Glass cleaning robot

Abstract

The utility model discloses a glass cleaning robot, which belongs to the technical field of cleaning robots and comprises a shell, a bottom plate connected to the bottom of the shell, an adsorption module arranged on the bottom plate, a pressure sensor mounted on the adsorption module and used for detecting pressure change between the adsorption module and glass, and a crawler moving assembly arranged on the bottom plate and used for moving the crawler moving assembly on the bottom plate. According to the intelligent glass cleaning robot, the adsorption problem of the robot in the moving process can be solved through the adsorption module and the crawler belt moving assembly, the contact area and friction force between the robot and the surface of glass are increased through the crawler belt moving assembly, and therefore the robot can be used for cleaning the surface of the glass, and the service life of the robot is prolonged. And the walking performance of the robot on an uneven or inclined glass surface is improved, so that the stability of the robot is ensured, the robot is prevented from falling off due to insufficient adsorption by adjusting all parts, and the safety performance of the robot is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to glass cleaning robot technical field, more specifically, relate to a glass cleaning robot. BACKGROUND

[0002] With the rapid development of robot technology, its application gradually expands from the industrial field to the household service field, and the glass cleaning robot is an important part among them. The glass cleaning robot uses artificial intelligence, sensor technology and automation control to realize efficient and safe cleaning operation. In the field of modern home cleaning, the glass cleaning robot, as a kind of intelligent equipment specially designed for window cleaning, is gradually emerging. These robots can freely move on the vertical glass surface, and through a series of actions such as water spraying and wiping, the windows are wiped clean, saving time and effort for users and improving cleaning efficiency and safety.

[0003] As a service robot, the glass cleaning robot needs to meet the specific requirements of different customers, so there are many defects. At present, the following defects exist: the adsorption of the robot will be affected when moving, causing failure; the robot may fall due to insufficient air pressure when working, causing safety hazards; the cleaning sponge is inconvenient to disassemble, etc. UTILITY MODEL CONTENT

[0004] The main purpose of the utility model is to provide a glass cleaning robot to solve the problems in the above background technology.

[0005] According to the first aspect of the utility model, a glass cleaning robot is provided, comprising:

[0006] The bottom of the shell is connected with the bottom plate;

[0007] The adsorption module is arranged on the bottom plate;

[0008] The pressure sensor is installed on the adsorption module for detecting the pressure change between the adsorption module and the glass;

[0009] The track moving assembly is arranged on the bottom plate and arranged on both sides of the adsorption module;

[0010] The STM32 system board is installed in the shell;

[0011] The Bluetooth module is arranged on the STM32 system board;

[0012] The ultrasonic module is arranged on the STM32 system board.

[0013] In a specific embodiment of the utility model, the adsorption module comprises a vacuumizing device, a first sealing ring and a second sealing ring, the vacuumizing device is provided with an air inlet and an air outlet, the air inlet is arranged away from the shell, the air outlet is arranged towards the shell, the first sealing ring is arranged at the outer periphery of the air inlet, and the second sealing ring is arranged at the outer periphery of the air outlet.

[0014] In a specific embodiment of the utility model, the vacuumizing device is a vacuum pump or a negative pressure fan.

[0015] In a specific embodiment of the utility model, a gap is arranged between the bottom of the first sealing ring and the glass surface.

[0016] In a specific embodiment of the utility model, the track moving assembly comprises a track, a pulley and a protective sleeve, the pulley is symmetrically arranged in the track, the protective sleeve is arranged on the top of the track, a connecting piece is fixedly installed on one side of the protective sleeve, and a motor is arranged in the connecting piece.

[0017] In a specific embodiment of the utility model, a portable bag is installed on the top of the shell, one end of the portable bag is fixedly installed on the top of the shell, and the other end of the portable bag is detachably installed on the top of the shell.

[0018] In a specific embodiment of the utility model, the bottom of the shell is provided with a plurality of fixing plates, assembly holes are formed in the fixing plates, and the bottom plate is fixedly connected with the fixing plates.

[0019] In a specific embodiment of the utility model, the adsorption module, the pressure sensor, the track moving assembly, the STM32 system board, the Bluetooth module and the ultrasonic module form a control system, the control system further comprises a mobile phone application program, the STM32 system board is connected with the ultrasonic module and the Bluetooth module respectively, information interaction is realized, the Bluetooth module is connected with the mobile phone application program, information interaction is realized, the STM32 system board is connected with the track moving assembly and the pressure sensor respectively through output PWM signals, the pressure sensor is connected with the adsorption module, and information interaction is realized.

[0020] The above technical scheme of the utility model has at least one of the following advantages or beneficial effects:

[0021] This invention effectively solves the problem of robot adhesion being affected during movement by using an adsorption module and a tracked moving component. The tracked moving component not only increases the contact area and friction force with the glass surface, but also improves the robot's walking performance on uneven or inclined glass surfaces, thereby ensuring the robot's stability during operation. By controlling each component, the working state of the adsorption module can be quickly adjusted and the air pressure replenished to prevent the robot from falling due to insufficient adhesion, significantly improving the robot's safety performance. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0023] Figure 1 This is a schematic diagram of the structure of a glass cleaning robot in one embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the shell structure in one embodiment of the present invention;

[0025] Figure 3 This is an exploded structural diagram of a glass cleaning robot in one embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the overall control system in one embodiment of the present invention;

[0027] Figure 5 This is a flowchart of a method used in one embodiment of the present invention. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0029] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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 utility model.

[0030] In the description of the utility model, if several meanings are one or more, the meaning of multiple is two or more, greater than, less than, exceed and the like are understood as not including the number, above, below, within and the like are understood as including the number. If it is described to the first, the second is only used for distinguishing the purpose of technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0031] In addition, the terms "first", "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more features.

[0032] In the description of the utility model, it should be pointed out that, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be fixed connection or movable connection, or detachable connection or non-detachable connection, or integrally connected, can be mechanical connection, or electrical connection or can communicate with each other, can be directly connected, or indirectly connected through intermediate medium, can be internal communication of two elements, indirect communication or interaction relationship of two elements.

[0033] The following disclosure provides many different implementations or examples to realize different schemes of the utility model.

[0034] Referring to Figures 1 to 5 As shown in the figure, a glass cleaning robot is provided, comprising:

[0035] The shell 1 is connected with the bottom plate 2 at the bottom of the shell 1.

[0036] The adsorption module 3 is arranged on the bottom plate 2.

[0037] The pressure sensor is installed on the adsorption module 3, which is used to detect the pressure change between the adsorption module 3 and the glass.

[0038] The track moving assembly 5 is arranged on the bottom plate 2 and arranged on both sides of the adsorption module 3, so that the glass cleaning robot can walk on the glass.

[0039] The STM32 system board is installed in the shell 1.

[0040] The Bluetooth module 4 is used to receive the instruction sent by the user's mobile phone application 7, and adjust the position of the robot.

[0041] The ultrasonic module 6 is used to judge the distance between the obstacle.

[0042] The control system comprises the adsorption module 3, a pressure sensor, the crawler moving assembly 5, an STM32 system board, a Bluetooth module 4, a mobile phone application 7 and an ultrasonic module 6, the STM32 system board is connected with the ultrasonic module 6 and the Bluetooth module 4 respectively, information interaction is realized, the Bluetooth module 4 is connected with the mobile phone application 7, information interaction is realized, the STM32 system board is connected with the crawler moving assembly 5 and the pressure sensor through outputting PWM signals, the pressure sensor is connected with the adsorption module 3, and information interaction is realized.

[0043] In the embodiment, the adsorption module 3 adopts the vacuum adsorption technology for adsorption, and the crawler moving assembly 5 moves, so that the problem that the adsorption is affected during the movement of the robot can be effectively solved, the crawler moving assembly 5 not only increases the contact area and the friction force with the glass surface, but also improves the walking performance of the robot on the uneven or inclined glass surface, so that the stability of the robot during the working process is ensured, the working state of the adsorption module 3 can be quickly adjusted through the control system, the air pressure is supplemented, the robot is prevented from falling due to insufficient adsorption, and the safety performance of the robot is remarkably improved.

[0044] The pressure sensor is installed on the adsorption module 3 and can detect the pressure change between the bottom of the robot and the glass in real time. When the air pressure is detected to be reduced or the adsorption force is weakened, the pressure sensor will immediately feed back this information to the control system. Once the control system receives the signal that the air pressure is reduced, it will immediately start the air pressure automatic compensation mechanism to increase the air pressure and strengthen the adsorption force to prevent the robot from falling.

[0045] In one embodiment of the utility model, the adsorption module 3 includes a vacuumizing device 31, a first sealing ring 32 and a second sealing ring 33, the vacuumizing device 31 is provided with an air inlet 311 and an air outlet 312, the air inlet 311 is arranged away from the shell 1, the air outlet 312 is arranged towards the shell 1, the first sealing ring 32 is arranged at the outer periphery of the air inlet 311, the second sealing ring 33 is arranged at the outer periphery of the air outlet 312, a region composed of the first sealing ring 32 is arranged below the vacuumizing device 31, the air in the region surrounded by the first sealing ring 32 is sucked away by starting the vacuumizing device 31, the air pressure in the sealed region is reduced, a vacuum region is formed, when the robot moves, a gap is arranged between the bottom of the first sealing ring 32 and the glass surface, the air is rapidly sucked out by the vacuumizing device 31, the vacuum region is continuously formed, the robot is prevented from falling, the robot is tightly adsorbed on the glass, meanwhile, the second sealing ring 33 is used for preventing air leakage at the other end of the vacuumizing device 31 and fixing the position of the vacuumizing device 31.

[0046] Preferably, the vacuumizing device 31 is arranged as a vacuum pump or a negative pressure fan, and a negative pressure is generated by the vacuum pump or the fan to form a certain vacuum between the cavity and the glass surface, so that the robot is firmly adsorbed on the glass.

[0047] In an embodiment of the utility model, the track moving assembly 5 includes a track 51, a pulley 52 and a protective sleeve 53, the pulley 52 is symmetrically arranged in the track 51, the protective sleeve 53 is sleeved on the top of the track 51, one side of the protective sleeve 53 is fixedly installed with a connecting piece 54, a motor 55 is arranged in the connecting piece 54, the track 51 is used to walk on the glass surface, the track 51 is usually made of rubber, plastic or other wear-resistant materials to increase the contact area and friction with the glass surface, the track moving assembly 5 has better terrain adaptability and stability and can keep good walking performance on uneven or inclined glass surface, the protective sleeve 53 plays a role in protecting the track 51 and prolongs the service life of the track 51, the motor 55 is started to drive the connecting piece 54 to rotate, the pulley 52 rotates, the pulley 52 has teeth, the inside of the track 51 is provided with a tooth groove matched with the teeth, the track 51 rotates with the motor 55, and the robot moves.

[0048] In an embodiment of the utility model, the top of the shell 1 is provided with a portable bag 11, one end of the portable bag 11 is fixedly installed on the top of the shell 1, and the other end of the portable bag 11 is detachably installed on the top of the shell 1, so that the user can directly hold the portable bag 11 by hand and conveniently carry the portable bag 11.

[0049] In an embodiment of the utility model, the bottom of the shell 1 is provided with a plurality of fixed plates 12, assembly holes are formed in the fixed plates 12, the bottom plate 2 is fixedly connected with the fixed plates 12, the inside of the shell 1 is a hollow structure, the fixed plates 12 are used to connect with the bottom plate 2, the robot is convenient to move, the hollow structure in the shell 1 is more, so the weight is lighter, and the user is convenient to carry or take and place.

[0050] Preferably, a plurality of heat dissipation holes are arranged on the outside of the shell 1 to prevent the temperature of other devices in the shell 1 from being too high.

[0051] The utility model also provides a use method of the glass cleaning robot, which is used for operating a glass cleaning robot and includes the following steps:

[0052] S1: starting the cleaning robot, and the STM32 system board starts to work;

[0053] S2: the STM32 system board outputs a PWM signal;

[0054] S3: the PWM signal drives the adsorption module 3 and the track moving assembly 5;

[0055] S4: The adsorption module 3 automatically adjusts the negative pressure state of the adsorption module 3 through the pressure sensor, specifically, during the working process, the installed pressure sensor will detect the pressure change between the bottom and the glass in real time; when the air pressure is detected to be reduced or the adsorption force is weakened, the pressure sensor will immediately feed back the value to the STM32 system board; the STM32 system board receives the signal of the air pressure reduction, and it will immediately start the air pressure automatic compensation mechanism to increase the suction force of the adsorption module 3 and compensate the air pressure; if the set pressure value is met, the current state is kept unchanged;

[0056] S5: The track moving assembly 5 has two operation modes, specifically, manual and automatic modes; the manual mode is to use the Bluetooth module 4 and the mobile phone application 7, the mobile phone application 7 can be used to manually control the robot to walk, and the glass can be cleaned more efficiently; the automatic mode judges the distance between the robot and the obstacle according to the ultrasonic module 6 to prevent collision and improve the safety of the robot; at the same time, combined with the automatic path planning algorithm, the glass can be automatically cleaned, and the cleaning efficiency is improved;

[0057] S6: Turn off the power supply, and the robot ends the work.

[0058] Working principle: The STM32 system board is an STM32F103RCT6 minimum system board, the vacuumizing device 31 is a fan, and the negative pressure vacuum principle is used with a high-power fan, and the pressure sensor is used to automatically adjust the negative pressure value, the track moving assembly 5 uses a set of tracks 51 and motors 55 to make the robot move stably, the motor 55 is a direct current motor, the Bluetooth module 4 and the mobile phone application 7 are matched to manually adjust the position of the robot, and the ultrasonic module 6 automatically controls the track moving assembly 5 to adjust the position and speed of the robot through the STM32 system board.

[0059] The introduction of the air pressure automatic compensation technology significantly improves the safety performance of the glass cleaning robot. It can quickly respond when the robot encounters air pressure fluctuations, uneven glass surface or air pressure changes caused by the movement of the robot, to ensure that the robot will not fall due to insufficient adsorption force. This mechanism usually includes adjusting the working state of the fan or vacuum pump to increase the suction force and compensate the air pressure. Specifically, the robot can increase the speed of the fan or increase the air volume of the vacuum pump, so as to quickly restore and maintain a stable adsorption state.

[0060] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A glass cleaning robot, characterized by, Include: The bottom of the shell (1) is connected with the bottom plate (2); Adsorption module (3), the adsorption module (3) is arranged on the bottom plate (2); Pressure sensor, the pressure sensor is installed on the adsorption module (3), for detecting the pressure change between adsorption module (3) and glass; Crawler moving assembly (5), the crawler moving assembly (5) is arranged on the bottom plate (2), and is arranged on both sides of the adsorption module (3); STM32 system board, the STM32 system board is installed in the shell (1); Bluetooth module (4), the Bluetooth module (4) is arranged on the STM32 system board; Ultrasonic module (6), the ultrasonic module (6) is arranged on the STM32 system board; The adsorption module (3) includes vacuumizing device (31), first sealing ring (32) and second sealing ring (33), the vacuumizing device (31) is provided with air inlet (311) and air outlet (312), the air inlet (311) is away from the shell (1) is arranged, the air outlet (312) is arranged towards the shell (1), the first sealing ring (32) is arranged on the outer periphery of the air inlet (311), the second sealing ring (33) is arranged on the outer periphery of the air outlet (312); The adsorption module (3), pressure sensor, crawler moving assembly (5), STM32 system board, Bluetooth module (4) and ultrasonic module (6) form a control system, the control system further includes mobile phone application (7), the STM32 system board is connected with ultrasonic module (6) and Bluetooth module (4) respectively, realizes information interaction, the Bluetooth module (4) is connected with mobile phone application (7), realizes information interaction, the STM32 system board is connected with crawler moving assembly (5) and pressure sensor respectively through output PWM signal, the pressure sensor is connected with adsorption module (3), realizes information interaction;The outside of the shell (1) is provided with a plurality of heat dissipation holes.

2. The glass cleaning robot according to claim 1, characterized in that, The vacuumizing device (31) is provided with a vacuum pump or a negative pressure fan.

3. The glass cleaning robot according to claim 1, characterized in that, The bottom of the first sealing ring (32) is provided with a gap to the glass surface.

4. The glass cleaning robot according to claim 1, characterized in that, The crawler moving assembly (5) includes track (51), pulley (52) and protective sleeve (53), the pulley (52) is symmetrically arranged in the track (51), the protective sleeve (53) is sleeved on the top of the track (51), one side of the protective sleeve (53) is fixedly installed with connecting piece (54), the motor (55) is arranged in the connecting piece (54).

5. The glass cleaning robot according to claim 1, characterized in that, The top of the shell (1) is provided with a portable bag (11), one end of the portable bag (11) is fixedly installed on the top of the shell (1), the other end of the portable bag (11) is detachably installed on the top of the shell (1).

6. The glass cleaning robot of claim 1, wherein, The bottom of the shell (1) is provided with a plurality of fixed plates (12), the fixed plate (12) is provided with an assembly hole, and the bottom plate (2) is fixedly connected with the fixed plate (12).

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