阅读说明：本技术 一种智能擦窗机器人及其操作方法 (A kind of intelligence window wiping robot and its operating method ) 是由 房亚群 安进 张丹 于 2019-08-28 设计创作，主要内容包括：本发明涉及擦窗机器人技术领域,具体涉及一种智能擦窗机器人及其操作方法,包括底座,底座的底部左右两侧对称设有刹车万向轮,左右两侧刹车万向轮之间设有真空吸盘,真空吸盘的顶部通过真空发生器与底座的底部中央相连,底座的顶部中央固定连接有圆台型储水箱,圆台型储水箱的右侧中部贯穿设有出水管,出水管的左端与设置在圆台型储水箱内腔的抽水泵出水口相连,出水管的右端贯通连接有连接器,圆台型储水箱的顶部设有支撑台,支撑台的顶部中央设有第一电动伸缩杆；本发明能够有效克服现有技术所存在的市面上的擦窗机器人大多采用吸附于玻璃的方式进行作业,效率低下且安全性较低的缺陷。(The present invention relates to window wiping robot technical fields, more particularly to a kind of intelligent window wiping robot and its operating method, including pedestal, brake universal wheel is symmetrically arranged at left and right sides of the bottom of pedestal, vacuum chuck is equipped between left and right sides brake universal wheel, the top of vacuum chuck is connected by vacuum generator with the bottom center of pedestal, the center of top of pedestal is fixedly connected with circular platform type water tank, the right side central of circular platform type water tank, which runs through, is equipped with outlet pipe, the left end of outlet pipe is connected with the water outlet of water pump that circular platform type water storage box cavity is arranged in, the right end perforation of outlet pipe is connected with connector, the top of circular platform type water tank is equipped with supporting table, the center of top of supporting table is equipped with the first electric telescopic rod；The present invention can effectively overcome the window wiping robot present in the prior art on the market that the mode for being adsorbed in glass is mostly used to carry out operation, inefficiency and the lower defect of safety greatly.)

1. a kind of intelligence window wiping robot, it is characterised in that: symmetrical at left and right sides of the bottom of the pedestal (1) including pedestal (1) Equipped with brake universal wheel (2), vacuum chuck (3) are equipped between the brake universal wheel (2) of the left and right sides, the vacuum chuck (3) top is connected by vacuum generator with the bottom center of pedestal (1), and the center of top of the pedestal (1) is fixedly connected Have circular platform type water tank (4), the right side central of the circular platform type water tank (4), which runs through, is equipped with outlet pipe (6), the outlet pipe (6) water outlet of water pump of the left end with setting in circular platform type water tank (4) inner cavity is connected, and the right end of the outlet pipe (6) passes through Lead to and be connected to connector (7), the top of the circular platform type water tank (4) is equipped with supporting table (5), the top of the supporting table (5) Center is equipped with the first electric telescopic rod (8), and the top exterior walls of first electric telescopic rod (8) are arranged with the first fixedly connected part (9), the right end of first fixedly connected part (9) is fixedly connected with the second electric telescopic rod (10), second electric expansion The end of bar (10) is fixed with the second fixedly connected part (11), and third electricity is fixed at the top of second fixedly connected part (11) It moves telescopic rod (12), is rotatably connected to rotating mechanism (13), the rotating mechanism at the top of the third electric telescopic rod (12) (13) Wiping mechanism (14) are fixedly connected at the top of.

2. a kind of intelligent window wiping robot according to claim 1, it is characterised in that: set in the middle part of the supporting table (5) Have through slot (15), the first rotation axis is rotatably connected to by the first actuator between the front and rear sides inner wall of the through slot (15) (16), the bottom of first electric telescopic rod (8) by with the connecting column that is fixedly connected in the middle part of the first rotation axis (16) outer wall The inner cavity of through slot (15) is rotated in, the bottom center of the supporting table (5) is stored up by the first rotary encoder (17) and circular platform type The center of top of water tank (4) is rotatablely connected.

3. a kind of intelligent window wiping robot according to claim 1, it is characterised in that: the rotating mechanism (13) includes work Font attachment base (131), ball seat (133), the second rotation axis (134), ball seat set (135), leads to the second rotary encoder (132) Hole (136) and T-type attachment base (137), the bottom of the I-shaped attachment base (131) and the top of third electric telescopic rod (12) Center is fixed, and the top of the I-shaped attachment base (131) and the bottom of the second rotary encoder (132) are fixed, the ball seat (133) center of top of bottom and the second rotary encoder (132) is fixed, and second rotation axis (134) is driven by second Moving part is rotationally connected in the middle part of the inner cavity of ball seat (133), and the rear and front end of the second rotation axis (134) extends through to ball seat (133) outside front and rear sides, the through-hole (136) is disposed through the front and rear sides center of ball seat set (135), and ball seat set (135) inner cavity is rotatablely connected by the through-hole (136) being fixedly connected with the second rotation axis (134) and ball seat (133) cooperation, institute The top for stating ball seat set (135) is fixedly connected with the bottom of T-type attachment base (137), the top of the T-type attachment base (137) with The bottom center of Wiping mechanism (14) is fixedly connected.

4. a kind of intelligent window wiping robot according to claim 3, it is characterised in that: the bottom of the Wiping mechanism (14) Through water inlet (18) are equipped at the lower right corner, the top of the water inlet (18) is connected with rotation connection by sealing rubber ring perforation Seat (20) is circumferentially rotated at the top of the rotation connection seat (20) and is connected with fixing sleeve (19), the top of the fixing sleeve (19) Perforation is connected with communicating pipe (22), and the top perforation of the communicating pipe (22) is connected with connection pullover (21), the connection pullover (21) with connector (7) mating connection.

5. a kind of intelligent window wiping robot according to claim 4, it is characterised in that: the inner cavity of the Wiping mechanism (14) Middle part is equipped with spray chamber (23), and the top left side of the spray chamber (23) and the bottom of water inlet (18) are through connection, the spray The bottom uniform intervals for penetrating chamber (23), which run through, is equipped with jet exit (26), and the bottom center of the Wiping mechanism (14) is fixed with company It connects fastener (25), the bottom of the jet exit (26) extends through to the bottom of connection card (25), and connection card (25) Outer wall be removably connected with cleaning brush (24).

6. a kind of intelligent window wiping robot according to claim 1, it is characterised in that: the inner wall center of the pedestal (1) Around endless glide (28) are equipped with, the inner cavity center of the pedestal (1) is fixed with rotary table (31), in the top of the rotary table (31) Centre is embedded with gyro sensor (32), and the side wall circumferential direction uniform intervals of the rotary table (31) are connected with four groups of pillars (27), described The end of pillar (27) is slided by the inner cavity of the first electronic sliding block and endless glide (28) and is clamped, above and below the pillar (27) Two sides inner wall is symmetrically arranged with miniature guide rail (29), sliding by the second electronic sliding block between miniature guide rail (29) described in upper and lower two sides It is dynamic to be connected with arc gravity block (30).

7. -6 any a kind of intelligent window wiping robot according to claim 1, it is characterised in that: the gyro sensor (32) output end is electrically connected with microcontroller, and the output end of the microcontroller has been electrically connected execution unit, has put down Weighing apparatus unit and radio receiving transmitting module, the radio receiving transmitting module are electrically connected with wireless remote control device, and the execution unit includes Brake universal wheel (2), vacuum generator, suction pump, the first electric telescopic rod (8), the second electric telescopic rod (10), third are electronic Telescopic rod (12), the first actuator, the first rotary encoder (17), the second rotary encoder (132), the second actuator, first Electronic sliding block and the second electronic sliding block.

8. a kind of operating method of intelligent window wiping robot according to claim 7, it is characterised in that: the microcontroller Input terminal be electrically connected with liquid level sensor, the output end of the microcontroller is electrically connected with alarm, and the liquid level passes Sensor is set to the inner wall of circular platform type water tank (4), for monitoring the internal water level of circular platform type water tank (4), if lower than setting Value then controls alarm by microcontroller and sounds an alarm, to remind user to add water in time.

9. a kind of operating method of intelligent window wiping robot according to claim 7, it is characterised in that: the balancing unit By the balance of gyro sensor (32) detection pedestal (1), such as out-of-balance conditions if it exists, then pass through gyro sensor (32) information inputted controls the first electronic sliding block using microcontroller after judging out-of-balance conditions and the second electronic sliding block is adjusted Whole, so that arc gravity block (30) is moved accordingly, in moving process, gyro sensor (32) continues to monitor unbalance shape State stops movement when reaching equilibrium state.

10. a kind of operating method of intelligent window wiping robot according to claim 7, it is characterised in that: the microcontroller Device receives by radio receiving transmitting module and executes the instruction of wireless remote control device transmission, and operator passes through wireless remote control device control System brake universal wheel (2) is moved, and when being moved to corresponding job position, control vacuum generator works, to incite somebody to action Pedestal (1) is fixed, and then controls the first electric telescopic rod (8), the second electric telescopic rod (10), third electric telescopic rod (12), the first actuator, the first rotary encoder (17), the second rotary encoder (132) and the second actuator are moved to wait make Behind industry position, starting suction pump supplies water to cleaning brush (24), to wipe.

Technical field

The present invention relates to window wiping robot technical fields, and in particular to a kind of intelligence window wiping robot and its operating method.

Background technique

With the development of modern society, the hope of work and life has been put into city by present more and more people, is caused Urban population is more and more, and the land area in city is more and more nervous, and it is higher and higher also to have led to the house that city is built.

The number of plies of many commercial mansions is all more than twenty or thirty layer now, and periphery is all with windowpane around these Mansion is apparently very tall and big and has class, but the health of its outside glass window is a problem, because of these high-altitude glass Wiping need to allow cleaner's high altitude operation, there is very big risk and due to cleanup crew at heart it is nervous influence it is clean Efficiency, therefore the equipment for how designing substitution cleaner's altitude effect is the theme studied now.It has been ground now with some Study carefully and substitute artificial equipment out, but all exist flexibility it is poor, wiping it is not comprehensive enough, safety is poor, structure is complicated and price Expensive disadvantage at high cost.

Window wiping robot is a kind of electric appliance for needing the live line work, (side of easy cleaning glass based on square configuration in fact The region at angle).Need to connect power supply line work when work, although there is battery in inside, its electricity is only under emergency case It does spare.Window wiping robot interface it is fairly simple, mostly one-touch control panel additional one-handed performance design is separately furnished with Remote control, it is unobstructed that remote signal can penetrate glass.Window wiping robot is furnished with cleaning cloth in bottom, when it is adsorbed on glass When upper walking, cleaning cloth is driven to nuzzle up glass, to achieve the purpose that clean window.

Power supply adaptor: window wiping robot needs work in the case where link power supply line, although there is rechargeable battery in inside, But it is only used as the spare electricity under emergency situations (such as power failure etc.)；

Security component: although the probability that window wiping robot falls is very low, from the angle of user psychology, general factory Commercial city can be equipped with a security component (safety buckle and safety rope), and user is facilitated to make (especially on the outside of high-rise window) outdoors With；

Cloths for cleaning: typically removable, Reusability washing rag.Cloths for cleaning is not the bigger the better, crucial It is much to see that effective fitting area of rag and window has, effective fitting area is bigger, and cleaning efficiency is higher.

Therefore, the feature of window wiping robot maximum auto-returned can start to work after the completion of work on window Position will not go to the place that people reaches after wiping.But existing window wiping robot is mostly absorption type window cleaning equipment device People, safety cannot get stronger guarantee, and the present invention, which designs one kind and can control window wiping robot indoors, to be carried out wiping window behaviour The robot device of work, further increases working efficiency and job security.

Summary of the invention

(1) the technical issues of solving

For disadvantages mentioned above present in the prior art, the present invention provides a kind of intelligent window wiping robot and its operation sides Method can effectively overcome the window wiping robot present in the prior art on the market that the mode for being adsorbed in glass is mostly used to carry out greatly Operation, inefficiency and the lower defect of safety.

(2) technical solution

In order to achieve the above object, the present invention is achieved by the following technical programs:

A kind of intelligence window wiping robot and its operating method, including pedestal are symmetrically set at left and right sides of the bottom of the pedestal There is brake universal wheel, vacuum chuck is equipped between the brake universal wheel of the left and right sides, the top of the vacuum chuck passes through true Empty generator is connected with the bottom center of pedestal, and the center of top of the pedestal is fixedly connected with circular platform type water tank, the circle The right side central of bench-type water tank, which runs through, is equipped with outlet pipe, the left end of the outlet pipe and circular platform type water storage box cavity is arranged in Water outlet of water pump is connected, and the right end perforation of the outlet pipe is connected with connector, and the top of the circular platform type water tank is equipped with The center of top of supporting table, the supporting table is equipped with the first electric telescopic rod, the top exterior walls set of first electric telescopic rod Equipped with the first fixedly connected part, the right end of first fixedly connected part is fixedly connected with the second electric telescopic rod, and described second The end of electric telescopic rod is fixed with the second fixedly connected part, is fixed with that third is electronic to stretch at the top of second fixedly connected part Contracting bar is rotatably connected to rotating mechanism at the top of the third electric telescopic rod, is fixedly connected at the top of the rotating mechanism Wiping mechanism.

Preferably, the middle part of the supporting table is equipped with through slot, drives between the front and rear sides inner wall of the through slot by first Moving part is rotatably connected to the first rotation axis, and the bottom of first electric telescopic rod passes through fixed with the first rotation axis outer wall middle part The connecting column of connection rotates in the inner cavity of through slot, and the bottom center of the supporting table is stored up by the first rotary encoder and circular platform type The center of top of water tank is rotatablely connected.

Preferably, the rotating mechanism includes I-shaped attachment base, the second rotary encoder, ball seat, the second rotation axis, ball Cover for seat, through-hole and T-type attachment base, the bottom of the I-shaped attachment base and the center of top of third electric telescopic rod are fixed, institute The bottom at the top and the second rotary encoder of stating I-shaped attachment base is fixed, the bottom of the ball seat and the second rotary encoder Center of top fix, second rotation axis is rotationally connected in the middle part of the inner cavity of ball seat by the second actuator, and second turn The rear and front end of moving axis extends through to outside the front and rear sides of ball seat, and the through-hole is disposed through the front and back two of ball seat set Side center, and the inner cavity of ball seat set is rotatablely connected by through-hole and the ball seat cooperation being fixedly connected with the second rotation axis, the ball The top of cover for seat is fixedly connected with the bottom of T-type attachment base, and the top of the T-type attachment base and the bottom center of Wiping mechanism are solid Fixed connection.

Preferably, pass through at the top of the water inlet at the bottom lower right corner of the Wiping mechanism through water inlet is equipped with Sealing rubber ring perforation is connected with rotation connection seat, circumferentially rotates at the top of the rotation connection seat and is connected with fixing sleeve, described solid Surely the top perforation covered is connected with communicating pipe, and the top perforation of the communicating pipe is connected with connection pullover, the connection pullover and The mating connection of connector.

Preferably, spray chamber, the top left side and water inlet of the spray chamber are equipped in the middle part of the inner cavity of the Wiping mechanism Bottom through connection, the bottom uniform intervals of the spray chamber, which run through, is equipped with jet exit, in the bottom of the Wiping mechanism Centre is fixed with connection card, and the bottom of the jet exit extends through to the bottom of connection card, and the outer wall of connection card It is removably connected with cleaning brush.

Preferably, the inner wall central rings of the pedestal are arranged with endless glide, and the inner cavity center of the pedestal is fixed with circle The center of top of platform, the rotary table is embedded with gyro sensor, and the side wall circumferential direction uniform intervals of the rotary table are connected with four groups of branch Column, the end of the pillar is slided by the inner cavity of the first electronic sliding block and endless glide to be clamped, the two sides up and down of the pillar Inner wall is symmetrically arranged with miniature guide rail, is connected with arc by the second electronic sliding block sliding between miniature guide rail described in upper and lower two sides Gravity block.

Preferably, the output end of the gyro sensor is electrically connected with microcontroller, the output of the microcontroller End has been electrically connected execution unit, balancing unit and radio receiving transmitting module, the radio receiving transmitting module be electrically connected whether there is or not Line remote control equipment, the execution unit include brake universal wheel, vacuum generator, suction pump, the first electric telescopic rod, the second electricity Dynamic telescopic rod, third electric telescopic rod, the first actuator, the first rotary encoder, the second rotary encoder, the second actuator, First electronic sliding block and the second electronic sliding block.

Preferably, the input terminal of the microcontroller is electrically connected with liquid level sensor, the output end of the microcontroller It is electrically connected with alarm, the liquid level sensor is set to the inner wall of circular platform type water tank, for monitoring circular platform type water tank Internal water level controls alarm by microcontroller and sounds an alarm, to remind user to add in time if being lower than setting value Water.

Preferably, the balancing unit detects the balance of pedestal, such as out-of-balance conditions if it exists by gyro sensor, Microcontroller control the first electronic sliding block and second is utilized after then judging out-of-balance conditions by the information that gyro sensor inputs Electronic sliding block is adjusted, so that arc gravity block is moved accordingly, in moving process, gyro sensor is continued to monitor Imbalance state stops movement when reaching equilibrium state.

Preferably, the microcontroller receives by radio receiving transmitting module and executes the instruction of wireless remote control device transmission, Operator controls brake universal wheel by wireless remote control device and moves, and when being moved to corresponding job position, control is true Empty generator works, so that pedestal to be fixed, then controls the first electric telescopic rod, the second electric telescopic rod, Three electric telescopic rods, the first actuator, the first rotary encoder, the second rotary encoder and the second actuator are moved to operation Behind position, starting suction pump supplies water to cleaning brush, to wipe.

(3) beneficial effect

Compared with prior art, a kind of intelligent window wiping robot provided by the present invention and its operating method use a variety of function The mode that can be combined designs a kind of novel intelligent window wiping robot and its operating method, has abandoned wiping window at present on the market Robot mostly uses greatly the mode for being adsorbed in glass to carry out operation, the inefficiency and lower situation of safety, the present invention are beneficial Effect:

1, it is symmetrically arranged with brake universal wheel at left and right sides of the bottom of pedestal of the present invention, is set between left and right sides brake universal wheel There is vacuum chuck, and the top of vacuum chuck is connected by vacuum generator with the bottom center of pedestal, so that pedestal is each Direction is mobile and fixed, is conducive to operation；

2, the center of top of pedestal of the present invention is fixedly connected with circular platform type water tank, and the right side central of circular platform type water tank is passed through It is equipped with outlet pipe, the left end of outlet pipe is connected with the water outlet of water pump that circular platform type water storage box cavity is arranged in, outlet pipe Right end perforation is connected with connector, connection pullover and the mating connection of connector, so as to by the water in circular platform type water tank convey into In Wiping mechanism；

3, the input terminal of microcontroller of the present invention is electrically connected with liquid level sensor, and the output end of microcontroller is electrically connected There is alarm, liquid level sensor is set to the inner wall of circular platform type water tank, for monitoring the water level inside circular platform type water tank, if Lower than setting value, then alarm is controlled by microcontroller and sounded an alarm, to remind user to add water in time；

4, the middle part of supporting table of the present invention is equipped with through slot, and is turned between the front and rear sides inner wall of through slot by the first actuator It is dynamic to be connected with the first rotation axis, the bottom of the first electric telescopic rod by with the connection that is fixedly connected in the middle part of the first rotation axis outer wall Column rotates in the inner cavity of through slot, and the bottom center of supporting table passes through the center of top of the first rotary encoder and circular platform type water tank Rotation connection can be turned to opposite with supporting table level when not in use by microcontroller first electric telescopic rod of control etc. Occupied space is reduced in position；

5, balancing unit of the present invention detects the balance of pedestal, such as out-of-balance conditions if it exists by gyro sensor, then Microcontroller the first electronic sliding block of control and the second electricity are utilized after judging out-of-balance conditions by the information that gyro sensor inputs Movable slider is adjusted, so that arc gravity block is moved accordingly, in moving process, gyro sensor continues to monitor mistake Weighing apparatus state, stop when reaching equilibrium state it is mobile, it can be achieved that when Wiping mechanism operation pedestal stability, improve device and use Safety；

6, microcontroller of the present invention receives by radio receiving transmitting module and executes the instruction of wireless remote control device transmission, operation Personnel control brake universal wheel by wireless remote control device and move, when being moved to corresponding job position, control vacuum hair Raw device works, so that pedestal to be fixed, then controls the first electric telescopic rod, the second electric telescopic rod, third electricity Dynamic telescopic rod, the first actuator, the first rotary encoder, the second rotary encoder and the second actuator are moved to job position Afterwards, starting suction pump supplies water to cleaning brush, to wipe, so that a large amount of manpowers are saved, while operating efficiency improves Improve security performance.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.

Fig. 1 is schematic structural view of the invention；

Fig. 2 is support table structure figure of the present invention；

Fig. 3 is rotating mechanism structure chart of the present invention；

Fig. 4 is Wiping mechanism external structure of the present invention；

Fig. 5 is Wiping mechanism internal structure chart of the present invention；

Fig. 6 is chassis interior structure chart of the present invention；

In figure:

1, pedestal；2, brake universal wheel；3, vacuum chuck；4, circular platform type water tank；5, supporting table；6, outlet pipe；7, even Connect device；8, the first electric telescopic rod；9, the first fixedly connected part；10, the second electric telescopic rod；11, the second fixedly connected part； 12, third electric telescopic rod；13, rotating mechanism；14, Wiping mechanism；15, through slot；16, the first rotation axis；17, the first rotation is compiled Code device；18, water inlet；19, fixing sleeve；20, it is rotatablely connected seat；21, pullover is connected；22, communicating pipe；23, spray chamber；24, clear Clean brush；25, connection card；26, jet exit；27, pillar；28, endless glide；29, miniature guide rail；30, arc gravity block； 31, rotary table；32, gyro sensor；131, I-shaped attachment base；132, the second rotary encoder；133, ball seat；134, second Rotation axis；135, ball seat set；136, through-hole；137, T-type attachment base.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.

A kind of intelligence window wiping robot and its operating method, as shown in figures 1 to 6, including pedestal 1, the bottom or so of pedestal 1 Two sides are symmetrically arranged with brake universal wheel 2, are equipped with vacuum chuck 3, the top of vacuum chuck 3 between left and right sides brake universal wheel 2 It is connected by vacuum generator with the bottom center of pedestal 1, the center of top of pedestal 1 is fixedly connected with circular platform type water tank 4, circle The right side central of bench-type water tank 4, which runs through, is equipped with outlet pipe 6, the left end of outlet pipe 6 and 4 inner cavity of circular platform type water tank is arranged in Water outlet of water pump is connected, and the right end perforation of outlet pipe 6 is connected with connector 7, and the top of circular platform type water tank 4 is equipped with supporting table 5, the center of top of supporting table 5 is equipped with the first electric telescopic rod 8, and it is solid that the top exterior walls of the first electric telescopic rod 8 are arranged with first Determine connector 9, the right end of the first fixedly connected part 9 is fixedly connected with the second electric telescopic rod 10, the second electric telescopic rod 10 End is fixed with the second fixedly connected part 11, and the top of the second fixedly connected part 11 is fixed with third electric telescopic rod 12, third The top of electric telescopic rod 12 is rotatably connected to rotating mechanism 13, and the top of rotating mechanism 13 is fixedly connected with Wiping mechanism 14；

The middle part of supporting table 5 is equipped with through slot 15, is connected between the front and rear sides inner wall of through slot 15 by the rotation of the first actuator Be connected to the first rotation axis 16, the bottom of the first electric telescopic rod 8 by with the company that is fixedly connected in the middle part of 16 outer wall of the first rotation axis The inner cavity that column rotates in through slot 15 is connect, the bottom center of supporting table 5 passes through the first rotary encoder 17 and circular platform type water tank 4 Center of top rotation connection；

Rotating mechanism 13 includes I-shaped attachment base 131, the second rotary encoder 132, ball seat 133, the second rotation axis 134, ball seat set 135, through-hole 136 and T-type attachment base 137, bottom and the third electric telescopic rod 12 of I-shaped attachment base 131 Center of top is fixed, and the top of I-shaped attachment base 131 and the bottom of the second rotary encoder 132 are fixed, the bottom of ball seat 133 It is fixed with the center of top of the second rotary encoder 132, the second rotation axis 134 is rotationally connected with ball seat by the second actuator In the middle part of 133 inner cavity, and the rear and front end of the second rotation axis 134 extends through to outside the front and rear sides of ball seat 133, through-hole 136 are disposed through the front and rear sides center of ball seat set 135, and the inner cavity of ball seat set 135 passes through and the fixation of the second rotation axis 134 The through-hole 136 and ball seat 133 of connection, which cooperate, to be rotatablely connected, the fixed company in the top of ball seat set 135 and the bottom of T-type attachment base 137 It connects, the top of T-type attachment base 137 is fixedly connected with the bottom center of Wiping mechanism 14；

Through water inlet 18 is equipped at the bottom lower right corner of Wiping mechanism 14, the top of water inlet 18 is passed through by sealing rubber ring Lead to and be connected to rotation connection seat 20, the top of rotation connection seat 20, which circumferentially rotates, is connected with fixing sleeve 19, the top of fixing sleeve 19 Perforation is connected with communicating pipe 22, and the top perforation of communicating pipe 22 is connected with connection pullover 21, connects pullover 21 and connector 7 is mating Connection；

Spray chamber 23 is equipped in the middle part of the inner cavity of Wiping mechanism 14, the top left side of spray chamber 23 and the bottom of water inlet 18 are passed through Connection is worn, the bottom uniform intervals of spray chamber 23, which run through, is equipped with jet exit 26, and the bottom center of Wiping mechanism 14 is fixed with company Fastener 25 is connect, the bottom of jet exit 26 extends through to the bottom of connection card 25, and the outer wall of connection card 25 is detachable It is connected with cleaning brush 24；

The inner wall central rings of pedestal 1 are arranged with endless glide 28, and the inner cavity center of pedestal 1 is fixed with rotary table 31, rotary table 31 Center of top be embedded with gyro sensor 32, the side wall circumferential direction uniform intervals of rotary table 31 are connected with four groups of pillars 27, pillar 27 End slided and be clamped by the inner cavity of the first electronic sliding block and endless glide 28, the inner wall of two sides up and down of pillar 27 is symmetrically arranged with Miniature guide rail 29 is connected with arc gravity block 30 by the second electronic sliding block sliding between upper and lower two sides miniature guide rail 29；

The output end of gyro sensor 32 is electrically connected with microcontroller, and the output end of microcontroller is electrically connected There are execution unit, balancing unit and radio receiving transmitting module, radio receiving transmitting module is electrically connected with wireless remote control device, execution unit Including brake universal wheel 2, vacuum generator, suction pump, the first electric telescopic rod 8, the second electric telescopic rod 10, third is electronic stretches Contracting bar 12, the first actuator, the first rotary encoder 17, the second rotary encoder 132, the second actuator, the first electronic sliding block With the second electronic sliding block；

The input terminal of microcontroller is electrically connected with liquid level sensor, and the output end of microcontroller is electrically connected with alarm Device, liquid level sensor are set to the inner wall of circular platform type water tank 4, for monitoring the water level inside circular platform type water tank 4, if being lower than Setting value then controls alarm by microcontroller and sounds an alarm, to remind user to add water in time；

Balancing unit detects the balance of pedestal 1, such as out-of-balance conditions if it exists by gyro sensor 32, then passes through top The information that spiral shell instrument sensor 32 inputs utilizes microcontroller the first electronic sliding block of control and the second electric sliding after judging out-of-balance conditions Block is adjusted, so that arc gravity block 30 is moved accordingly, in moving process, gyro sensor 32 continues to monitor mistake Weighing apparatus state stops movement when reaching equilibrium state；

Microcontroller is received by radio receiving transmitting module and executes the instruction of wireless remote control device transmission, and operator passes through Wireless remote control device control brake universal wheel 2 is moved, and when being moved to corresponding job position, control vacuum generator is carried out Then work controls that the first electric telescopic rod 8, the second electric telescopic rod 10, third is electronic stretches so that pedestal 1 to be fixed Contracting bar 12, the first actuator, the first rotary encoder 17, the second rotary encoder 132 and the second actuator are moved to operation Behind position, starting suction pump supplies water to cleaning brush 24, to wipe.

A kind of intelligent window wiping robot provided by the present invention and its operating method are in such a way that multiple functions combine A kind of novel intelligent window wiping robot and its operating method are designed, the window wiping robot abandoned at present on the market mostly uses greatly The mode for being adsorbed in glass carries out operation, inefficiency and the lower situation of safety, the invention has the advantages that:

1, it is symmetrically arranged with brake universal wheel at left and right sides of the bottom of pedestal of the present invention, is set between left and right sides brake universal wheel There is vacuum chuck, and the top of vacuum chuck is connected by vacuum generator with the bottom center of pedestal, so that pedestal is each Direction is mobile and fixed, is conducive to operation；

2, the center of top of pedestal of the present invention is fixedly connected with circular platform type water tank, and the right side central of circular platform type water tank is passed through It is equipped with outlet pipe, the left end of outlet pipe is connected with the water outlet of water pump that circular platform type water storage box cavity is arranged in, outlet pipe Right end perforation is connected with connector, connection pullover and the mating connection of connector, so as to by the water in circular platform type water tank convey into In Wiping mechanism；

3, the input terminal of microcontroller of the present invention is electrically connected with liquid level sensor, and the output end of microcontroller is electrically connected There is alarm, liquid level sensor is set to the inner wall of circular platform type water tank, for monitoring the water level inside circular platform type water tank, if Lower than setting value, then alarm is controlled by microcontroller and sounded an alarm, to remind user to add water in time；

4, the middle part of supporting table of the present invention is equipped with through slot, and is turned between the front and rear sides inner wall of through slot by the first actuator It is dynamic to be connected with the first rotation axis, the bottom of the first electric telescopic rod by with the connection that is fixedly connected in the middle part of the first rotation axis outer wall Column rotates in the inner cavity of through slot, and the bottom center of supporting table passes through the center of top of the first rotary encoder and circular platform type water tank Rotation connection can be turned to opposite with supporting table level when not in use by microcontroller first electric telescopic rod of control etc. Occupied space is reduced in position；

5, balancing unit of the present invention detects the balance of pedestal, such as out-of-balance conditions if it exists by gyro sensor, then Microcontroller the first electronic sliding block of control and the second electricity are utilized after judging out-of-balance conditions by the information that gyro sensor inputs Movable slider is adjusted, so that arc gravity block is moved accordingly, in moving process, gyro sensor continues to monitor mistake Weighing apparatus state, stop when reaching equilibrium state it is mobile, it can be achieved that when Wiping mechanism operation pedestal stability, improve device and use Safety；

6, microcontroller of the present invention receives by radio receiving transmitting module and executes the instruction of wireless remote control device transmission, operation Personnel control brake universal wheel by wireless remote control device and move, when being moved to corresponding job position, control vacuum hair Raw device works, so that pedestal to be fixed, then controls the first electric telescopic rod, the second electric telescopic rod, third electricity Dynamic telescopic rod, the first actuator, the first rotary encoder, the second rotary encoder and the second actuator are moved to job position Afterwards, starting suction pump supplies water to cleaning brush, to wipe, so that a large amount of manpowers are saved, while operating efficiency improves Improve security performance.

In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example. Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close Suitable mode combines.

Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification, It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only It is limited by claims and its full scope and equivalent.

Those skilled in the art should understand that: it still can be to technical solution documented by foregoing embodiments It modifies or equivalent replacement of some of the technical features；And these are modified or replaceed, and can't make corresponding skill The essence of art scheme departs from the spirit and scope of the technical scheme of various embodiments of the present invention.