Obstacle avoidance mechanism for a tracked window cleaning robot
Patent Information
- Application Number
- CN202522099690.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-29
- Publication Date
- 2026-08-21
- Estimated Expiration
- 2035-09-29
AI Technical Summary
[0005]本实用新型的目的在于提供一种履带式擦窗机器人避障机构，以解决上述背景技术中提到的现有技术中的擦窗机器人在向玻璃表面喷水时，水雾会在风力的作用下蒙附在传感器表面，会导致机器做出避障的误操作，需要人为引导，将机器取下，并对传感器擦拭清洁，导致擦窗作业中断，耽误清洁时间，降低作业效率的问题
[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model sets a cleaning structure on the outside of the sensor, the rotating rod can rotate inside the protective shell, and a wiping cloth is attached to the surface of the rotating rod. When the rotating rod rotates, the surface of the sensor can be wiped with the wiping cloth to clean the debris on the sensor surface, keep the sensor clean, ensure the accuracy of obstacle detection, and avoid collision with the window frame, which could cause the device to loosen and fall off.
Smart Images
Figure CN224655202U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of window cleaning robot technology, specifically to an obstacle avoidance mechanism for a tracked window cleaning robot. Background Technology
[0002] As a type of service robot, window cleaning robots have made cleaning and maintenance of large glass windows simple. Window cleaning robots are equipped with sensors that can detect obstacles, avoid collision risks, and ensure operational safety.
[0003] To ensure detection accuracy, most sensors of existing window cleaning robots are exposed on the surface. However, when the window cleaning robot sprays water onto the glass surface, the water mist can adhere to the sensor surface under the action of wind, causing the machine to make erroneous obstacle avoidance operations. This requires manual guidance to remove the machine and clean the sensors, resulting in interruption of the window cleaning operation, delaying cleaning time and reducing work efficiency.
[0004] Therefore, in order to solve the above problems, an obstacle avoidance mechanism for a tracked window cleaning robot is proposed. Utility Model Content
[0005] The purpose of this utility model is to provide an obstacle avoidance mechanism for a tracked window cleaning robot, in order to solve the problem mentioned in the background art that when a window cleaning robot sprays water onto the glass surface, the water mist will adhere to the sensor surface under the action of wind, causing the machine to make erroneous obstacle avoidance operations. This requires manual guidance to remove the machine and clean the sensors, resulting in interruption of window cleaning operations, delaying cleaning time and reducing work efficiency.
[0006] To achieve the above objectives, this utility model provides the following technical solution: a tracked window cleaning robot obstacle avoidance mechanism, comprising: a shell, a vacuum adsorption component disposed on the bottom surface of the shell, tracked moving components disposed on the left and right sides of the vacuum adsorption component, a top cover mounted on the top surface of the shell, and sensors disposed on the front and rear sides of the vacuum adsorption component; A cleaning structure is installed on the outer shell. The cleaning structure includes a micro motor, which is fixedly installed inside the outer wall of the outer shell. The output end of the micro motor is fixedly connected to a plug. A rotating rod is provided on one side of the plug. A slot is opened on one side wall of the upper end of the rotating rod. A screw is threadedly connected to the other side wall of the upper end of the rotating rod. A rag is adhered to the lower surface of the rotating rod. A protective shell is fixedly installed on the outer wall of the outer shell.
[0007] Preferably, the insert is inserted inside the slot, and the shape of the insert is adapted to the shape of the slot.
[0008] Preferably, the screw passes through the rotating rod, and the end of the screw is movably mounted inside the insert block via a thread.
[0009] Preferably, the cloth is located on the side of the rotating rod surface near the slot, and the surface of the cloth is flush with the outer wall of the sensor.
[0010] Preferably, the rotating rod is located inside the protective shell.
[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model sets a cleaning structure on the outside of the sensor, the rotating rod can rotate inside the protective shell, and a wiping cloth is attached to the surface of the rotating rod. When the rotating rod rotates, the surface of the sensor can be wiped with the wiping cloth to clean the debris on the sensor surface, keep the sensor clean, ensure the accuracy of obstacle detection, and avoid collision with the window frame, which could cause the device to loosen and fall off.
[0012] This invention features a cleaning structure. When a micro motor is activated, a rotating rod is driven to rotate via a plug and slot. The rotating rod rotates inside the protective housing, and a cloth is attached to its surface. As the rod rotates, the cloth wipes the sensor surface, cleaning away impurities. This allows for convenient cleaning of sensor surface impurities without removing the machine from the glass, ensuring continuous window cleaning operations, saving cleaning time, and improving work efficiency. When the cloth ages or deforms, the rotating rod can be secured, and a screw can be unscrewed from the plug and rotating rod, releasing the rotating rod from the plug. The rotating rod can then be removed from the plug for cloth replacement. This convenient operation ensures effective cleaning of the sensor and enhances the device's practicality. Attached Figure Description
[0013] Figure 1 This is a front view schematic diagram of the structure of this utility model; Figure 2 This is a bottom view of the structure of this utility model; Figure 3 This is a side sectional view of the structure of this utility model; Figure 4 This is an exploded side view sectional view of the cleaning structure of this utility model.
[0014] In the diagram: 1. Outer shell; 11. Vacuum adsorption assembly; 12. Tracked movement assembly; 13. Top cover; 14. Sensor; 2. Cleaning structure; 21. Micro motor; 22. Insert block; 23. Rotating rod; 24. Slot; 25. Screw; 26. Wiping cloth; 27. Protective shell. Detailed Implementation
[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0016] Please see Figures 1-4 This utility model provides an embodiment of an obstacle avoidance mechanism for a tracked window cleaning robot: The housing 1, vacuum adsorption assembly 11, track moving assembly 12, top cover 13, sensor 14 and micro motor 21 used in this application are products that can be purchased directly from the market. Their principles and connection methods are existing technologies well known to those skilled in the art, so they will not be described in detail here.
[0017] An obstacle avoidance mechanism for a tracked window cleaning robot includes: a shell 1, a vacuum adsorption assembly 11 disposed on the bottom surface of the shell 1, track moving assemblies 12 disposed on the left and right sides of the vacuum adsorption assembly 11, a top cover 13 mounted on the top surface of the shell 1, and sensors 14 disposed on the front and rear sides of the vacuum adsorption assembly 11. A cleaning structure 2 is installed on the outer casing 1. The cleaning structure 2 includes a micro motor 21, which is fixedly installed inside the outer wall of the outer casing 1. The output end of the micro motor 21 is fixedly connected to a plug 22. A rotating rod 23 is provided on one side of the plug 22. A slot 24 is opened on one side wall of the upper end of the rotating rod 23. A screw 25 is threadedly connected to the other side wall of the upper end of the rotating rod 23. A wiping cloth 26 is adhered to the lower surface of the rotating rod 23. A protective shell 27 is fixedly installed on the outer wall of the outer casing 1. By setting the cleaning structure 2 on the outside of the sensor 14, the rotating rod 23 can rotate inside the protective shell 27. The wiping cloth 26 is adhered to the surface of the rotating rod 23. When the rotating rod 23 rotates, the surface of the sensor 14 can be wiped by the wiping cloth 26 to clean the debris on the surface of the sensor 14, keep the sensor 14 clean, ensure the accuracy of obstacle detection, and avoid collision with the window frame, which could cause the device to loosen and fall off.
[0018] Furthermore, the insert 22 is inserted into the slot 24. The shape of the insert 22 is adapted to the shape of the slot 24. The insert 22 cooperates with the slot 24 to provide positioning for the fixed installation of the rotating rod 23 at the output end of the micro motor 21, so as to avoid the micro motor 21 from spinning idly and failing to drive the rotating rod 23 to rotate.
[0019] Furthermore, screw 25 passes through rotating rod 23, and the end of screw 25 is movably mounted inside insert block 22 by thread. Screw 25 provides fixation for the connection of rotating rod 23 to the output end of micro motor 21.
[0020] Furthermore, the wiping cloth 26 is located on the side of the rotating rod 23 near the slot 24. The surface of the wiping cloth 26 is flush with the outer wall of the sensor 14. When the rotating rod 23 is installed, the wiping cloth 26 can be located on the side near the sensor 14, which makes it convenient for the wiping cloth 26 to wipe the surface of the sensor 14.
[0021] Furthermore, the rotating rod 23 is located inside the protective shell 27. The rotating rod 23 can rotate inside the protective shell 27, which provides shielding for the installation of the rotating rod 23 and does not affect the normal detection use of the sensor 14.
[0022] Working principle: When the surface of sensor 14 is obstructed by debris during operation, the micro motor 21 is activated, which drives the rotating rod 23 to rotate through the insert 22 and slot 24. The rotating rod 23 rotates inside the protective shell 27, and a wiping cloth 26 is provided on the surface of the rotating rod 23. The wiping cloth 26 follows the rotation of the rotating rod 23 to wipe the surface of sensor 14, thereby cleaning the debris on the surface of sensor 14. This achieves convenient cleaning of impurities on the surface of sensor 14 without removing the machine from the glass, ensuring continuous window cleaning operations, saving cleaning time, and improving work efficiency. When the rag 26 ages and deforms, the rotating rod 23 can be fixed and the screw 25 can be rotated to unscrew the screw 25 from the insert block 22 and the rotating rod 23, thereby releasing the rotating rod 23 from the insert block 22. At this time, the rotating rod 23 can be removed from the insert block 22 to replace the rag 26. The operation is convenient and can ensure the cleaning effect of the cleaning structure 2 on the sensor 14, thus improving the practicality of the device.
[0023] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any way. Those skilled in the art can readily implement this utility model based on the accompanying drawings and the above description. However, any modifications, alterations, or equivalent variations made by those skilled in the art without departing from the scope of the utility model's technical solution, utilizing the disclosed technical content, are considered equivalent embodiments of this utility model. Furthermore, any equivalent changes, alterations, or variations made to the above embodiments based on the essential technology of this utility model are still within the protection scope of this utility model's technical solution.
Claims
1. An obstacle avoidance mechanism for a tracked window cleaning robot, comprising: The outer shell (1) has a vacuum adsorption assembly (11) on its bottom surface, and a track moving assembly (12) is provided on the left and right sides of the vacuum adsorption assembly (11). A top cover (13) is installed on the top surface of the outer shell (1), and sensors (14) are provided on the front and rear sides of the vacuum adsorption assembly (11). Its features are: A cleaning structure (2) is installed on the outer shell (1). The cleaning structure (2) includes a micro motor (21). The micro motor (21) is fixedly installed inside the outer wall of the outer shell (1). The output end of the micro motor (21) is fixedly connected to a plug (22). A rotating rod (23) is provided on one side of the plug (22). A slot (24) is opened on one side wall of the upper end of the rotating rod (23). A screw (25) is threaded on the other side wall of the upper end of the rotating rod (23). A rag (26) is glued to the lower surface of the rotating rod (23). A protective shell (27) is fixedly installed on the outer wall of the outer shell (1).
2. The obstacle avoidance mechanism for a tracked window cleaning robot according to claim 1, characterized in that: The insert (22) is inserted into the slot (24), and the shape of the insert (22) is adapted to the shape of the slot (24).
3. The obstacle avoidance mechanism for a tracked window cleaning robot according to claim 1, characterized in that: The screw (25) passes through the rotating rod (23), and the end of the screw (25) is movably installed inside the insert (22) by means of a thread.
4. The obstacle avoidance mechanism for a tracked window cleaning robot according to claim 1, characterized in that: The rag (26) is located on the side of the rotating rod (23) near the slot (24), and the surface of the rag (26) is flush with the outer wall of the sensor (14).
5. The obstacle avoidance mechanism for a tracked window cleaning robot according to claim 1, characterized in that: The rotating rod (23) is located inside the protective shell (27).