High-altitude cleaning robot

Abstract

The utility model relates to a high-altitude cleaning robot which comprises a mechanical guide rail, an electromagnetic chuck, a steering engine, a fixed connecting rod, a sliding block, a box body, a first motor, a second motor and a controller. The top of the box body is connected with the mechanical guide rail through the sliding block, the second motor can drive the sliding block to reciprocate in the length direction of the mechanical guide rail, the first motor is installed in the box body, an output shaft of the first motor extends out of the bottom of the box body and then is fixedly connected with the bristle brush, and the first motor can drive the bristle brush to rotate to wipe the front face of an object. The bottoms of the two ends of the mechanical guide rail are connected with output shafts of corresponding steering engines through fixing connecting rods respectively, and electromagnetic chucks are arranged at the fixing ends of the steering engines and make direct contact with the front face of an object. And the controller is electrically connected with and can control the first motor, the second motor, the electromagnetic chuck and the steering engine. The cleaning device has the advantages of being flexible in operation, high in cleaning efficiency and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of high-altitude cleaning equipment, in particular to a high-altitude cleaning robot. Background Art

[0002] With the acceleration of urbanization, the rapid development of modern urban buildings and the increase in the number of high-rise buildings, high-rise buildings have gradually become the main building form in cities. These high-rise buildings usually have large glass curtain walls, such as commercial office buildings, hotels, hospitals, schools, shopping centers, public buildings and other types of high-rise buildings. The glass curtain walls are beautiful and can provide good lighting effects. However, the glass cleaning work on the exterior walls of high-rise buildings faces huge challenges. Traditional glass cleaning work usually requires workers to climb high or hang in a hanging basket for cleaning, which not only has extremely high safety risks, but also has low efficiency.

[0003] In order to solve this problem, a high-altitude glass cleaning robot is needed, which can replace manual high-altitude glass cleaning, reduce the risk of human operation, and improve cleaning efficiency and effect. Utility Model Content

[0004] The utility model is mainly aimed at the above-mentioned problems existing in the prior art, and provides a high-altitude cleaning robot, which has a simple structure, high cleaning efficiency and convenient automatic control, and can effectively solve the problems existing in the prior art.

[0005] The purpose of this utility model is mainly achieved through the following solutions:

[0006] A high-altitude cleaning robot comprises a mechanical guide rail, an electromagnetic suction cup, a steering gear, a fixed connecting rod, a sliding block, a box, a first motor, a second motor and a controller; the top of the box is connected to the mechanical guide rail through the sliding block, the second motor can drive the sliding block to reciprocate along the length direction of the mechanical guide rail, the first motor is installed in the box, and the output shaft of the first motor extends out of the bottom of the box and is fixedly connected to a brush, the first motor can drive the brush to rotate to wipe the front of an object, the bottoms of both ends of the mechanical guide rail are respectively connected to the corresponding steering gear output shaft through a fixed connecting rod, the fixed end of the steering gear is provided with an electromagnetic suction cup, and the electromagnetic suction cup is in direct contact with the front of the object; the controller is electrically connected to the first motor, the second motor, the electromagnetic suction cup and the steering gear and can control them.

[0007] Preferably, the mechanical guide rail includes a guide rail body, a first sliding groove is opened at the bottom of the guide rail body, the second motor is installed on a side wall of the first sliding groove, and the output shaft of the second motor is fixedly connected to a threaded rod, and the other end of the threaded rod is rotatably connected to the other side wall of the first sliding groove.

[0008] Preferably, a second sliding groove is provided in the middle of the upper surface of the sliding block, a fixing block is provided in the middle of the second sliding groove, and a threaded hole threadably connected to the threaded rod is provided in the middle of the fixing block.

[0009] Preferably, the lower surface of the guide rail body contacts the bottom wall of the second sliding groove, the front and rear inner walls of the second sliding groove contact the front and rear outer walls of the guide rail body, the front and rear inner walls of the first sliding groove contact the front and rear side walls of the fixed block, and the upper surface of the fixed block contacts the top wall of the first sliding groove.

[0010] Preferably, the box body includes a lower shell and an upper box cover, the upper box cover is fixedly connected to the lower shell, and the first motor is vertically installed in the lower shell, and the bottom of the sliding block is fixedly installed on the upper surface of the upper box cover.

[0011] Preferably, a magnet used in conjunction with the electromagnetic chuck is placed on the back of the wiping object, and the electromagnetic chuck is energized to achieve adsorption and fixation with the magnet on the back.

[0012] Therefore, compared with the prior art, the utility model has the following advantages:

[0013] (1) The utility model provides an electromagnetic suction cup, a steering gear, a mechanical guide rail, a sliding block, a box, a brush, a first motor and a second motor. The electromagnetic suction cup can ensure that it can be firmly attached to the cleaning surface during high-altitude operations. When it is necessary to move the position, one of the electromagnetic suction cups is powered off and the other electromagnetic suction cup is powered on. The corresponding steering gear can drive the mechanical guide rail to rotate at any angle to achieve all-round wiping, which has high flexibility. In addition, during the cleaning process, starting the second motor can drive the sliding block, the box, the first motor and the brush to reciprocate along the length direction of the mechanical guide rail, thereby ensuring the cleaning effect. At the same time, starting the first motor can drive the brush to rotate to wipe the cleaning surface, thereby efficiently removing dust and stains on the surface.

[0014] (2) The utility model replaces manual outdoor high-altitude operations, reduces the risks of manual operations, and can improve cleaning efficiency and effects, effectively meeting the cleaning needs of high-rise buildings and having good market application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is the front view of the utility model;

[0016] Figure 2 It is a three-dimensional structural schematic diagram of the utility model;

[0017] Figure 3 It is an exploded schematic diagram of the utility model;

[0018] Figure 4 It is a schematic diagram of the internal structure of the guide rail body in the utility model;

[0019] Figure 5 It is a control principle diagram of the electromagnetic chuck in the utility model.

[0020] Illustration: 1-electromagnetic suction cup, 2-servo, 3-mechanical guide rail, 31-guide rail body, 32-first sliding groove, 33-threaded rod, 4-fixed connecting rod, 5-sliding block, 51-second sliding groove, 52-fixed block, 53-threaded hole, 6-box, 61-lower shell, 62-upper box, 7-second motor, 8-brush. DETAILED DESCRIPTION

[0021] The technical solution of the utility model is further described in detail below through specific embodiments and in combination with the accompanying drawings. It should be understood that the implementation of the utility model is not limited to the following embodiments, and any form of modification and / or change made to the utility model will fall within the protection scope of the utility model.

[0022] In the present invention, unless otherwise specified, all parts and percentages are weight units, and the equipment and raw materials used can be purchased from the market or are commonly used in the field. The methods in the following embodiments, unless otherwise specified, are conventional methods in the field. The components or equipment in the following embodiments, unless otherwise specified, are universal standard parts or components known to those skilled in the art, and their structures and principles are known to those skilled in the art through technical manuals or conventional experimental methods.

[0023] Embodiment 1:

[0024] like Figure 1 , 2As shown, the utility model provides a technical solution, a high-altitude cleaning robot, which is composed of a mechanical guide rail 3, an electromagnetic suction cup 1, a steering gear 2, a fixed connecting rod 4, a sliding block 5, a box 6, a first motor, a second motor 7 and a controller; the top of the box 6 is connected to the mechanical guide rail 3 through the sliding block 5, the second motor 7 is installed in the mechanical guide rail 3, and can drive the sliding block 5 to reciprocate along the length direction of the mechanical guide rail 3, the first motor (not shown in the figure) is installed in the box 6, and the output shaft of the first motor extends out of the bottom of the box 6 and is fixedly connected to the brush 8, the first motor can drive the brush 8 to rotate to wipe the front of the object, and the reciprocating movement of the sliding block 5 and the box 6 on the mechanical guide rail 3 can realize all-round wiping of the cleaning surface, which has high flexibility. Activity; the bottoms of both ends of the mechanical guide rail 3 are respectively connected to the corresponding output shaft of the steering gear 2 through a fixed connecting rod 4, and the fixed end of the steering gear 2 is fixedly installed with an electromagnetic suction cup 1 by bolts, and the electromagnetic suction cup 1 is in direct contact with the front of the object; the controller is electrically connected to the first motor, the second motor 7, the electromagnetic suction cup 1 and the steering gear 2 and can control them. The controller is based on the stm32 single-chip microcomputer, and is equipped with a wifi module and a bluetooth module to realize mobile phone wifi and bluetooth wireless remote control of the single-chip microcomputer for remote control. The controller, wifi module and bluetooth module are prior art, and their specific structures and circuits are not within the scope of protection of this application, and those skilled in the art can derive them through common knowledge, conventional means or simple deduction in the art, which will not be repeated here.

[0025] The length of the fixed link 4 can be designed according to the height of the box 6 and the thickness of the brush 8 to ensure that the brush 8 can contact the cleaning surface; in this embodiment, the servo 2 adopts a single-axis controllable rotating device with a torque of 25kg, which can be purchased from the market.

[0026] Specifically, a magnet used in conjunction with the electromagnetic suction cup 1 is placed on the back of the wiping object. The magnet can be placed and moved manually, and the electromagnetic suction cup 1 is energized to achieve adsorption and fixation with the magnet on the back.

[0027] Embodiment 2:

[0028] like Figure 1 , 2 As shown in , 4, the utility model provides another technical solution, a high-altitude cleaning robot, which is different from Example 1 in that the mechanical guide rail 3 includes a guide rail body 31 of a rectangular structure, and a square first sliding groove 32 is opened in the center of the bottom of the guide rail body 31 along its length direction. The second motor 7 is fixedly installed on the left side wall of the first sliding groove 32 by bolts, and the output shaft of the second motor 7 is fixedly connected to a threaded rod 33 through a coupling. The threaded rod 33 is arranged along the length direction of the guide rail body 31, and the other end of the threaded rod 33 is rotatably connected to the right side wall of the first sliding groove 32 through a bearing.

[0029] like Figure 3 As shown, a second sliding groove 51 is horizontally opened in the middle of the upper surface of the sliding block 5, and a fixing block 52 of a rectangular structure is integrally provided in the middle of the second sliding groove 51. A threaded hole 53 threadedly connected to the threaded rod 33 is horizontally opened in the middle of the fixing block 52. The forward and reverse rotation of the second motor 7 can drive the forward and reverse rotation of the threaded rod 33, thereby realizing the reciprocating movement of the sliding block 5, the box body 6, the first motor and the brush 8 on the guide rail body 31.

[0030] Specifically, the lower surface of the guide rail body 31 contacts the bottom wall of the second sliding groove 51, the front and rear inner walls of the second sliding groove 51 contact the front and rear outer walls of the guide rail body 31, the front and rear inner walls of the first sliding groove 32 contact the front and rear side walls of the fixed block 52, and the upper surface of the fixed block 52 contacts the top wall of the first sliding groove 32, thereby ensuring the stability of the sliding block 5 when moving along the guide rail body 31.

[0031] Embodiment 3:

[0032] like Figure 1 , 3 As shown, the utility model provides another technical solution, a high-altitude cleaning robot, which is different from Example 1 in that the box body 6 is composed of a lower shell 61 and an upper box cover 62, the lower shell 61 is a thin-walled rectangular parallelepiped with an opening on the top, and the upper box cover 62 is a thin-walled rectangular cover body, the upper box cover 62 and the lower shell 61 are fixedly connected by bolts, and the first motor is vertically installed in the lower shell 61 by bolts, and the bottom of the sliding block 5 is fixedly installed on the middle of the upper surface of the upper box cover 62 by bolts.

[0033] In this embodiment, the controller can be installed in the box 6, and is equipped with a fully automatic charging and discharging electromagnetic control board and a power supply. The specific structure of the electromagnetic chuck 1 is a prior art, which can be purchased from the market or can be obtained by those skilled in the art through common knowledge, conventional means or simple deduction in the art, and will not be repeated here; based on the above scheme, the specific process of the controller controlling the electromagnetic chuck 1 is as follows: Figure 5 As shown, the fully automatic charging and discharging electromagnetic control board receives the control signal of the controller (the wireless remote control signal received by the single chip microcomputer), and the fully automatic charging and discharging electromagnetic control board outputs a trigger signal to the three-phase full-bridge rectifier circuit. The three-phase full-bridge rectifier circuit outputs a DC voltage to the suction cup coil of the electromagnetic suction cup 1, and the electromagnetic suction cup 1 is fixed by power. The DC voltage is output and fed back to the fully automatic charging and discharging electromagnetic control board through voltage and current to ensure the output of a stable DC voltage.

[0034] When the utility model is used specifically, a magnet is installed on the back of the adsorbed glass during operation. After the servo turns to the desired angle (for the servo, the corresponding PWM wave period is 200ms, that is, the single-chip signal port outputs 200ms as one period. Suppose the signal port outputs '1' for x ms, and outputs '0' for the remaining time, the ratio of x / 200 is the duty cycle value. The single-chip microcomputer controls the rotation of the servo by controlling the duty cycle value. The duty cycle value and the corresponding angle have the following relationship:

[0035] 0.5ms / 200ms = 0 degrees

[0036] 1.0ms / 200ms = 45 degrees

[0037] 1.5ms / 200ms = 90 degrees

[0038] 2.0ms / 200ms = 135 degrees

[0039] 2.5ms / 200ms = 180 degrees

[0040] In the single-chip computer, the timer is used to count the time, and the signal output port outputs '1' or '0' to control the rotation of the servo). The single-chip computer controls the electromagnetic suction cup under the servo to be powered on for fixing. Then, the single-chip computer controls the first motor, the first motor drives the brush to rotate, and the second motor drives the threaded rod to rotate. The sliding block drives the box and the brush to move back and forth for wiping. After wiping, the electromagnetic suction cup at the lower end (one end) is powered off, and the electromagnetic suction cup at the upper end (the other end) is powered on and fixed. The servo at the upper end (the other end) communicates with the WiFi module and Bluetooth module configured by the single-chip computer through the WiFi and Bluetooth wireless terminals of the mobile phone. The two motors communicate with each other to realize wireless remote control of the rotation angle of the corresponding servo to climb upward or to one side. Assuming that the servo rotates 180°, the upward movement of the entire device is realized, and then the electromagnetic suction cup that is not powered on is powered on again, and the corresponding magnet is moved to adsorb and fix it. The first motor and the second motor respectively drive the brush to rotate and move for wiping. After wiping is completed, the above operations are still performed to finally realize the automatic control of the high-altitude cleaning task. The above circuit principle only provides a feasible embodiment, but is not limited to the above structure or principle, as long as the suction cup coil can be energized and has magnetism, and the magnetism disappears when it is turned off.

[0041] In order to ensure the safety of aerial work, a safety rope can be hung on the side wall of the box during outdoor aerial work to prevent the device from accidentally falling due to some kind of malfunction and causing a safety accident.

[0042] The utility model provides a high-altitude cleaning robot. Through the electromagnetic suction cup, steering gear, mechanical guide rail, sliding block, box body, brush, first motor and second motor, the electromagnetic suction cup can ensure that it can be firmly attached to the cleaning surface during high-altitude operation. When it is necessary to move the position, one of the electromagnetic suction cups is powered off and the other electromagnetic suction cup is powered on, and the corresponding steering gear can drive the mechanical guide rail to rotate at any angle to achieve all-round wiping, and the robot has high flexibility. In addition, starting the second motor during the cleaning process can drive the sliding block, the box body, the first motor and the brush to reciprocate along the length direction of the mechanical guide rail to ensure the cleaning effect. At the same time, starting the first motor can drive the brush to rotate to wipe the cleaning surface, and effectively remove dust and stains on the surface. The utility model replaces manual outdoor high-altitude operations, reduces the risks of manual operations, and can improve cleaning efficiency and effects, effectively meets the cleaning needs of high-rise buildings, and has good market application prospects.

[0043] It should be understood that this embodiment is only used to illustrate the present invention and is not used to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the claims attached to this application.

Claims

1. A high-altitude cleaning robot, characterized in that: The invention comprises a mechanical guide rail (3), an electromagnetic suction cup (1), a steering gear (2), a fixed connecting rod (4), a sliding block (5), a box (6), a first motor, a second motor (7) and a controller; the top of the box (6) is connected to the mechanical guide rail (3) through the sliding block (5); the second motor (7) can drive the sliding block (5) to move back and forth along the length direction of the mechanical guide rail (3); the first motor is installed in the box (6); the output shaft of the first motor extends out of the bottom of the box (6) and is fixedly connected to a brush (8); the first motor can drive the brush (8) to rotate to wipe the front of an object; the bottoms of both ends of the mechanical guide rail (3) are respectively connected to the output shaft of the corresponding steering gear (2) through a fixed connecting rod (4); the fixed end of the steering gear (2) is provided with an electromagnetic suction cup (1), and the electromagnetic suction cup (1) is in direct contact with the front of the object; the controller is electrically connected to the first motor, the second motor (7), the electromagnetic suction cup (1) and the steering gear (2) and can control them.

2. A high-altitude cleaning robot according to claim 1, characterized in that: The mechanical guide rail (3) comprises a guide rail body (31), a first sliding groove (32) is provided at the bottom of the guide rail body (31), the second motor (7) is mounted on a side wall of the first sliding groove (32), and the output shaft of the second motor (7) is fixedly connected to a threaded rod (33), and the other end of the threaded rod (33) is rotatably connected to the other side wall of the first sliding groove (32).

3. A high-altitude cleaning robot according to claim 2, characterized in that: A second sliding groove (51) is provided in the middle of the upper surface of the sliding block (5), a fixing block (52) is provided in the middle of the second sliding groove (51), and a threaded hole (53) threadedly connected to the threaded rod (33) is provided in the middle of the fixing block (52).

4. A high-altitude cleaning robot according to claim 3, characterized in that: The lower surface of the guide rail body (31) contacts the bottom wall of the second sliding groove (51), the front and rear inner walls of the second sliding groove (51) contact the front and rear outer walls of the guide rail body (31), the front and rear inner walls of the first sliding groove (32) contact the front and rear side walls of the fixing block (52), and the upper surface of the fixing block (52) contacts the top wall of the first sliding groove (32).

5. The high-altitude cleaning robot according to claim 1, characterized in that: The box body (6) comprises a lower shell (61) and an upper box cover (62), the upper box cover (62) and the lower shell (61) are fixedly connected, and the first motor is vertically installed in the lower shell (61), and the bottom of the sliding block (5) is fixedly installed on the upper surface of the upper box cover (62).

6. The high-altitude cleaning robot according to claim 1, characterized in that: A magnet used in conjunction with the electromagnetic suction cup (1) is placed on the back of the wiping object, and the electromagnetic suction cup (1) is energized to achieve adsorption and fixation with the magnet on the back.

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