Glass cleaning robot

Abstract

The utility model discloses a glass cleaning robot, which belongs to the field of cleaning robots and comprises a robot main body, a wheel type component arranged below the robot main body, four leg type components arranged on the periphery of the robot main body, each joint comprises a steering engine and a U-shaped support, the steering engines are rotationally connected with the U-shaped supports, every two adjacent joints are fixedly connected, and a vacuum suction cup is arranged at the tail end of the last joint. Compared with a wheel type walking mode of an existing cleaning robot, the foot type walking type cleaning robot adopts a foot type walking motion mode, the working flexibility of the robot can be greatly improved, and the problems that a traditional wheel type robot is heavy in working and low in cleaning efficiency can be solved by selecting the foot type or wheel type working mode in different environments. The cleaning efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of cleaning robot, especially relates to a glass cleaning robot. BACKGROUND

[0002] With the development of urbanization, most high-rise buildings adopt glass curtain wall structure, and the market share of special-shaped glass curtain wall gradually increases, and these buildings need regular cleaning and maintenance. Using glass cleaning robot instead of manual cleaning glass can effectively improve cleaning safety and cleaning efficiency.

[0003] The working mode of the existing glass cleaning robot is mainly wheel type, and the robot is adsorbed on the glass wall surface through a vacuum pump. This structure has the disadvantages of low flexibility, unsatisfactory cleaning effect when facing corners, junctions and special-shaped surfaces, etc. SUMMARY

[0004] The utility model discloses a glass cleaning robot to solve the above problems.

[0005] In order to realize the above-mentioned purpose, the utility model adopts the technical scheme is such: a glass cleaning robot, including robot main body, be provided with a wheel type subassembly below the robot main body, be provided with four leg type subassembly around the robot main body, wherein, the leg type subassembly includes at least two joints, each the joint includes a rudder and at least one U type support, the rudder is connected with U type support rotation, and mutually connect between adjacent two joints, be provided with vacuum chuck in the terminal of last joint.

[0006] As a preferred technical scheme, the wheel type subassembly includes motor, motor support for supporting the motor and roller, the output shaft of the motor is connected with the roller.

[0007] As a preferred technical scheme, the leg type subassembly includes four joints, is respectively including the first joint of first rudder and two first U type supports, the second joint of including second rudder and second U type support, the third joint of including third rudder and third U type support, the fourth joint of including fourth rudder and two fourth U type supports, the rudder of each joint is connected with its U type support rotation, wherein, the U type support of first joint and second joint is fixedly connected while the second rudder of second joint and the third rudder of third joint are fixedly connected, the third U type support of third joint three and the fourth U type support of fourth joint are fixedly connected, the first rudder and fourth rudder are connected using corresponding U type support, the first rudder, second rudder, third rudder and fourth rudder are connected host computer through serial bus.

[0008] As a further preferred technical solution, the first U-shaped support comprises two supports, a wide U-shaped support and a narrow U-shaped support, the wide U-shaped support is connected with the robot body on the outside and is rotatably connected with the first steering engine on the inside, the narrow U-shaped support is fixedly connected with the first steering engine on the inside and is fixedly connected with the second U-shaped support on the outside.

[0009] As a further preferred technical solution, the first U-shaped support comprises two supports, a wide U-shaped support and a narrow U-shaped support, the wide U-shaped support is connected with the robot body on the outside and is rotatably connected with the first steering engine on the inside, the narrow U-shaped support is fixedly connected with the first steering engine on the inside and is fixedly connected with the second U-shaped support on the outside.

[0010] As a further preferred technical solution, the roller is a rubber wheel, and the motor is a stepping motor.

[0011] The leg type structure bottom of the utility model links vacuum chuck, be used for high strength adsorption in smooth glass surface in duration, by virtue of the bionics principle of long body many foot animals, the motion mode of multidimensional foot formula walking greatly improves the flexibility of robot work, so that it can be in zigzag, corner, edge and special-shaped plane climbing work, make up the deficiency of existing ordinary cleaning robot in this aspect cleaning ability. Meanwhile, this structure can be switched to wheel type structure on ordinary plane, improve the problem of existing cleaning robot in foot formula walking or wheel type walking, make movement more coordinated and stable, improve the cleaning efficiency of the robot.

[0012] The utility model discloses a plurality of movable joints are added on the leg, and the wheel type structure is matched, when executing the task in complex environment, can select the suitable motion mode according to the different topography, and the adaptability is good, and the flexibility is high, satisfies the rescue and carrying etc. task under complex topography.

[0013] Compared with the prior art, the utility model discloses a main application in high altitude glass curtain wall cleaning, relative to the wheel type walking mode of existing cleaning robot, the utility model uses the motion mode of foot formula walking, can greatly improve the flexibility of robot work, and the problem of traditional wheel type robot work heavy, low cleaning efficiency can be improved by selecting foot formula or wheel type working mode in different environment, and the cleaning efficiency is improved. ACCURATE DRAWINGS

[0014] Figure 1 It is the overall structural drawing of the embodiment of the utility model;

[0015] Figure 2 It is the structural drawing of another angle of Figure 1

[0016] Figure 3 It is​Figure 2 a local enlarged view of the wheel assembly;

[0017] Figure 4 is Figure 1 a structural view of the wheel assembly;

[0018] Figure 5 is a component structural view of the first joint;

[0019] Figure 6 is a structural view of the linkage between the first steering engine and the first U-shaped support.

[0020] In the figure: 1, first steering engine; 1-1, power output shaft; 1-2, connecting shaft; 2, first U-shaped support; 2-1, main tray; 2-2, slave tray; 3, second steering engine; 4, second U-shaped support; 5, third steering engine; 6, third U-shaped support; 7, fourth steering engine; 8, fourth U-shaped support; 9, vacuum chuck; 10, robot main body; 11, motor support; 12, roller; 13, motor. DETAILED DESCRIPTION

[0021] The utility model will be further described below with reference to the drawings. EMBODIMENT

[0022] Referring to Figure 1 , a glass cleaning robot comprises a robot main body 10, a wheel assembly is arranged below the robot main body 10, and four leg assemblies are arranged around the robot main body 10, wherein the leg assembly comprises at least two joints, each joint comprises a steering engine and at least one U-shaped support, the steering engine and the U-shaped support are rotationally connected, adjacent two joints are connected to each other, and a vacuum chuck 9 is arranged at the end of the last joint;

[0023] In this embodiment, the wheel assembly comprises a motor 13, a motor support 11 for supporting the motor and a roller 12, as shown in Figure 4 , the output shaft of the motor 13 is connected to the roller 12, the roller 12 is a rubber wheel, and the motor 13 is a stepping motor; the motor 13 is bolted to the motor support 11 and is fixedly installed below the hollow area of the robot main body 10 through the motor support 11, as shown in Figure 2 and Figure 3 , and the rotating shaft of the motor 13 is connected to the roller 12 and drives the rotation of the roller 12;

[0024] In this embodiment, the four joints of the leg assembly are respectively a first joint comprising a first steering engine 1 and two first U-shaped supports 2, a second joint comprising a second steering engine 3 and a second U-shaped support 4, a third joint comprising a third steering engine 5 and a third U-shaped support 6, and a fourth joint comprising a fourth steering engine 7 and two fourth U-shaped supports 8, wherein:

[0025] The first U-shaped support 2 comprises two supports, namely a wide U-shaped support and a narrow U-shaped support, the outer side of the wide U-shaped support is connected with the robot body 10, and the inner side is rotationally connected with the first steering engine 1, the inner side of the narrow U-shaped support is fixedly connected with the first steering engine 1, and the outer side is fixedly connected with the second U-shaped support 4 of the second joint;

[0026] Specifically, the inner side of the wide U-shaped support of the first U-shaped support 2 is fixed with a main tray 2-1 and a slave tray 2-2 through screws, as shown in Figure 6 As shown, the upper and lower opposite surfaces of the first steering engine 1 are respectively provided with a power output shaft 1-1 and a connecting shaft 1-2, the power output shaft 1-1 is inserted into the main tray 2-1 to form a toothed engagement, the connecting shaft 1-2 is fixedly connected with the slave tray 2-2 through bolts, the second U-shaped support 4 is fixedly connected with the rear end of the first steering engine 1, that is, the narrow U-shaped support through bolts; the rotation connection mode of other steering engines to the corresponding U-shaped support also belongs to the connection mode of the above-mentioned "main tray" and "slave tray", which will not be described here;

[0027] The second steering engine 3 is located between the second U-shaped support 4 and rotationally connected with the opposite sides of the second U-shaped support 4 at both ends,

[0028] The third steering engine 5 is fixedly connected with the second steering engine 3, the rear end of the third steering engine 5 is located between the third U-shaped support 6 and rotationally connected with the opposite sides of the third U-shaped support 6 at both ends;

[0029] The front end of the fourth steering engine 7 is fixedly connected with the fourth U-shaped support 8 through bolts, and is fixedly connected with the third U-shaped support 6 through bolts, and the rear end of the fourth steering engine 7 is rotationally connected with the opposite sides of the fourth U-shaped support 8 at both ends;

[0030] The top end of the vacuum chuck 9 is fixedly connected with the fourth U-shaped support 8 through bolts, and a motor pump is installed inside the vacuum chuck 9 to provide a negative pressure environment for the bottom vacuum chuck 9;

[0031] The first steering engine 1, the second steering engine 3, the third steering engine 5 and the fourth steering engine 7 are connected with the upper computer through a serial bus, and the start and stop of the above-mentioned steering engines are controlled through the upper computer.

[0032] Working principle: the above-mentioned robot with the wheel-leg structure continuously adsorbs the vacuum suction cup at the end of the four-legged structure on the smooth surface (such as glass curtain wall) to provide suction force for the robot, and the wheel structure at the bottom of the robot realizes forward or backward movement by rotating; when the robot is on the edge or corner of the irregular surface, the four-legged structure provides support for the main body of the robot, so that the main body is suspended, and the movement of the robot is simulated by the movement of the four-legged animal; specifically, one leg breaks the vacuum adsorption function and steps forward by a proper distance, falls down, starts the adsorption function, and the other leg on the diagonal line repeats the above operation to step forward by a proper distance, and the process is applied to the four-legged structure to move the robot as a whole in the planned direction.

[0033] It should be noted that based on the above structure, those skilled in the art can perform path planning according to existing known methods (such as Zhu Daqi, Yan Mingzhong. Review of mobile robot path planning technology [J]. Control and decision, 2010, 25 (07): 961-967. DOI: 10.13195 / j.cd.2010.07.4.zhudq.014, etc.). For example, using radar, visual sensor and other sensor technologies combined with SLAM technology, real-time path planning in different environments can be realized. Application of artificial intelligence and deep learning in path planning: through convolutional neural network (CNN) and deep reinforcement learning (DRL) technologies, environmental information is processed in real time, and a path is generated.

[0034] In addition, the leg posture adjustment technology of the robot based on the above structure during work is also the existing technology in the art, such as multi-legged robot gait algorithm technology, basic gait algorithm, such as wave gait, peristaltic gait, quadruped gait (for example, Trot Gait), etc. have been quite mature, and have been widely used in some fields (such as six-legged or four-legged robots). Such gait algorithms are suitable for controlling the leg structure of the robot.

[0035] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A glass cleaning robot comprising a robot body (10), characterized in that, A wheel type assembly is arranged below the robot body (10), and four leg type assemblies are arranged around the robot body (10), wherein the leg type assembly comprises at least two joints, each of which comprises a steering engine and at least one U-shaped support, the steering engine is rotationally connected with the U-shaped support, and the adjacent two joints are connected with each other, and a vacuum chuck (9) is arranged at the end of the last joint.

2. A glass cleaning robot according to claim 1, wherein, The wheel type assembly comprises a motor (13), a motor support (11) for supporting the motor, and a roller (12), and the output shaft of the motor (13) is connected with the roller (12).

3. The glass cleaning robot of claim 1, wherein, The leg type assembly comprises four joints, namely a first joint comprising a first steering engine (1) and two first U-shaped supports (2), a second joint comprising a second steering engine (3) and a second U-shaped support (4), a third joint comprising a third steering engine (5) and a third U-shaped support (6), and a fourth joint comprising a fourth steering engine (7) and two fourth U-shaped supports (8), the steering engine of each joint is rotationally connected with its U-shaped support, wherein the U-shaped supports of the first joint and the second joint are fixedly connected, the second steering engine (3) of the second joint is fixedly connected with the third steering engine (5) of the third joint, the third U-shaped support (6) of the third joint is fixedly connected with the fourth U-shaped support (8) of the fourth joint, the first steering engine (1) and the fourth steering engine (7) are connected with corresponding U-shaped supports, and the first steering engine (1), the second steering engine (3), the third steering engine (5) and the fourth steering engine (7) are connected with an upper computer through a serial bus.

4. A glass cleaning robot according to claim 3, wherein, The first U-shaped support (2) comprises two supports, namely a wide U-shaped support and a narrow U-shaped support, the wide U-shaped support is connected with the robot body (10) on the outside and is rotationally connected with the first steering engine (1) on the inside, and the narrow U-shaped support is fixedly connected with the first steering engine (1) on the inside and is fixedly connected with the second U-shaped support (4) on the outside.

5. A glass cleaning robot according to claim 4, wherein, The wide U-shaped support of the first U-shaped support (2) is connected with a main tray (2-1) and a slave tray (2-2) on the inside, wherein the upper and lower opposite surfaces of the first steering engine (1) are respectively provided with a power output shaft (1-1) and a connecting shaft (1-2), the power output shaft (1-1) is inserted into the main tray (2-1) to form a toothed engagement, and the connecting shaft (1-2) is fixedly connected with the slave tray (2-2).

6. A glass cleaning robot according to claim 2, wherein, The roller (12) is a rubber wheel, and the motor (13) is a stepping motor.

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