阅读说明：本技术 一种擦窗机器人 (A kind of window wiping robot ) 是由 李群豪 于 2019-09-28 设计创作，主要内容包括：本发明公开了一种擦窗机器人,包括呈矩形盒体状的机器人本体,机器人本体的底部设行走装置及能够使得机器人吸附在玻璃表面的吸附机构,所述机器人本体内设有能够对机器人底面玻璃进行清洁的清洁装置及对清洁装置的擦布进行清洁的洁布装置,所属机器人本体侧面设有一便于更换清洁布的侧开门。本发明的目的为提供一种清洁效率更高的擦窗机器人。(The invention discloses a kind of window wiping robots, robot body including being in rectangular box shape, the bottom of robot body sets running gear and robot is enabled to be adsorbed on the adsorbing mechanism of glass surface, clean cleaning device can be carried out to robot bottom surface glass and carry out clean clean cloth apparatus to the wiper of cleaning device by being equipped in the robot body, and affiliated robot body side is equipped with the side that one is conveniently replaceable cleaning cloth and opens the door.It is an object of the present invention to provide a kind of higher window wiping robots of cleaning efficiency.)

1. a kind of window wiping robot characterized by comprising in the robot body (1) of rectangular box shape, robot body (1) bottom sets running gear (9) and robot is enabled to be adsorbed on the adsorbing mechanism (2) of glass surface, the robot Be equipped in ontology (1) robot bottom surface glass can be carried out clean cleaning device (3) and to the wiper of cleaning device (3) into The clean clean cloth apparatus (6) of row, affiliated robot body (1) side are equipped with the side that one is conveniently replaceable cleaning cloth and open the door (101)；

The filtered water tank (5) connecting with clean cloth apparatus and foul water tank (7) are additionally provided in robot body (1) ontology.

2. window wiping robot as described in claim 1, which is characterized in that the cleaning device (3) includes two rotating cylinders (32) And at least one rotating cylinder is equipped with the motor (31) that drum rotation is connect and can driven with rotating cylinder, two rotating cylinders are coupled on (32) There is the cleaning cloth (4) for the annular that can follow drum rotation, rotating cylinder (32) is mounted on the inside of cleaning cloth (4) and makes cleaning cloth Just tight, set on motor (31) to opposite, rotating cylinder (32) external cylindrical surface is equipped with several anti-skidding convex for side enabling (101) It rises, is additionally provided with a window cleaning assisting device (10) in the robot body (1), the window cleaning assisting device (101) includes installation Movable plate (103) between two rotating cylinders and on the inside of the cleaning cloth of annular, movable plate (103) is by being mounted on robot sheet Intracorporal electric telescopic rod (102) can telescopically be mounted in robot body up and down, pass through stretching for electric telescopic rod (102) Contracting can adjust the power that movable plate acts on cleaning cloth, and the electric telescopic rod (102) is set to the opposite side that side is opened the door.

3. window wiping robot as described in claim 1, which is characterized in that the clean cloth apparatus (6) include outer housing (62) and It is mounted on that shell is intracorporal, outer housing (62) is formed with one towards the first of cleaning cloth (4) and is open (63), first opening (63) moving direction on along cleaning cloth is successively arranged the preposition structure of removing contamination (61) connecting with foul water tank and connect with filtered water tank In set structure of removing contamination (64), structure of removing contamination (61), in set structure of removing contamination (64) and be located on the outside of cleaning cloth, first opening (63) side Cleaning cloth inside be equipped with structure of removing contamination (61), in set structure of removing contamination (64) cooperation supporting plate (66), affiliated supporting plate (66) On be formed with several pores.

4. window wiping robot as described in claim 1, which is characterized in that rotating cylinder (32) is mounted on strut (8), the strut (8) include interior bar (81) and be arranged with the outer bar (82) outside interior bar, rotating cylinder be set to outer bar on, interior bar (81) be equipped with and outer rod end The compressed spring (8 06) of face cooperation, equipped with position limiting structure (804), the outer bar between the interior bar (81) and outer bar (82) (82) one end far from spring is set as vertebral body structure, and vertebral body structure (805) is fitted with cone bearing (803), the taper Bearing is mounted in the enabling of side, and side, which opens the door to shut, just makes cone bearing and vertebral body structure form cooperation.

5. window wiping robot as described in claim 1 or 4, which is characterized in that the rotating cylinder is in olive-type, the cleaning cloth (4) there is elasticity, the structure of the cleaning cloth is adapted to the barrel configuration of olive-type, and the cleaning cloth is embedded in equipped with interior muscle (41), the angle of interior muscle setting and the side of cleaning cloth are in 70-110 °.

6. window wiping robot as claimed in claim 3, which is characterized in that preposition structure of removing contamination (61) includes arc-shaped structure For striking off dirty scraping member (611) and being located at the press section (612) in scraping member (611) downstream, the scraping member (611) it is fitted with rotating bucket (613), rotating bucket includes the drive motor (a) being coupled with its shaft, rotating bucket and scraping member (611) it is coupled U-shaped structure, and rotating bucket is mounted on the inside of scraping member, rotating bucket is also fitted with impurity case (614), the top of the impurity case (614) is equipped with an electrically operated gate (615), and impurity can just be passed through electrically operated gate by rotating bucket rotation (615) it falls in impurity case (614), the bottom of impurity case (614) is connected with negative pressure air pump；The press section (612) includes cutting The trapezoidal bar shaped shell (6121) of face approximate right angle, the shorter bottom surface of bar shaped shell (6121) are arranged close to cleaning cloth, bar shaped The bottom surface of the inclined-plane of shell (6121) and close cleaning cloth is equipped with several through-holes (6122), and the bottom surface close to cleaning cloth is additionally provided with Several outer recessed structures (6123), outer recessed structure is spherical structure or section is triangular structure, and bar shaped shell (6121) is logical It crosses negative pressure air pump and is connected to foul water tank (7).

7. window wiping robot as claimed in claim 3, which is characterized in that in set structure of removing contamination (64) include clear towards cleaning cloth The water spraying structure (641) that face cleaning is sprayed water and the press section (612) set on water spraying structure downstream side, the water spraying structure (641) is even It is connected to filtered water tank (5), and can uniformly spray the water of setting pressure.

8. the control system of the window wiping robot as described in claim 1-7 Arbitrary Term, which is characterized in that further include being set to machine MCU in human body, the running gear (9), adsorbing mechanism (2), cleaning device (3) and clean cloth apparatus (6) connect with MCU It connects；Movable plate bottom equipped with the pressure sensor being connect with MCU, the motor (31), electric telescopic rod (102), driving horse It is connect respectively with MCU up to (a), water spraying structure (641), electrically operated gate (615), negative pressure air pump.

9. the control method of the window wiping robot as described in claim 1-7 Arbitrary Term, which comprises the steps of:

Step 1 controls adsorbing mechanism (2) and running gear (9) work when needing using the window wiping robot；

Step 2, control cleaning device, the work of clean cloth apparatus, so that the cleaning cloth on cleaning device carries out clearly glass surface Clean, clean cloth apparatus cleans cleaning cloth according to setting, and in the cleaning of clean cloth apparatus, the scraping member (611) of setting is to dirty Dirt is struck off, and rotating bucket is arranged and turns round once according to setting time, when rotating bucket turns round, is opened electrically operated gate (615), and open Negative pressure pump by dirty importing impurity case (614), and controls press section and squeezes out sewage, taken out sewage by negative pressure pump It send into foul water tank, while setting structure ejection decontaminated water of removing contamination in control and cleaning cloth is cleaned, then is clear by being set in being set to Press section on dirty structure (64) is cleaned, and is improved clean at degree；Step 3, pressure sensor are real by the data measured When be transmitted to MCU, when pressure be less than setting value when, MCU control electric telescopic rod (102) extend setting value, until pressure is being set Section, when pressure is greater than the set value, MCU control electric telescopic rod (102) shorten, until pressure is in set interval；

Step 4, the control flow of circulation step one to step 3, until cleaning is completed.

Technical field

The invention belongs to robot field, in particular to a kind of window wiping robot.

Background technique

As the glass surface of the quickening of urbanization process, either house or skyscraper is more and more, therefore window Cleaning glass is not an easy thing, for skyscraper, can just be cleaned once every the time for a long time, And want cleaner high altitude operation for safety be also a kind of test.And the external application glass of residential housing is equally difficult With cleaning, there are some potential safety problemss for manual cleaning, so window wiping robot comes into being.And existing window wiping robot glass Glass wiping is not clean, wipes window low efficiency, it is therefore desirable to a kind of better window wiping robot.

Summary of the invention

In view of the above problems, technical purpose of the invention is to provide a kind of window wiping robot.

The invention is realized by the following technical scheme:

A kind of window wiping robot, comprising: in the robot body of rectangular box shape, the bottom of robot body set running gear and Robot is enabled to be adsorbed on the adsorbing mechanism of glass surface, being equipped in the robot body can be to robot bottom surface glass Glass carries out clean cleaning device and carries out clean clean cloth apparatus to the wiper of cleaning device, and affiliated robot body side is set There is a side for being conveniently replaceable cleaning cloth to open the door；

The filtered water tank connecting with clean cloth apparatus and foul water tank are additionally provided in the robot body.

The window wiping robot of the application, the cleaning device include that two rotating cylinders and at least one rotating cylinder are equipped with and connect with rotating cylinder The motor of drum rotation is connect and can be driven, the cleaning cloth that can follow the annular of drum rotation is fitted on two rotating cylinders, Rotating cylinder is mounted on the inside of cleaning cloth and makes cleaning cloth just tight, side open the door be set to motor to opposite, outside the rotating cylinder Cylindrical surface is equipped with several anti-skid bulges, and a window cleaning assisting device, the wiping window auxiliary dress are additionally provided in the robot body It sets including being installed on the movable plate between two rotating cylinders and being located on the inside of annular cleaning cloth, movable plate is by being mounted on robot sheet Intracorporal electric telescopic rod can be telescopically mounted in robot body up and down, and flexible by electric telescopic rod can be adjusted Movable plate acts on the power on cleaning cloth, and the electric telescopic rod is set to the opposite side that side is opened the door.The bottom surface of movable plate is equipped with pressure Force snesor

The window wiping robot of the application, the clean cloth apparatus include outer housing and are mounted on that shell is intracorporal, and outer housing is formed with One towards the first of cleaning cloth is open, and the moving direction in first opening along cleaning cloth is successively arranged preposition and foul water tank and connects Removing contamination for connecing and sets structure of removing contamination in connecting with filtered water tank at structure, structure of removing contamination, in set structure of removing contamination and be located on the outside of cleaning cloth, The inside of the cleaning cloth of first open side be equipped with structure of removing contamination, in set the supporting plate of structure cooperation of removing contamination, formed on affiliated supporting plate There is several pores.

The window wiping robot of the application, rotating cylinder are mounted on strut, the strut include interior bar and be arranged with outside interior bar Outer bar, rotating cylinder are set in outer bar, and interior bar is equipped with the compressed spring cooperated with outer rod end surface, are equipped between the interior bar and outer bar Position limiting structure, the outer bar are set as vertebral body structure far from one end of spring, and vertebral body structure is fitted with cone bearing, the cone Shape bearing is mounted in the enabling of side, and side, which opens the door to shut, just makes cone bearing and vertebral body structure form cooperation.

The window wiping robot of the application, the rotating cylinder are in olive-type, and the cleaning cloth has elasticity, the knot of the cleaning cloth Structure is adapted to the barrel configuration of olive-type, and the cleaning cloth is embedded in equipped with interior muscle, the angle of interior muscle setting and the side of cleaning cloth In 70-110 °.

The window wiping robot of the application, preposition structure of removing contamination include arc-shaped structure for striking off dirty scraping member And the press section positioned at scraping member downstream, the scraping member are fitted with rotating bucket, rotating bucket includes cooperating to pacify with its shaft The drive motor of dress, rotating bucket and scraping member are coupled U-shaped structure, and rotating bucket is mounted on the inside of scraping member, rotating bucket It is also fitted with impurity case, the top of the impurity case is equipped with an electrically operated gate, and impurity can just be passed through electricity by rotating bucket rotation Dynamic door falls in impurity case, and the bottom of impurity case is connected with negative pressure air pump；The press section includes that section approximate right angle is trapezoidal Bar shaped shell, the shorter bottom surface of bar shaped shell are arranged close to cleaning cloth, the inclined-plane of bar shaped shell and the bottom surface close to cleaning cloth Several through-holes are equipped with, the bottom surface close to cleaning cloth is additionally provided with several outer recessed structures, and outer recessed structure can be spherical structure, item Shape shell is connected to foul water tank by negative pressure air pump；

The window wiping robot of the application, in set structure of removing contamination include towards cleaning cloth clean surface spray water water spraying structure and be set to spray The press section in water-bound downstream side, the water spraying structure are connected to filtered water tank, and can uniformly spray the water of setting pressure.

The control system of the window wiping robot of the application further includes the MCU in robot body, the walking dress It sets, adsorbing mechanism, cleaning device and clean cloth apparatus are connect with MCU；Movable plate bottom equipped with the pressure sensing being connect with MCU Device, the motor, electric telescopic rod, water spraying structure, drive motor, electrically operated gate, negative pressure air pump are connect with MCU respectively.

The control method of the window wiping robot of the application, includes the following steps:

Step 1 controls adsorbing mechanism and running gear work when needing using the window wiping robot；

Step 2, control cleaning device, the work of clean cloth apparatus, so that the cleaning cloth on cleaning device carries out clearly glass surface Clean, clean cloth apparatus cleans cleaning cloth according to setting, and in the cleaning of clean cloth apparatus, the scraping member of setting is to dirty progress It strikes off, and rotating bucket is set and is turned round once according to setting time, when rotating bucket turns round, open electrically operated gate, and open negative pressure pump, it will be dirty Dirt imports in impurity case, and controls press section and squeeze out sewage, is pumped sewage into foul water tank by negative pressure pump, simultaneously Set in control remove contamination structure spray decontaminated water cleaning cloth is cleaned, then by set in being set to the press section removed contamination in structure into Row cleaning, is improved clean at degree；The data measured are transmitted to MCU by step 3, pressure sensor in real time, are set when pressure is less than When definite value, MCU controls electric telescopic rod and extends setting value, until pressure is in the section of setting, when pressure is greater than the set value, MCU, which controls electric telescopic rod, to be shortened, until pressure is in set interval；

Step 4, the control flow of circulation step one to step 3, until cleaning is completed.

Due to the adoption of the above technical scheme, the beneficial effects of the present invention are:

This window wiping robot can be conveniently replaceable cleaning cloth, and can clean while cleaning, and wiping window can be greatly improved Efficiency and wipe window clean-up performance.

Detailed description of the invention

Fig. 1 is the present invention looks up structural representation of window wiping robot；

Fig. 2 is the mounting structure schematic diagram of movable plate；

Fig. 3 is the structural schematic diagram of strut；

Fig. 4 is the structural schematic diagram of clean cloth apparatus；

Fig. 5 is the structural schematic diagram of structure of removing contamination；

Fig. 6 is A enlarged drawing in Fig. 5；

Fig. 7 sets the structural schematic diagram of structure of removing contamination in being；

Fig. 8 is the local expansion figure of cleaning cloth.

Specific embodiment

The present invention is described in detail with reference to the accompanying drawing.