Vehicle-mounted cleaning and scraping robot

Abstract

The utility model discloses a vehicle-mounted cleaning wiper robot which comprises a mobile platform, a control system, a mechanical arm system, a cleaning wiper assembly and a water spraying system, the control system is arranged on the upper surface of the mobile platform, one end of the mechanical arm system is connected with the upper surface of the mobile platform, and the other end of the mechanical arm system is connected with the cleaning wiper assembly; the mobile platform is used for realizing free movement of the robot on the ground; the control system is used for controlling the moving platform, the mechanical arm system, the cleaning scraper assembly and the water spraying system to conduct cleaning work according to design instructions. According to the vehicle-mounted cleaning wiper robot, the mechanical arms of the mechanical arm system are telescopic and are perpendicular to one another, different glass wiping work can be met, the cleaning wiper assembly is controlled by the control system to clean objects to be cleaned according to a specified path, and in the whole cleaning process, the cleaning wiper assembly is not prone to falling off, and the cleaning efficiency is greatly improved. Full automation is achieved, labor is saved, and various potential safety hazards caused by manual cleaning are eliminated.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaners, in particular to a vehicle-mounted cleaning and scraping robot. Background Art

[0002] There are three main types of existing glass cleaning tools. The first type is a negative pressure adsorption window cleaning robot, but it has the risk of falling during operation. A damp or stained robot chassis will cause the robot to slip or even fall, and it is noisy, and the edges and corners of the glass cannot be wiped, leaving cleaning dead corners and other disadvantages; the second type is a magnetic adsorption glass cleaning tool, that is, two wiping blocks that can be magnetically adsorbed are attached to the two sides of the glass by magnetism, but it requires manpower to achieve the wiping process during operation, which requires strong skills. Careless operation will cause the outer wiping blocks to fall off. For larger glass windows, it will require more physical strength and time. For high-altitude glass, the wiper needs to use escalators and other climbing tools, which poses a safety hazard; the third type is ordinary window cleaning tools, such as hand-held and pole-held glass scrapers, which also require a lot of physical strength and time during operation. When wiping the glass of high-rise residential buildings, the wiper needs to lean out of the window, which poses a great safety hazard. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model aims to provide a vehicle-mounted cleaning and scraping robot.

[0004] The utility model solves the above-mentioned technical problems through the following technical solutions: a vehicle-mounted cleaning and scraping robot, comprising a mobile platform, a control system, a mechanical arm system, a cleaning and scraping assembly and a water spraying system, wherein the control system is arranged on the upper surface of the mobile platform, one end of the mechanical arm system is connected to the upper surface of the mobile platform, and the other end is connected to the cleaning and scraping assembly; the mobile platform is used to realize the free movement of the robot on the ground; the control system is used to control the mobile platform, the mechanical arm system, the cleaning and scraping assembly and the water spraying system to perform cleaning work according to design instructions.

[0005] Preferably, the robotic arm system includes a robotic arm A, a robotic arm B, a rotary joint A and a robotic arm C; one end of the robotic arm A is arranged on the upper surface of the mobile platform, and the other end is fixedly connected to one end of the robotic arm B; the robotic arm C is movably connected to the robotic arm B through the rotary joint A installed at the other end of the robotic arm B.

[0006] Preferably, robotic arm A, robotic arm B and robotic arm C are all retractable robotic arms.

[0007] Preferably, the robotic arm A and the robotic arm B are arranged perpendicularly or at other suitable angles.

[0008] Preferably, the robotic arm B and the robotic arm C are arranged perpendicular to each other or at other appropriate angles.

[0009] Preferably, the cleaning scraper assembly includes a main body, a connecting component, and a cleaning scraper; the connecting component is arranged at one end of the robotic arm C away from the robotic arm B; one end of the main body is connected to the end of the connecting component away from the robotic arm C, and the other end is connected to the cleaning scraper.

[0010] Preferably, the cleaning scraper assembly further includes a pressure detection component for detecting the contact pressure between the cleaning scraper and the surface to be cleaned.

[0011] Preferably, the pressure detection component is arranged between the main body and the cleaning scraper or on the surface of the cleaning scraper.

[0012] Preferably, the cleaning scraper assembly further includes a touch sensor for detecting the positional relationship between the main body and the object to be cleaned. There are several touch sensors, which are respectively arranged on each surface of the main body.

[0013] Preferably, the water spraying system includes a water tank, a water pipe, a motor, and a nozzle. The water tank is arranged on the mobile platform. The water pipe is arranged along the robotic arm system. The nozzle is arranged at the end of the cleaning scraper assembly. The control system is further used to control the water spraying system to perform the cleaning work according to the design instructions.

[0014] Advantages of the present utility model:

[0015] The vehicle-mounted cleaning scraper robot provided by the present utility model uses a combined movement mode of rotation and telescoping as the movement mode for the robotic arm system. At the same time, the robotic arms are arranged perpendicular to each other, which can meet the cleaning work of indoor glass surfaces, outdoor glass surfaces, and glass with special lengths and widths. By controlling the movement of the mobile platform and each robotic arm of the robotic arm system through the control system, the cleaning scraper assembly can perform the cleaning work on the object to be cleaned along the specified path. During the entire cleaning process, full automation is achieved, which not only saves labor but also eliminates various safety hazards brought by manual cleaning. Description of the drawings

[0016] In order to more clearly illustrate the technical solutions of the present utility model, the drawings required for the description of the embodiments will be briefly introduced. Obviously, the drawings in the following description are only one embodiment of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a schematic structural diagram of a vehicle-mounted cleaning scraper robot provided by the present utility model;

[0018] Figure 2 Schematic structural diagram of the cleaning and scraping assembly provided by the present utility model.

[0019] Explanation of reference numerals in the drawings: 1, mobile platform; 2, control system; 3, robotic arm system; 4, cleaning and scraping assembly; 31, robotic arm A; 32, robotic arm B; 33, rotary joint A; 34, robotic arm C; 41, main body; 42, rotary joint B; 43, cleaning scraper; 44, pressure sensor; 45, touch sensor; 46, rotary joint C; 51, water tank; 52, water pipe; 53, nozzle. Detailed implementation manners

[0020] Next, in combination with the drawings in the embodiments of the present utility model, the technical solutions in the present utility model will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0021] As Figure 1-2 shown, this embodiment provides a vehicle-mounted cleaning and scraping robot, including: a mobile platform 1, a control system 2, a robotic arm system 3, a cleaning and scraping assembly 4, and a water spraying system. The control system 2 is disposed on the upper surface of the mobile platform 1. One end of the robotic arm system 3 is connected to the upper surface of the mobile platform 1, and the other end is connected to the cleaning and scraping assembly 4. The mobile platform 1 can move freely on the ground, providing a stable center of gravity and fulcrum for the robot; the control system 2 is used to control the mobile platform 1, the robotic arm system 3, the cleaning and scraping assembly 4, and the water spraying system to execute corresponding commands according to the designed instructions; under the control of the control system 2, the robotic arm system 3 cooperates with the mobile platform 1 to realize the movement of the cleaning and scraping assembly 4, facilitating the cleaning and scraping assembly 4 to spray water and scrape and clean the surfaces to be cleaned at different positions; in some cases, the mobile platform 1 can also be pushed by manpower to move.

[0022] Specifically, the robotic arm system 3 includes a robotic arm A31, a robotic arm B32, a rotary joint A33, and a robotic arm C34. The robotic arm A31, the robotic arm B32, and the robotic arm C34 are telescopic robotic arms. One end of the robotic arm A31 is disposed on the upper surface of the mobile platform 1, and the other end is fixedly connected to one end of the robotic arm B32. The robotic arm B32 and the robotic arm C34 are arranged perpendicular to each other or at other appropriate angles to adapt to cleaning work at different angles. In this embodiment, the robotic arm A31 and the robotic arm B32 are arranged perpendicular to each other. The robotic arm C34 is movably connected to the robotic arm B32 through the rotary joint A33 installed at the other end of the robotic arm B32. The robotic arm C34 and the robotic arm B32 are arranged perpendicular to each other or at other appropriate angles, that is, the robotic arm C34 can rotate around one end of the robotic arm B32 to adapt to cleaning work at different angles. In this embodiment, the robotic arm C34 and the robotic arm B32 are arranged perpendicular to each other.

[0023] The cleaning scraper assembly 4 includes a main body 41, a connecting assembly, a cleaning scraper 43, a pressure detection assembly, and a touch sensor 45. In this embodiment, the connecting assembly is preferably a rotary joint B42 and a rotary joint C46 rotatably connected to the rotary joint B42. The pressure detection assembly is preferably a pressure sensor 44. The rotary joint B42 is disposed at the end of the robotic arm C34 away from the robotic arm B32. One end of the rotary joint C46 is connected to the end of the rotary joint B42 away from the robotic arm C34. One end of the main body 41 is connected to the other end of the rotary joint C46, and the other end is connected to the cleaning scraper 43 through the pressure sensor 44. Optionally, in other embodiments, the pressure sensor 44 may also be disposed on the surface of the cleaning scraper 43. Among them, the rotary joint B42 is used to realize the radial rotation of the main body 41, and the pressure sensor 44 is used to detect the contact pressure between the cleaning scraper 43 and the surface to be cleaned. There are multiple touch sensors 45 disposed on each surface of the main body 41 for detecting the positional relationship between the main body 41 and the object to be cleaned. The cleaning scraper 43 is composed of a skeleton and a rubber strip or other materials suitable for scraping glass. The setting of the pressure sensor 44 ensures that the cleaning scraper 43 contacts the glass with a certain pressure after contacting the glass. When the side of the cleaning scraper assembly 4 contacts the edge of the glass, the touch sensor 45 will send a signal to the control system to execute a predetermined program. The cleaning scraper 43 always moves in the horizontal direction during operation.

[0024] When the robot needs to perform cleaning, according to different cleaning positions, the control system 2 issues instructions to control the mobile platform 1 to move freely on the ground and control the rotation of each robotic arm of the robotic arm system 3. Furthermore, the cleaning scraper assembly 4, under the cooperation of the mobile platform 1 and the robotic arm system 3, scrapes and cleans the object to be cleaned with a certain pressure at its tip along a specified path.

[0025] The water spraying system includes a water tank 51, a water pipe 52, a motor (Figure 1 (not shown in the figure) and a spray head 53. The water tank 51 and the motor are arranged on the mobile platform 1. The water pipe 52 is arranged along the robotic arm system 3. The spray head 53 is arranged at the end of the cleaning and scraping assembly 4. During the cleaning process of the robot, the control system 2 is further configured to control the water spraying system to perform a water spraying operation according to a design instruction, so as to moisten and clean the surface of the object to be cleaned.

[0026] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A vehicle-mounted cleaning and scraping robot, characterized in that: The robot comprises a mobile platform (1), a control system (2), a mechanical arm system (3), a cleaning scraper assembly (4) and a water spray system, wherein the control system (2) is arranged on the upper surface of the mobile platform (1), one end of the mechanical arm system (3) is connected to the upper surface of the mobile platform (1), and the other end is connected to the cleaning scraper assembly (4); the mobile platform (1) is used to realize the free movement of the robot on the ground; and the control system (2) is used to control the mobile platform (1), the mechanical arm system (3), the cleaning scraper assembly (4) and the water spray system to perform cleaning work according to design instructions.

2. A vehicle-mounted cleaning and scraping robot as claimed in claim 1, characterized in that: The robot arm system (3) comprises a robot arm A (31), a robot arm B (32), a rotary joint A (33) and a robot arm C (34); one end of the robot arm A (31) is arranged on the upper surface of the mobile platform (1), and the other end is fixedly connected to one end of the robot arm B (32); the robot arm C (34) is movably connected to the robot arm B (32) via the rotary joint A (33) installed at the other end of the robot arm B (32).

3. A vehicle-mounted cleaning and scraping robot as claimed in claim 2, characterized in that: Robotic arm A (31), robot arm B (32) and robot arm C (34) are all retractable robot arms.

4. A vehicle-mounted cleaning and scraping robot as claimed in claim 2, characterized in that: The mechanical arm A (31) and the mechanical arm B (32) are arranged vertically.

5. The vehicle-mounted cleaning and scraping robot according to claim 3, characterized in that: The mechanical arm B (32) and the mechanical arm C (34) are arranged vertically.

6. A vehicle-mounted cleaning and scraping robot as claimed in claim 2, characterized in that: The cleaning scraper assembly (4) comprises a main body (41), a connecting assembly and a cleaning scraper (43); the connecting assembly is arranged at an end of the mechanical arm C (34) away from the mechanical arm B (32); one end of the main body (41) is connected to an end of the connecting assembly away from the mechanical arm C (34), and the other end is connected to the cleaning scraper (43).

7. A vehicle-mounted cleaning and scraping robot as claimed in claim 6, characterized in that: The cleaning scraper assembly (4) further comprises a pressure detection assembly, wherein the pressure detection assembly is used to detect the contact pressure between the cleaning scraper (43) and the surface to be cleaned.

8. The vehicle-mounted cleaning and scraping robot according to claim 7, characterized in that: The pressure detection component is arranged between the main body (41) and the cleaning scraper (43) or on the surface of the cleaning scraper (43).

9. The vehicle-mounted cleaning and scraping robot according to claim 6, characterized in that: The cleaning scraper assembly (4) further comprises a touch sensor (45), wherein the touch sensor (45) is used to detect the positional relationship between the main body (41) and the cleaning object, and the touch sensors (45) comprise a plurality of touch sensors (45) which are respectively arranged on each surface of the main body (41).

10. The vehicle-mounted cleaning and scraping robot according to claim 1, characterized in that: The water spray system comprises a water tank (51), a motor, a water pipe (52) and a spray head (53); the water tank is arranged on the mobile platform (1); the water pipe is arranged along the mechanical arm system (3); the spray head is arranged at the end of the cleaning scraper assembly (4); and the control system (2) is further used to control the water spray system to perform cleaning work according to design instructions.

Images