly connected to the B1 end of the first drive rocker and passes through the stepped shaft. The stepped shaft can rotate relative to the bolt shaft.

[0029] The stepped shaft includes an A1 end and an A2 end. The first synchronous pulley is keyed to the A1 end of the stepped shaft, and the A2 end of the stepped shaft is keyed to the second drive rocker arm.

[0030] The second drive motor drives the second synchronous pulley, and the first and second synchronous pulleys are equipped with synchronous belts.

[0031] Furthermore, the hinge point at the B2 end of the first drive motor and the first drive rocker is denoted as C, and the hinge point at the A2 end of the stepped shaft and the second drive rocker is denoted as C'. Points C and C' are both on the axis of the first drive motor, and in the side view of the arm, they are regarded as the same point.

[0032] The hinge point between the second drive rocker and the first link is denoted as D, the hinge point between the first link and the second link is denoted as E, the hinge point between the first drive rocker, the second link and the cross link is denoted as F, and the hinge point between the T-shaped rod and the cross link is denoted as F' or F''. In the side view of the arm, points F and F' are considered to be the same point, while points F and F'' are different points.

[0033] The hinge point between the T-shaped rod and the third connecting rod is denoted as G, the hinge point between the T-shaped rod and the connecting rod is denoted as H, the hinge point between the third connecting rod and the Z-shaped rod is denoted as I, the hinge point between the second connecting rod and the Z-shaped rod is denoted as J, and the hinge point between the third lug and the connecting rod is denoted as K.

[0034] When the hinge point between the T-shaped rod and the cross link is F', quadrilaterals CDEF, CFHK, and FGIJ are all parallelograms; when the hinge point between the T-shaped rod and the cross link is F'', quadrilaterals CDEF and CFHK are both parallelograms, and F''GIJ is a non-parallelogram.

[0035] Furthermore, both the second and third links include a link body and an extension rod inserted at the distal end of the link body, and the distal end of the link body is provided with a fixing buckle for locking the extension rod;

[0036] And / or, the bottom of the arm base is provided with an extension base;

[0037] And / or, the semi-automatic outdoor glass cleaning robot further includes a cleaning device, which includes a water tank, a water pipe and a water gun connected in sequence, the water pipe is equipped with a water gun control device, and the water gun is installed on the cleaning workbench;

[0038] And / or, the cleaning workbench can be flipped to realize the functions of cleaning the rag and the squeegee respectively. A connecting screw is provided between the cleaning workbench and the rag. The connecting screw is axially movable on the cleaning workbench by a connecting screw. The outer surface of the connecting screw is provided with a protrusion. A spring is sleeved on the connecting screw between the protrusion and the cleaning workbench.

[0039] And / or, the cleaning workbench is equipped with a vision sensor, and the frame is equipped with a vision screen for displaying the status of outdoor glass.

[0040] The present invention has the following beneficial effects:

[0041] The semi-automatic outdoor glass cleaning robot of the present invention includes a frame, on which is equipped an arm that can extend to the outside of the window to clean the outdoor glass. It can clean the outdoor glass conveniently without the need for suction cups or internal and external magnetic attraction to adhere to the glass. Between the frame and the arm, there is a deflection mechanism for adjusting the posture of the cleaning workbench, a displacement device for making the arm move vertically, and a rotation mechanism for adjusting the direction of the arm. Through the coordinated adjustment of the deflection mechanism, the displacement device and the rotation mechanism, it can replace humans to clean the outdoor glass from all directions. The structure is simple and the cost is low. Attached Figure Description

[0042] Figure 1a This is a schematic diagram of the overall structure of the semi-automatic outdoor glass cleaning robot of the present invention from one direction.

[0043] Figure 1b This is a schematic diagram of the overall structure of the semi-automatic outdoor glass cleaning robot of the present invention from another direction;

[0044] Figure 2a This is a structural diagram of the present invention, which includes a frame, a deflection mechanism, and a displacement device, from one direction.

[0045] Figure 2b This is a structural diagram of the present invention from another direction, which includes the frame, deflection mechanism, and displacement device.

[0046] Figure 3a This is a structural diagram of the rotating mechanism in one direction in this invention;

[0047] Figure 3b This is an exploded view of the rotating mechanism in this invention from another direction;

[0048] Figure 3cThis is a structural diagram of the rotating mechanism in another direction in this invention;

[0049] Figure 4a This is a structural diagram of the arm in one direction in this invention;

[0050] Figure 4b This is a structural diagram of the arm from another direction in this invention;

[0051] Figure 4c This is a structural diagram of the arm in another direction in the present invention, and shows a partial exploded view of the drive motor connection part;

[0052] Figure 5a This is a structural diagram of the parallelogram formed by the arms in this invention, taken from one direction.

[0053] Figure 5b This is a structural diagram of the parallelogram formed by the arms in this invention from another direction;

[0054] Figure 5c The exploded view and two partial views show the main components of the parallelogram FGIJ formed by the arms in this invention.

[0055] Figure 6a This is a diagram illustrating the motion effect of the arm in this invention (when the first drive motor is driven alone).

[0056] Figure 6b This is a diagram illustrating the motion effect of the arm in this invention (when the second drive motor is driven alone).

[0057] Figure 6c This is a diagram illustrating the motion of the arm in this invention (when the first and second drive motors are driven simultaneously, and the cleaning cloth is kept on the same horizontal plane).

[0058] Figure 6d This is a diagram illustrating the motion of the arm in this invention (when the first and second drive motors are driven simultaneously, and the cleaning cloth is not kept on the same horizontal plane).

[0059] Figure 7 This is a structural diagram of the cleaning device in this invention;

[0060] Figure 8a This is a diagram illustrating the usage effect of the semi-automatic outdoor glass cleaning robot of the present invention (observed from three outdoor locations U, V, and W).

[0061] Figure 8b This is a diagram illustrating the usage effect of the semi-automatic outdoor glass cleaning robot of the present invention (observed from three indoor locations U, V, and W, corresponding to the outdoor locations).

[0062] Figure 9This is a schematic diagram of the overall structure of the semi-automatic outdoor glass cleaning robot of the present invention, and a partially enlarged schematic diagram of the operating table is shown. Detailed Implementation

[0063] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0064] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0065] This invention provides a semi-automatic outdoor glass cleaning robot, such as... Figures 1a to 9 As shown, the system includes a frame 1, on which is mounted an arm 7 capable of extending to the outside of a window to clean the outdoor glass surface by moving it up and down or near and far, and a control device 2 for controlling the robot. The end of the arm 7 is equipped with a cleaning worktable 8 that can be rotated (specifically, it can be rotated 180°) to respectively realize the functions of cleaning a rag 86 and a squeegee 89. Between the frame 1 and the arm 7, there is a deflection mechanism 4 for adjusting the posture of the cleaning worktable 8, a displacement device 5 for making the end of the arm 7 move vertically, and a rotation mechanism 6 for adjusting the direction of the arm 7.

[0066] In use, the semi-automatic outdoor glass cleaning robot of this invention is first moved to the glass to be cleaned, the window is opened, and then the arm 7 on the frame 1 is extended outside the window. A cleaning cloth 86 is installed on the cleaning worktable 8 at the end of the arm 7. Then, the deflection mechanism 4 is driven to adjust the posture of the cleaning worktable 8, the displacement device 5 is driven to make the arm 7 move vertically, and the rotation mechanism 6 is driven to adjust the direction of the arm 7. Finally, under the combined drive of the deflection mechanism 4, the displacement device 5, and the rotation mechanism 6, the arm 7 makes linear movement (high or low, near or far) relative to the glass surface and moves perpendicular to the glass plane to complete the cleaning of the outdoor glass; or, the control device 2 is driven to make the semi-automatic outdoor glass cleaning robot automatically complete the cleaning of the outdoor glass. It is worth noting that the driving order of the deflection mechanism 4, the displacement device 5, and the rotation mechanism 6 is not important.

[0067] The semi-automatic outdoor glass cleaning robot of the present invention includes a frame 1, on which an arm 7 capable of extending to the outside of a window to clean the outdoor glass is provided. It can conveniently clean the outdoor glass without being attached to the glass by suction cups or internal and external magnetic attraction. Between the frame 1 and the arm 7, there is a deflection mechanism 4 for adjusting the posture of the cleaning workbench 8, a displacement device 5 for making the arm 7 move vertically, a rotation mechanism 6 for adjusting the direction of the arm 7, and a cleaning workbench 8 at the end of the arm 7 for flipping the cleaning cloth 86 and the squeegee 89. Through the coordinated adjustment of the deflection mechanism 4, the displacement device 5 and the rotation mechanism 6, the outdoor glass can be cleaned from all directions. The structure is simple and the cost is low.

[0068] like Figures 2a to 2b As shown, the frame 1 may include a U-shaped column 13 and a vertical column 12 located on one side of the U-shaped column 13. The U-shaped column 13 includes a bent portion 131 at the top and two vertical portions 132 at the bottom. An operating platform 11 is provided between the U-shaped column 13 and the vertical column 12, thus forming a triangular support structure. The control device 2 is installed at an angle on the operating platform 11 to facilitate operation by the operator. The design of the triangular support structure utilizes the triangle to enhance the stability of the overall structure.

[0069] The lower part of the rack 1 may be equipped with a cabinet 14, and the cabinet 14 may be equipped with cabinet doors 15 (specifically, two doors) for easy placement of cleaning supplies, etc.; the bottom of the rack 1 may be equipped with casters 16 (specifically, three casters) for easy movement of the rack 1.

[0070] The deflection mechanism 4 is used to adjust the posture of the cleaning workbench 8, and can take various forms that are easily conceived by those skilled in the art. For ease of implementation, the following structural form is preferred:

[0071] The deflection mechanism 4 includes a rocker base 46 vertically hinged to the middle of the other side of the U-shaped column 13 (i.e. the side away from the vertical column 12). The rocker base 46 is provided with a first ear seat 45, and a second ear seat 42 is provided on one of the vertical parts 132 of the U-shaped column 13 at a position corresponding to the first ear seat 45.

[0072] The deflection mechanism 4 also includes a connecting rod 44 and a right-angle rocker arm 43. One end of the connecting rod 44 is hinged to the first ear seat 42, and the other end is hinged to one end of the right-angle rocker arm 43. The bent part of the right-angle rocker arm 43 is hinged to the second ear seat 42, and the other end of the right-angle rocker arm 43 is provided with a rotating handle 41.

[0073] In use, the vertical motion displacement device 5 can be manually adjusted by turning the handle 41, which means that the cleaning workbench 8 can be finely adjusted manually.

[0074] It is worth noting that the right-angle rocker arm 43, connecting rod 44, rocker arm base 46, and U-shaped column 13 constitute a four-bar linkage, enhancing the stability of the deflection mechanism 4. To further enhance stability, such as... Figures 2a to 2b As shown in the embodiment, the deflection mechanism 4 may include two sets of first ear seats 45 and second ear seats 42, wherein one set of first ear seats 45 and second ear seats 42 ( Figure 2b The first ear seat 45 and the second ear seat 42 located at the top are provided with a connecting rod 44, a right-angle rocker arm 43 and a rotating handle 41, and another set of first ear seats 45 and second ear seats 42 ( Figure 2b A connecting rod 44 and an auxiliary rocker arm 47 are hinged to the first ear seat 45 and the second ear seat 42 located at the bottom. At this time, the auxiliary rocker arm 47, the connecting rod 44, the rocker arm base 46, and the U-shaped column 13 also form a four-bar linkage, which plays a role in assisting, increasing strength and stability. In the figure, numbers 48 and 49 are respectively the protective fence and fixing block for the cleaning fluid bucket.

[0075] The displacement device 5 is used to make the arm 7 move vertically. It can take various forms that are easy for those skilled in the art to conceive of. For ease of implementation, the displacement device 5 preferably includes a slider bracket 57 fixedly connected (specifically, it can be fixed by threaded connection) to the rocker base 46. The slider bracket 57 is provided with an upper connecting plate 59 and a lower connecting plate 54 for mounting the lead screw 56. The lead screw 56 and a slider 58 (specifically, a nut slider) that cooperates with the lead screw 56 are provided between the upper connecting plate 59 and the lower connecting plate 54. The slider bracket 57 is also provided with a drive motor 51 for driving the lead screw 56 to rotate.

[0076] Furthermore, guide rods 55 for guiding the slider 58 can be provided on both sides of the lead screw 56 between the upper connecting plate 59 and the lower connecting plate 54; the drive motor 51 can be fixed below the lower connecting plate 54 by the motor mounting plate 52; a coupling 53 can be provided between the drive motor 51 and the lead screw 56.

[0077] When in use, the drive motor 51 starts and drives the lead screw 56 to rotate through the coupling 53. The slider 58 on the lead screw 56 moves in the vertical direction, thereby driving the arm 7 to move vertically.

[0078] Since the slider 58 is a nut slider and rests against the slider bracket 57, and with the guidance of the guide rods 55 passing through both sides of the nut slider, the nut slider can only move in the vertical direction, making it convenient to use; a lead screw 56 and guide rods 55 are provided between the upper connecting plate 59 and the lower connecting plate 54 to enhance the stability of the slider 58 and improve safety.

[0079] The rotating mechanism 6 is used to adjust the direction of the arm 7, and can take various forms readily conceived by those skilled in the art. For ease of implementation, the following structural form is preferred:

[0080] like Figures 3a to 3c As shown, the rotating mechanism 6 includes a connecting base 63 fixedly connected to the slider 58. An annular base 67 is fixedly provided on the connecting base 63. A rotating steering wheel 61 that can rotate around the base 67 for mounting the arm 7 is provided on the base 67. A U-shaped fixing buckle 66 is provided on the side surface of the rotating steering wheel 61 near the base 67. A fixing pin 62 that can extend into the U-shaped fixing buckle 66 to lock the rotating steering wheel 61 is provided on the base 67.

[0081] In use, first disengage the fixing pin 62 from the U-shaped fixing buckle 66 to release the lock, then rotate the steering wheel 61 to adjust the direction of the arm 7. After the arm 7 reaches the appropriate position, insert the fixing pin 62 into the U-shaped fixing buckle 66 to lock the steering wheel 61, and then you can start cleaning the outdoor glass.

[0082] Thus, the rotating mechanism 6 includes a connecting base 63 fixedly connected to the slider 58, and an annular base 67 fixedly mounted on the connecting base 63. The structure is simple, easy to install and low in cost. The base 67 is provided with a rotating steering wheel 61 that can rotate around the base 67 for mounting the arm 7. The position of the arm 7 can be adjusted simply by rotating the rotating steering wheel 61, which is convenient to use. The base 67 is provided with a fixing pin 62 that can extend into the U-shaped fixing buckle 66 to lock the rotating steering wheel 61. The locking stability is good and the safety is strong.

[0083] Preferably, a screw shaft 68 is provided at the middle of the end face of the base 67 near the steering wheel 61 (that is, the end of the screw shaft 68 is fixed to the base 67 by a threaded connection). The steering wheel 61 is fixed between the base 67 and the end of the screw shaft 68 by the screw shaft 68, which is firmly fixed and has strong stability.

[0084] The surface of the steering wheel 61 near the base 67 may be provided with a base receiving hole 611 to improve compactness and robustness. Both ends of the fixing pin 62 may be provided with hook portions 621 for cooperating with U-shaped fixing buckles 66. There are an even number of U-shaped fixing buckles 66, which are evenly arranged around the circumference of the steering wheel 61. In the embodiment shown in the figure, there are 6 U-shaped fixing buckles 66. The 6 U-shaped fixing buckles 66 distributed circumferentially at 60-degree intervals on the steering wheel 61 can realize 6 positions, and the steering wheel 61 can be locked in multiple positions, which is convenient to use.

[0085] A spring 64 for resetting (keeping locked) the fixed pin 62 can be fitted on it (in a specific implementation, one end of the spring 64 can abut against the protrusion of the fixed pin 62, and the other end can abut against the inner wall of the base 67). A button 65 for driving the fixed pin 62 to move is provided at the end of the fixed pin 62.

[0086] When in use, press button 65, and the fixing pin 62 will slide out from the two U-shaped fixing buckles 66 at the same time. Manually turn the steering wheel 61 to adjust the arm 7 to a suitable angle. Release button 65, and the fixing pin 62 will simultaneously pass into the holes of the two U-shaped fixing buckles 66 at the new position under the elastic force of spring 64. This realizes the adjustment of the arm 7 in space.

[0087] It is obvious that the control of the deflection mechanism 4, the displacement device 5 and the rotation mechanism 6 is independent of each other. Therefore, the installation order of the deflection mechanism 4, the displacement device 5 and the rotation mechanism 6 between the frame 1 and the arm 7 is not limited to the above-mentioned sequential installation order, and can be flexibly adjusted as needed.

[0088] The arm 7 can take various forms readily conceived by those skilled in the art, such as a multi-axis robotic arm; however, for ease of implementation and cost reduction, the following structural form is preferred:

[0089] like Figures 4a to 4c As shown, the arm 7 includes an arm base 72, a first drive rocker arm 76, a second drive rocker arm 74, a first connecting rod 75, a second connecting rod 77, a third connecting rod 710, a connecting frame rod 714, a cross link 78, a T-shaped rod 79, and a Z-shaped rod 713. The arm base 72 is equipped with a first drive motor 73 and a second drive motor 717, wherein:

[0090] The first drive motor 73 drives one end of the first drive rocker arm 76;

[0091] The second drive motor 717 drives one end of the second drive rocker arm 74, the other end of the second drive rocker arm 74 is hinged to one end of the first connecting rod 75, and the other end of the first connecting rod 75 is hinged to one end of the second connecting rod 77.

[0092] The arm base 72 is also provided with a third ear seat 716 (specifically, a double ear seat). The third ear seat 716 is hinged to one end of the connecting rod 714, and the other end of the connecting rod 714 is hinged to the end of the vertical part of the T-shaped rod 79.

[0093] The other end of the first drive rocker 76 is hinged to the near part of the second link 77. A horizontal link 78 is provided at the hinge of the first drive rocker 76 and the second link 77. The end of the horizontal link 78 is hinged to one end of the horizontal bar of the T-shaped rod 79. The other end of the horizontal bar of the T-shaped rod 79 is hinged to one end of the third link 710.

[0094] A Z-shaped rod 713 is hinged between the other end of the second link 77 and the other end of the third link 710, and a cleaning workbench 8 is installed in the middle of the Z-shaped rod 713.

[0095] Figures 4a to 4cIn the embodiment shown, the first drive motor 73 is mounted on the arm base 72 via the first drive motor mounting base 719, and the second drive motor 717 is mounted on the arm base 72 via the second drive motor mounting base 718.

[0096] Furthermore, both the second link 77 and the third link 710 may include link bodies 771 and 7101, and extension rods 772 and 7102 inserted at the distal ends of the link bodies. The distal ends of the link bodies are provided with locking clips 773 and 7103 for locking the extension rods. In this way, the extension rods 772 and 7102 are installed through the second link 77 and the third link 710, and fixed by the locking clips 773 and 7103. This facilitates adjustment of the effective length of the second link 77 and the third link 710, allowing the cleaning cloth 86 to have a larger cleaning range.

[0097] To allow the cleaning cloth 86 to have a larger cleaning range, an extension base 71 may be provided at the bottom of the arm base 72.

[0098] like Figures 4a to 4c As shown, a connecting screw 85 can be provided between the cleaning workbench 8 and the cleaning cloth 86. The connecting screw 85 is axially movable on the cleaning workbench 8 (i.e., the work surface 81) via a connecting thin-waisted bolt 83. The outer surface of the connecting screw 85 has a protrusion, and a spring 84 is sleeved on the connecting screw 85 between the protrusion and the cleaning workbench 8. The work surface 81 serves as the mounting platform for the cleaning cloth 86, with one end connected to the reversing motor 811 and the other end connected to the bow-shaped rod 87 via a hinge. The other end of the bow-shaped rod 87 is fixedly installed above the Z-shaped rod 713 by a screw connection. Because the cleaning cloth 86, the squeegee 89, etc., are located in the middle of the work surface 81, the "bow"-shaped design of the bow-shaped rod 87 will not obstruct the rotation of the work surface 81.

[0099] The connecting screw 85 connects the cleaning cloth 86 to the cleaning workbench 8. The spring 84, in conjunction with the connecting screw 85, ensures that the cleaning cloth remains in contact with the glass during use and helps to cushion and absorb vibrations, thereby improving cleaning effectiveness and service life.

[0100] After the cleaning cloth 86 has been cleaned or has become dirty during use, it can be removed from the connecting screw 85 for rinsing or washing.

[0101] The guide rod 810 is movably placed in the groove on the worktable 81. The wiper blade 89 is fixed to the guide rod 810 by a threaded connection, and a spring 88 is sleeved between them to help the wiper blade 89 buffer and absorb vibration during the wiping process.

[0102] After the cleaning cloth 86 is cleaned, the reversing motor 811 drives the worktable 81 to rotate 180°, so that the squeegee 89 is attached to the glass to remove the sewage.

[0103] The cleaning cloth 86 has higher requirements in terms of usage frequency and pressure, so its shock absorption design is more complex than that of the squeegee 89.

[0104] A vision sensor 82 can be installed on the cleaning workbench 8, and a vision screen 3 for displaying the status of outdoor glass can be installed on the frame 1 (specifically, the control panel 11). In this way, the vision sensor 82 transmits the captured images to the vision screen 3, and the user can observe the status of outdoor glass through the vision screen 3 on the control panel 11, which is convenient to use.

[0105] In this invention, the second drive motor 717 drives and connects to the second drive rocker arm 74, and a transmission device is preferably provided between the two to achieve better drive control. Specific details are as follows:

[0106] The transmission device includes a first synchronous pulley 721, a second synchronous pulley 722, a bolt shaft 723, and a stepped shaft 724, wherein:

[0107] The connection end between the first drive rocker arm 76 and the first drive motor 73 (i.e., the proximal end of the first drive rocker arm 76) includes a B1 end away from the first drive motor 73 and a B2 end close to the first drive motor 73. The first drive motor 73 is keyed to the B2 end of the first drive rocker arm 76. The threaded end of the bolt shaft 723 is fixedly connected to the B1 end of the first drive rocker arm 76 and passes through the stepped shaft 724. The stepped shaft 724 can rotate relative to the bolt shaft 723, but does not affect the movement of the first drive rocker arm 76.

[0108] The stepped shaft 724 includes ends A1 and A2. A first synchronous pulley 721 is keyed to end A1 of the stepped shaft 724, and end A2 of the stepped shaft 724 is keyed to the second drive rocker arm 74. A second drive motor 717 drives a second synchronous pulley 722. A synchronous belt 720 is provided on both the first and second synchronous pulleys 721 and 722. Thus, the second drive motor 717 ultimately transmits motion to the second drive rocker arm 74 via the synchronous belt 720, without affecting the movement of the bolt shaft 723 and the first drive rocker arm 76 (the reason for this design is mentioned in the annotations at points C and C').

[0109] like Figures 5a to 5c As shown, the annotations for the points are as follows:

[0110] Let C be the hinge point between the first drive motor 73 and the B2 end of the first drive rocker arm 76;

[0111] Let C' be the hinge point between end A2 of the stepped shaft 724 and the second drive rocker arm 74. Points C and C' are both on the axis of the first drive motor 73. In the side view of the arm ( Figure 5aIn the analysis, C and C' are considered to be the same point (the reason is that quadrilaterals C'DEF' and CFHK form a parallelogram, and by utilizing the stability of parallelograms, C and C' are considered to be the same point).

[0112] The hinge point between the second drive rocker arm 74 and the first connecting rod 75 is denoted as D;

[0113] Let E be the hinge point between the first link 75 and the second link 77;

[0114] The hinge point of the first drive rocker arm 76, the second connecting rod 77 and the horizontal connecting rod 78 is denoted as F;

[0115] Let the hinge point of T-bar 79 and cross link 78 be denoted as F' or F''. In the side view of the arm, points F and F' are considered to be the same point (for the same reason as C and C', F and F' are considered to be the same point during analysis), while points F and F'' are different points.

[0116] Let G be the hinge point between T-shaped rod 79 and third link 710;

[0117] The hinge point between T-shaped rod 79 and connecting rod 714 is denoted as H;

[0118] The hinge point between the third link 710 and the Z-shaped link 713 (upper end) is denoted as I;

[0119] The hinge point between the second link 77 and the Z-shaped link 713 (lower end) is denoted as J;

[0120] The hinge point between the third lug 716 and the connecting rod 714 is denoted as K.

[0121] At this point, the members satisfy the following relationship:

[0122] CD and EF have the same length and are parallel;

[0123] DE, CF and HK have the same length and are parallel;

[0124] FG and IJ have the same length and are parallel;

[0125] FH and CK are of the same length and parallel;

[0126] GI and FJ are of the same length and are parallel;

[0127] Definition of a planar mechanism: If all components of a mechanism move within the same plane or parallel planes, then the mechanism is called a planar mechanism. Therefore, this two-degree-of-freedom mechanism is a parallel kinematic mechanism that is not in the same plane but can be projected onto the same plane, and can be analyzed as a planar mechanism.

[0128] Therefore, when the hinge point between the T-shaped rod 79 and the horizontal connecting rod 78 is F', quadrilaterals CDEF, CFHK, and FGIJ are all parallelograms. In this way, by utilizing the principle that the two pairs of opposite sides of a parallelogram always remain parallel during the deformation process, no matter how the active rod rotates, the connecting rod (or working platform) parallel to the fixed rod always remains in a horizontal state (or in a posture parallel to the fixed rod). Its motion process is continuous and has the characteristics of reliable motion and good synchronization.

[0129] The effect of use is as follows Figures 6a to 6d As shown, Figure 6a This is a diagram showing the effect when the first drive motor 73 is driven alone. Figure 6b This is a diagram showing the effect when the second drive motor 717 is driven alone. Figure 6c , Figure 6d The images show the effect of the first drive motor 73 and the second drive motor 717 being driven simultaneously. The three driving methods are explained in detail below:

[0130] like Figure 6a As shown, when the first drive motor 73 drives alone: ​​when the first drive rocker arm 76 acts as the active component to drive other links (the second drive rocker arm 74 is stationary), according to the principle (or stability) of parallelograms maintaining parallelism, FH and CK remain parallel, and EJ and CD remain parallel. That is, the second connecting rod 77 and the T-shaped rod 79 maintain their original horizontal posture and do not undergo relative position (position and attitude) movement. Within parallelogram FGIJ, GI and IJ remain stationary relative to FJ and FG. The parallelogram FGIJ as a whole undergoes a large horizontal displacement and a small vertical displacement. That is, the Z-shaped rod 713 undergoes a large horizontal displacement and a small vertical displacement. Therefore, the first drive rocker arm 76 mainly functions to achieve large horizontal displacement of the worktable 81 and the components mounted on it.

[0131] like Figure 6b As shown, when the second drive motor 717 drives alone: ​​when the second drive rocker arm 74 acts as the active component to drive other linkages (the first drive rocker arm 76 is stationary), according to the principle of parallelograms maintaining parallelism, within parallelogram CFHK, the T-shaped rod 79 is stationary (or fixed). Within parallelograms CDEF and CFIL, EJ maintains parallel movement with CD, GI maintains parallel movement with EJ, and IJ, i.e., the Z-shaped rod 713, maintains its parallel movement with the original T-shaped rod (i.e., no change in posture occurs). The Z-shaped rod 713 and the worktable 81 and the components mounted on it undergo small horizontal displacement movements and large vertical displacement movements, without any change in posture.

[0132] like Figure 6cAs shown, when the first drive motor 73 and the second drive motor 717 are driven simultaneously, the effect can be obtained by combining the above content, which will not be repeated here.

[0133] Since the driving of the first drive rocker arm 76 and the second drive rocker arm 74 does not interfere with each other, the Z-shaped rod 713 and the worktable 81 and the components mounted on it can be used as follows: Figure 5a The cleaning cloth 86 reaches a position within the plane without changing its posture. This allows the cleaning cloth 86 to maintain horizontal movement within the outdoor glass surface for horizontal cleaning operations; this is the purpose of using a parallelogram in the design.

[0134] like Figure 5c In the improved embodiment shown, partial view i shows the hinge point F'' of the T-shaped rod 79 and the cross link 78. Partial view ii shows that the extension rods 772 and 7102 each have three pairs of mating points P1 and P2 with the connecting rod body 771 of the second connecting rod 77 and the connecting rod body 7101 of the third connecting rod 710, respectively, thus extending the mechanism. Options include installing the cross link 78 at the F'' position of the T-shaped rod 79, or selecting that the P1 and P2 of the extension rod 772 are not in the same position as the P1 and P2 of the extension rod 7102, or simultaneously installing the cross link 78 at the F'' position of the T-shaped rod 79 and selecting that the P1 and P2 of the extension rod 772 are not in the same position as the P1 and P2 of the extension rod 7102 (this option makes the posture change effect of the cleaning table most obvious). Figure 6d (This is the effect diagram of this situation), so that F''GIJ does not form a parallelogram. That is to say, the hinge points of the T-shaped rod 79 and the horizontal connecting rod 78, as well as the hinge points of the extension rods 772 and 7102 and the corresponding connecting rod bodies 771 and 7101, are not conventional single circular holes, but two intersecting circular holes. This makes the hinge point F of the first drive rocker arm 76, the second connecting rod 77, and the horizontal connecting rod 78, whose projection point on the plane where the T-shaped rod 79 is located, not the same point as the hinge point F'', and the lengths of the second connecting rod 77 and the third connecting rod 710 are slightly different. At this time, quadrilaterals CDEF and CFHK are both parallelograms, but F''GIJ is a non-parallelogram. Thus, as Figure 6d As shown, when the first drive motor 73 and the second drive motor 717 are driven simultaneously, the cleaning cloth 86 undergoes a slight pitching motion within the outdoor glass surface to perform horizontal cleaning (a reference table is added to the figure to better illustrate this). Figure 6d (Slight pitch and tilt changes). This design eliminates the need for the cleaning cloth 86 to be strictly parallel to the glass surface, allowing for better contact with the glass and improved cleaning results.

[0135] like Figure 1a , Figure 1b and Figure 7As shown, the semi-automatic outdoor glass cleaning robot may also include a cleaning device 9. The cleaning device 9 includes a water tank 91, a rubber hose 93, a stainless steel water pipe 94, and a water gun 96 connected in sequence. A water gun control device 92 is installed on the water pipe 93, and the water gun 96 is mounted on the cleaning workbench 8. The water gun control device 92 can control the start / stop of the water gun, and the buttons on the water gun control device 92 can control the on / off state and volume of the cleaning agent, making it convenient to use. In specific implementation, the rubber hose 93 can be fixed to the connecting rod 714 by a metal fastening clamp 715, and the water gun 96 can be fixed to the mounting plate 95 by a threaded connection. The mounting plate 95 has threaded holes and is further fixed to the cleaning workbench 8 by screws.

[0136] It is conceivable that this invention is primarily designed for outdoor glass cleaning. If indoor glass surfaces need to be cleaned, the worktable 81 can be rotated 180° by the reversing motor 811 for reverse use.

[0137] In addition, such as Figure 9 As shown, to facilitate operation of the semi-automatic outdoor glass cleaning robot, the control device 2 of the semi-automatic outdoor glass cleaning robot may include an emergency stop button 21, a start button 22, a power-on button 23, a stop button 24, a button 25, a button 26, and a joystick 27. Buttons 25 and 26 control the direction in which the cleaning cloth 86 approaches and moves away from the glass plane, respectively, while the joystick 27 controls the up-and-down and left-and-right movement of the cleaning cloth 86 on the glass plane. The deflection amplitude of the joystick directly affects the movement speed: the greater the deflection amplitude, the faster the movement; conversely, the smaller the deflection amplitude, the slower the movement. The control device 2 is installed at an angle on the workbench 11, making it easier for operators to operate.

[0138] The water gun control device 92 may include a start button 921, an emergency stop button 922, a water spray button 923, a stop button 924, and a power-on button 925.

[0139] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A semi-automatic outdoor glass cleaning robot, characterized in that, The device includes a frame on which an arm capable of extending to the outside of a window to clean outdoor glass is mounted, and a control device for controlling the robot. At the end of the arm is a cleaning worktable for mounting a cleaning cloth. Between the frame and the arm are a deflection mechanism for adjusting the posture of the cleaning worktable, a displacement device for making the arm move vertically, and a rotation mechanism for adjusting the direction of the arm.

2. The semi-automatic outdoor glass cleaning robot according to claim 1, characterized in that, The frame includes a U-shaped column and a vertical column located on one side of the U-shaped column. The U-shaped column includes a bent part at the top and two vertical parts at the bottom. An operating table is provided between the U-shaped column and the vertical column to form a triangular support structure. The control device is located on the operating table.

3. The semi-automatic outdoor glass cleaning robot according to claim 2, characterized in that, The deflection mechanism includes a rocker base vertically hinged to the middle of the other side of the U-shaped column, a first ear seat on the rocker base, and a second ear seat on one of the vertical parts of the U-shaped column at a position corresponding to the first ear seat. The deflection mechanism further includes a connecting rod and a right-angle rocker arm. One end of the connecting rod is hinged to the first lug, and the other end is hinged to one end of the right-angle rocker arm. The bent part of the right-angle rocker arm is hinged to the second lug, and the other end of the right-angle rocker arm is provided with a rotating handle.

4. The semi-automatic outdoor glass cleaning robot according to claim 3, characterized in that, The displacement device includes a slider bracket fixedly connected to the rocker base. The slider bracket has an upper connecting plate and a lower connecting plate. A lead screw and a slider cooperating with the lead screw are disposed between the upper and lower connecting plates. The slider bracket also has a drive motor for driving the lead screw to rotate. Guide rods for guiding the slider are provided on both sides of the lead screw between the upper connecting plate and the lower connecting plate; And / or, the drive motor is fixed below the lower connecting plate by a motor mounting plate; And / or, a coupling is provided between the drive motor and the lead screw.

5. The semi-automatic outdoor glass cleaning robot according to claim 4, characterized in that, The rotating mechanism includes a connecting base fixedly connected to the slider, an annular base fixedly mounted on the connecting base, a rotating steering wheel that can rotate around the base for mounting the arm on the base, a U-shaped fixing buckle on the side surface of the rotating steering wheel near the base, and a fixing pin that can extend into the U-shaped fixing buckle to lock the rotating steering wheel through the base.

6. The semi-automatic outdoor glass cleaning robot according to claim 5, characterized in that, A screw shaft is provided at the middle of the end face of the base near the steering wheel, and the steering wheel is fixed between the base and the end of the screw shaft by the screw shaft; And / or, the steering wheel has a base receiving hole on the side surface near the base; And / or, both ends of the fixing pin are provided with hook portions for cooperating with the U-shaped fixing buckles, and the U-shaped fixing buckles are an even number and are evenly distributed around the circumference of the steering wheel; And / or, a spring is fitted on the fixing pin for resetting the fixing pin; And / or, the end of the fixing pin is provided with a button for driving the fixing pin.

7. The semi-automatic outdoor glass cleaning robot according to any one of claims 1-6, characterized in that, The arm includes an arm base, first and second drive rockers, first and third connecting rods, a connecting frame rod, a cross link, a T-shaped rod, and a Z-shaped rod. The arm base is equipped with a first drive motor and a second drive motor, wherein: The first drive motor drives one end of the first drive rocker arm; The second drive motor drives one end of the second drive rocker arm, the other end of the second drive rocker arm is hinged to one end of the first connecting rod, and the other end of the first connecting rod is hinged to one end of the second connecting rod; The arm base is also provided with a third ear seat, which is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the end of the vertical part of the T-shaped rod; The other end of the first drive rocker is hinged to the near part of the second connecting rod. The horizontal connecting rod is provided at the hinge of the first drive rocker and the second connecting rod. The end of the horizontal connecting rod is hinged to one end of the horizontal bar of the T-shaped rod, and the other end of the horizontal bar of the T-shaped rod is hinged to one end of the third connecting rod. The Z-shaped rod is hinged between the other end of the second connecting rod and the other end of the third connecting rod, and the cleaning workbench is installed in the middle of the Z-shaped rod.

8. The semi-automatic outdoor glass cleaning robot according to claim 7, characterized in that, A transmission device is provided between the second drive motor and the second drive rocker arm. The transmission device includes a first synchronous pulley, a second synchronous pulley, a bolt shaft, and a stepped shaft, wherein: The connection end between the first drive rocker and the first drive motor includes a B1 end away from the first drive motor and a B2 end close to the first drive motor. The first drive motor is keyed to the B2 end of the first drive rocker. The threaded end of the bolt shaft is fixedly connected to the B1 end of the first drive rocker and passes through the stepped shaft. The stepped shaft can rotate relative to the bolt shaft. The stepped shaft includes an A1 end and an A2 end. The first synchronous pulley is keyed to the A1 end of the stepped shaft, and the A2 end of the stepped shaft is keyed to the second drive rocker arm. The second drive motor drives the second synchronous pulley, and the first and second synchronous pulleys are equipped with synchronous belts.

9. The semi-automatic outdoor glass cleaning robot according to claim 8, characterized in that, Let C be the hinge point at the B2 end of the first drive motor and the first drive rocker arm, and let C' be the hinge point at the A2 end of the stepped shaft and the second drive rocker arm. Both C and C' are on the axis of the first drive motor, and they are considered to be the same point in the side view of the arm. The hinge point between the second drive rocker and the first link is denoted as D, the hinge point between the first link and the second link is denoted as E, the hinge point between the first drive rocker, the second link and the cross link is denoted as F, and the hinge point between the T-shaped rod and the cross link is denoted as F' or F''. In the side view of the arm, points F and F' are considered to be the same point, while points F and F'' are different points. The hinge point between the T-shaped rod and the third connecting rod is denoted as G, the hinge point between the T-shaped rod and the connecting rod is denoted as H, the hinge point between the third connecting rod and the Z-shaped rod is denoted as I, the hinge point between the second connecting rod and the Z-shaped rod is denoted as J, and the hinge point between the third lug and the connecting rod is denoted as K. When the hinge point between the T-shaped rod and the cross link is F', quadrilaterals CDEF, CFHK, and FGIJ are all parallelograms; when the hinge point between the T-shaped rod and the cross link is F'', quadrilaterals CDEF and CFHK are both parallelograms, and F''GIJ is a non-parallelogram.

10. The semi-automatic outdoor glass cleaning robot according to claim 7, characterized in that, Both the second and third links include a link body and an extension rod inserted at the distal end of the link body. The distal end of the link body is provided with a locking buckle for locking the extension rod. And / or, the bottom of the arm base is provided with an extension base; And / or, the semi-automatic outdoor glass cleaning robot further includes a cleaning device, which includes a water tank, a water pipe and a water gun connected in sequence, the water pipe is equipped with a water gun control device, and the water gun is installed on the cleaning workbench; And / or, the cleaning workbench can be flipped to realize the functions of cleaning the rag and the squeegee respectively. A connecting screw is provided between the cleaning workbench and the rag. The connecting screw is axially movable on the cleaning workbench by a connecting screw. The outer surface of the connecting screw is provided with a protrusion. A spring is sleeved on the connecting screw between the protrusion and the cleaning workbench. And / or, the cleaning workbench is equipped with a vision sensor, and the frame is equipped with a vision screen for displaying the status of outdoor glass.

Images