A bionic arm window-wiping robot

Abstract

A bionic arm window cleaning robot includes a basket connected to an external lifting motor via a cable. A base frame is fixedly mounted on the upper surface of the basket, and two parallel X-axis sliding modules are fixedly mounted on the base frame. A mounting plate is slidably connected above the two X-axis sliding modules via a slider. A robotic arm is fixedly mounted above the mounting plate, and a mounting bracket is fixedly mounted at the end of the robotic arm. A window cleaning brush, a mist nozzle, and a scraper are respectively mounted at the end of the mounting bracket. A water pipe reel is fixedly mounted inside the basket, with a water pipe wound around it. One end of the water pipe is connected to the mist nozzle, and the other end is connected to an external water source. This invention overcomes the shortcomings of existing technologies by using a robotic arm to move the mounting bracket at its end along a pre-planned path, thereby enabling the entire window cleaning brush, mist nozzle, and scraper to work collaboratively for efficient window cleaning.

Description

Technical Field

[0001] This utility model relates to the field of mechanical technology, specifically to a bionic arm window cleaning robot. Background Technology

[0002] Glass curtain walls are an aesthetically pleasing and novel method of architectural wall decoration, a prominent feature of the modernist high-rise building era. A glass curtain wall refers to an exterior building envelope or decorative structure that, while supported by a structural system, can have a certain degree of displacement relative to the main structure and does not share the loads of the main structure. However, with China's rapid development and the increasing number of high-rise buildings, cleaning the glass curtain walls of these buildings has become a major challenge.

[0003] Currently, the cleaning of glass curtain walls on high-rise buildings is mainly done manually, which can easily lead to safety accidents if not handled carefully. Existing cleaning equipment is limited to a single type of glass and often fails to achieve the desired cleaning results. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a bionic arm window cleaning robot that overcomes the deficiencies of existing technologies. It is reasonably designed and uses a robotic arm to drive the end-mounted bracket to move along a pre-planned path, thereby enabling the entire window cleaning brush, mist nozzle, and scraper to work together to efficiently clean the window surface.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A bionic arm window cleaning robot includes a basket connected to an external lifting motor via a sling. A base frame is fixedly mounted on the upper surface of the basket, and two parallel X-axis sliding modules are fixedly mounted on the base frame. A mounting plate is slidably connected above the two X-axis sliding modules via a slider. A robotic arm is fixedly mounted above the mounting plate, and a mounting bracket is fixedly mounted at the end of the robotic arm. A window cleaning brush, a mist nozzle, and a scraper are respectively mounted at the end of the mounting bracket.

[0007] A water pipe winding machine is fixedly installed inside the suspended basket. A water pipe is wound in the water pipe winding machine. One end of the water pipe is connected to a mist nozzle, and the other end of the water pipe is connected to an external water source.

[0008] Preferably, electric cylinders are horizontally fixedly installed on both sides of the suspended basket, and support suction cups are fixedly installed on the telescopic ends of the electric cylinders; the support suction cups are used to adhere to the window surface to provide stable support.

[0009] Preferably, the X-axis sliding module includes a base, which is fixedly mounted on a base frame. A drive gear and a driven gear are rotatably mounted at both ends of the base, and a transmission belt meshes between the drive gear and the driven gear.

[0010] A drive shaft is provided between the two X-axis sliding modules. The drive shaft passes through the drive gears in the two X-axis sliding modules and is fixedly connected to the two drive gears on the same axis. One end of the drive shaft is connected to the output shaft of the drive motor. The transmission belt is connected to the mounting plate through a slider.

[0011] Preferably, the mounting bracket includes a support plate, one end of which is fixedly mounted on the end of the robotic arm, and the other end of which is fixedly mounted with an upper mounting plate and a lower mounting plate, respectively. The window cleaning brush is fixedly mounted on the end of the upper mounting plate, the scraper is fixedly mounted on the end of the lower mounting plate, a C-shaped plate is fixedly mounted between the upper and lower mounting plates, and the mist nozzle is fixedly mounted in the middle of the C-shaped plate.

[0012] Preferably, the base frame includes a frame body and multiple clamping plates. Multiple support blocks are uniformly fixedly installed on the lower surface of the frame body. The clamping plates include an H-shaped plate and a top cover plate. The upper slot of the H-shaped plate is engaged with the outside of the frame body. The top cover plate is fixedly installed on the upper surface of the H-shaped plate. The lower slot of the H-shaped plate is engaged with the inner and outer sides of the upper end face of the suspended basket.

[0013] This invention provides a bionic arm window cleaning robot with the following advantages: By controlling the operation of the X-axis sliding module, the mounting plate and robotic arm move in the X-axis direction, allowing the robotic arm to move to a pre-planned working path point; then, the robotic arm is activated, and a mist nozzle is connected to an external water source via a water pipe to spray mist water, softening the stains on the window surface; subsequently, the robotic arm drives the end-mounted bracket to move along the pre-planned path, thereby enabling the entire window cleaning brush, mist nozzle, and scraper to work together for efficient cleaning of the window surface. The window cleaning brush first removes loose stains, the mist nozzle continuously sprays water mist, and the scraper follows to remove residual dirt, ensuring the window surface is clean and bright. By controlling the extension shaft of the electric cylinder to move the support suction cup towards the window surface, the support suction cup can tightly adhere to the window surface, effectively improving the stability of the basket and thus effectively improving the safety and stability of the cleaning operation. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in this utility model or the prior art, the accompanying drawings used in the description of the prior art will be briefly introduced below.

[0015] Figure 1 A schematic diagram of the structure of this utility model;

[0016] Figure 2 A schematic diagram of the base frame and robotic arm in this utility model;

[0017] Figure 3 A schematic diagram of the mounting bracket in this utility model;

[0018] Explanation of the labels in the diagram:

[0019] 1. Suspended platform; 2. Base frame; 3. X-axis sliding module; 4. Mounting plate; 5. Robotic arm; 6. Mounting bracket; 7. Window cleaning brush; 8. Mist nozzle; 9. Scraper; 10. Water pipe reeling machine; 11. Water pipe; 12. Electric cylinder; 13. Support suction cup; 21. Frame; 22. Support block; 23. H-shaped plate; 24. Top cover plate; 31. Base; 32. Drive shaft; 33. Drive motor; 61. Support plate; 62. Upper mounting plate; 63. Lower mounting plate; 64. C-shaped plate. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0021] Example 1, as Figure 1-3 As shown, a bionic arm window cleaning robot includes a basket 1, which is connected to an external lifting motor via a sling. A base frame 2 is fixedly installed on the upper surface of the basket 1. Two parallel X-axis sliding modules 3 are fixedly installed on the base frame 2. A mounting plate 4 is slidably connected above the two X-axis sliding modules 3 via a slider. A robotic arm 5 is fixedly installed above the mounting plate 4. A mounting bracket 6 is fixedly installed at the end of the robotic arm 5. A window cleaning brush 7, a mist nozzle 8, and a scraper 9 are respectively installed at the end of the mounting bracket 6.

[0022] A water pipe reeling machine 10 is fixedly installed inside the suspended platform 1. A water pipe 11 is wound in the water pipe reeling machine 10. One end of the water pipe 11 is connected to the mist nozzle 8, and the other end of the water pipe 11 is connected to an external water source.

[0023] In this embodiment, the water pipe reeling machine 10 is used to control the reeling and unreeling of the water pipe to adapt to the working requirements of the suspended platform 1 at different heights. The water pipe reeling machine 10 is prior art, and the technical solution described in patent number CN202023228806.6, entitled "A Reeling Machine for Outdoor Washing and Irrigation in the Home," will not be repeated here.

[0024] Working principle:

[0025] In operation, the robotic arm 5 is first adjusted to a ready position, then the basket is raised to the predetermined position via an external lifting motor. Next, the X-axis sliding module 3 is controlled to move the mounting plate 4 and robotic arm 5 along the X-axis, allowing the robotic arm 5 to move to the pre-planned work path point. The robotic arm 5 is then activated, and simultaneously, the mist nozzle 8 is connected to an external water source via water pipe 11 to spray mist water, softening stains on the window surface. Subsequently, the robotic arm 5 moves the end mounting bracket 6 along the pre-planned path, which in turn drives the entire window cleaning brush 7, mist nozzle 8, and scraper 9 to work together for efficient window cleaning. The window cleaning brush 7 first removes loose stains, the mist nozzle 8 continuously sprays water mist, and the scraper 9 follows closely to scrape away residual dirt, ensuring the window surface is clean and bright. Next, the robotic arm 5 is adjusted to the ready position, and the X-axis sliding module 3 is controlled to move the mounting plate 4 and the robotic arm 5 to the next path point; the above steps are repeated until the cleaning of the entire window surface is completed. Finally, the basket is moved to the next work area by the external lifting motor, and the above steps are repeated to complete the cleaning of all windows.

[0026] In this embodiment, a control box can be added inside the basket 1, so that the signal output terminal of the control box is connected to the control port of the X-axis sliding module 3 and the control port of the robotic arm 5, respectively, thereby realizing precise automated control of the X-axis sliding module and the robotic arm, improving operational efficiency and safety. By precisely controlling the coordinated operation of each component, the system not only improves cleaning efficiency but also significantly reduces manual labor intensity, achieving the goal of automated window cleaning.

[0027] In Example 2, as a further preferred embodiment of Example 1, electric cylinders 12 are horizontally fixedly installed on both sides of the suspended platform 1. Support suction cups 13 are fixedly installed on the telescopic ends of the electric cylinders 12; the support suction cups 13 are used to adhere to the window surface, providing stable support. In this embodiment, the control port of the electric cylinder 12 is connected to the signal output terminal of the control box, allowing precise control of the extension and retraction of the electric cylinder 12. Therefore, when the suspended platform 1 moves to the predetermined position, the telescopic shaft of the electric cylinder 12 can be extended to drive the support suction cups 13 towards the window surface, thereby allowing the support suction cups 13 to tightly adhere to the window surface, effectively improving the stability of the suspended platform 1, and consequently, effectively improving the safety and stability of the cleaning operation.

[0028] In embodiment three, as a further preferred embodiment one, the X-axis sliding module 3 includes a base 31, which is fixedly mounted on the base frame 2. A drive gear and a driven gear are rotatably mounted at both ends of the base 31, and a transmission belt meshes between the drive gear and the driven gear.

[0029] A drive shaft 32 is provided between the two X-axis sliding modules 3. The drive shaft 32 passes through the drive gears in the two X-axis sliding modules 3 and is fixedly connected to the two drive gears coaxially. One end of the drive shaft 32 is connected to the output shaft of the drive motor 33. The transmission belt is connected to the mounting plate 4 through a slider. The control port of the drive motor 33 is connected to the signal output terminal of the control box.

[0030] Therefore, when it is necessary to control the movement of the mounting plate 4 and the robotic arm 5 in the X-axis direction, a signal can be sent to the drive motor 33 through the control box. The drive motor 33 drives the drive shaft 32 to rotate, and then drives the drive gears in the two X-axis sliding modules 3 to rotate synchronously through the drive shaft 32. This drives the transmission belt and the slider fixed on it to move along the X-axis direction, thereby driving the mounting plate 4 and the robotic arm 5 to move precisely in the X-axis direction.

[0031] In Example 4, as a further preferred embodiment of Example 1, the mounting bracket 6 includes a support plate 61. One end of the support plate 61 is fixedly mounted to the end of the robotic arm 5, and the other end of the support plate 61 is fixedly mounted to an upper mounting plate 62 and a lower mounting plate 63. A window cleaning brush 7 is fixedly mounted to the end of the upper mounting plate 62, and a scraper 9 is fixedly mounted to the end of the lower mounting plate 63. A C-shaped plate 64 is fixedly mounted between the upper mounting plate 62 and the lower mounting plate 63, and a mist nozzle 8 is fixedly mounted in the middle of the C-shaped plate 64. By mounting the window cleaning brush 7 and the scraper 9 to the ends of the upper mounting plate 62 and the lower mounting plate 63 respectively, the coordinated operation of window cleaning and squeegeeing is achieved, improving cleaning efficiency. The stable design of the support plate 61 ensures the stability of the robotic arm 5 during operation, further optimizing the cleaning effect.

[0032] In Example 5, as a further preferred embodiment of Example 1, the base frame 2 includes a frame body 21 and multiple clamping plates. Multiple support blocks 22 are uniformly fixedly installed on the lower surface of the frame body 21. The clamping plates include H-shaped plates 23 and upper cover plates 24. The upper slot of the H-shaped plate 23 is engaged with the outside of the frame body 21, and the upper cover plate 24 is fixedly installed on the upper surface of the H-shaped plate 23. The lower slot of the H-shaped plate 23 is engaged with the inner and outer sides of the upper end face of the suspended basket 1. The support blocks 22 provide multi-point support for the base frame 2, and the combined support of the multiple clamping plates ensures that the base frame 2 can be stably and securely fixed to the upper end face of the suspended basket 1.

[0033] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A bionic arm window cleaning robot, comprising a suspended basket (1), wherein the suspended basket (1) is connected to an external lifting motor via a sling; characterized in that: A base frame (2) is fixedly installed on the upper surface of the suspended basket (1). Two parallel X-axis sliding modules (3) are fixedly installed on the base frame (2). A mounting plate (4) is slidably connected above the two X-axis sliding modules (3) via a slider. A robotic arm (5) is fixedly installed above the mounting plate (4). A mounting bracket (6) is fixedly installed at the end of the robotic arm (5). A window cleaning brush (7), a mist nozzle (8), and a scraper (9) are respectively installed at the end of the mounting bracket (6). A water pipe reel machine (10) is fixedly installed inside the basket (1). A water pipe (11) is wound in the water pipe reel machine (10). One end of the water pipe (11) is connected to a mist nozzle (8), and the other end of the water pipe (11) is connected to an external water source.

2. The bionic arm window cleaning robot according to claim 1, characterized in that: Electric cylinders (12) are fixedly installed horizontally on both sides of the suspended basket (1), and a support suction cup (13) is fixedly installed on the telescopic end of the electric cylinder (12); the support suction cup (13) is used to adhere to the window surface to provide stable support.

3. The bionic arm window cleaning robot according to claim 1, characterized in that: The X-axis sliding module (3) includes a base (31), which is fixedly installed on the base frame (2). A drive gear and a driven gear are rotatably installed at both ends of the base (31), and a transmission belt meshes between the drive gear and the driven gear. A drive shaft (32) is provided between the two X-axis sliding modules (3). The drive shaft (32) passes through the drive gears in the two X-axis sliding modules (3) and is coaxially fixedly connected to the two drive gears. One end of the drive shaft (32) is connected to the output shaft of the drive motor (33). The transmission belt is connected to the mounting plate (4) through a slider.

4. The bionic arm window cleaning robot according to claim 1, characterized in that: The mounting bracket (6) includes a support plate (61), one end of which is fixedly mounted on the end of the robotic arm (5), and the other end of which is fixedly mounted with an upper mounting plate (62) and a lower mounting plate (63). The window cleaning brush (7) is fixedly mounted on the end of the upper mounting plate (62), and the scraper (9) is fixedly mounted on the end of the lower mounting plate (63). A C-shaped plate (64) is fixedly mounted between the upper mounting plate (62) and the lower mounting plate (63), and the mist nozzle (8) is fixedly mounted in the middle of the C-shaped plate (64).

5. The bionic arm window cleaning robot according to claim 1, characterized in that: The base frame (2) includes a frame (21) and multiple clamping plates. Multiple support blocks (22) are uniformly fixedly installed on the lower surface of the frame (21). The clamping plates include an H-shaped plate (23) and an upper cover plate (24). The upper slot of the H-shaped plate (23) is engaged with the outside of the frame (21). The upper cover plate (24) is fixedly installed on the upper surface of the H-shaped plate (23). The lower slot of the H-shaped plate (23) is engaged with the inner and outer sides of the upper end face of the hanging basket (1).

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