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WO2015139613A1 - 带有封闭刮条的擦窗机器人 - Google Patents

带有封闭刮条的擦窗机器人 Download PDF

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Publication number
WO2015139613A1
WO2015139613A1 PCT/CN2015/074385 CN2015074385W WO2015139613A1 WO 2015139613 A1 WO2015139613 A1 WO 2015139613A1 CN 2015074385 W CN2015074385 W CN 2015074385W WO 2015139613 A1 WO2015139613 A1 WO 2015139613A1
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WO
WIPO (PCT)
Prior art keywords
scraper
cleaning robot
strip
suction cup
window cleaning
Prior art date
Application number
PCT/CN2015/074385
Other languages
English (en)
French (fr)
Inventor
冯林强
吕小明
周飞
Original Assignee
科沃斯机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 科沃斯机器人有限公司 filed Critical 科沃斯机器人有限公司
Priority to EP15764648.0A priority Critical patent/EP3120743B1/en
Priority to JP2017500117A priority patent/JP6586156B2/ja
Priority to US15/126,556 priority patent/US10213073B2/en
Publication of WO2015139613A1 publication Critical patent/WO2015139613A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the invention relates to a window cleaning robot with a closed scraper, belonging to the technical field of household small electrical appliances manufacturing.
  • FIG. 1 is a schematic view showing the structure of the long strip scraper of the existing window cleaning robot.
  • the base 200 of the existing window cleaning robot 100 is provided with a driving wheel 300 and a suction cup 400.
  • a long strip of silicone strip 500 is also typically provided on the base 200 for scraping water from the glass to prevent the drive wheel 300 from slipping due to contact with water, while also preventing the suction cup 400 from being wetted by water.
  • the existing silicone strip has a long strip structure, it is only effective to scrape water in one direction, that is, a direction perpendicular to the direction in which the strips are arranged, if the window cleaning robot rotates to a direction in which the strips are arranged. If they are parallel to each other, the water cannot be wiped, and the drive wheel 300 will still slip due to water.
  • the technical problem to be solved by the present invention is to provide a window cleaning robot with a closed scraper, which is provided as a closed whole body, and the closed scraper is pressed when the robot is attracted to the window. Tight, the strip separates the inside from the outside. No matter how the robot walks, it can achieve 360° wiper. The water in any direction will be blocked by the scraper and will not enter the inside of the scraper, effectively preventing the drive wheel and the suction cup from being trapped. Wet and wipe the water better, effectively preventing the machine from slipping.
  • a window cleaning robot with a closed scraper includes a rotating base body and an outer frame, the rotating base body is rotatably disposed on the outer frame, a bottom of the outer frame is provided with a cleaning unit, and the rotating base body is provided with a walking unit and
  • the suction cup has a scraper on the bottom surface of the rotating base, and the scraper is surrounded by a closed shape on the bottom surface of the rotating base, and the walking unit and/or the suction cup are enclosed in the closed shape.
  • the height of the strip is higher than the height of the walking unit.
  • the walking unit is a roller or a crawler running mechanism as needed.
  • the first scraper strip and the second scraper strip are respectively a plurality, and the number of the set is respectively different from the setting of the walking unit and the suction cup The number corresponds.
  • the scraper is 0.01 mm to 1 mm higher than the running unit.
  • the outer frame is square.
  • the scraper strip of the present invention is arranged as a closed whole.
  • the closing scraper is pressed, and the scraper separates the inside from the outside, regardless of how the robot walks. 360° wiper, the water in any direction will be blocked by the scraper and will not enter the inside of the scraper, effectively preventing the drive wheel and the sucker from being wetted, and the wiper effect is better, effectively preventing the machine from slipping or the suction cup being polluted by water stains. .
  • FIG. 1 is a schematic structural view of a long strip scraper of a conventional window cleaning robot
  • FIG. 2 is a schematic structural view of a bottom portion of a body according to an embodiment of the present invention.
  • Figure 3 is a partial structural view of the scraper of the present invention.
  • Figure 4 is a schematic view showing the connection structure of the scraper strip and the rotating base
  • FIG. 5 is a schematic structural view of a bottom body of a second embodiment of the present invention.
  • FIG. 2 is a schematic view showing the structure of a bottom portion of a body according to an embodiment of the present invention.
  • the present invention provides a window cleaning robot with a closed scraper, comprising a rotating base 10 and an outer frame 20.
  • the rotating base 10 is rotatably disposed on the outer frame 20, and the outer frame 20 is square (but Not limited to square, it can be set to other shapes according to the needs of the cleaning work surface).
  • a cleaning unit 21, such as a rag, is disposed at the bottom of the outer frame 20.
  • the rotating base 10 is provided with a walking unit 11 and a suction cup 12.
  • the bottom surface of the rotating base is further provided with a scraper 13 which is arranged in a closed shape on the bottom surface of the rotating base 10.
  • the height of the scraper 13 is higher than the height of the walking unit 11, and the scraper 13 is 0.01 mm to 1 mm higher than the running unit 11 in order to ensure the anti-slip effect.
  • the wiper strip 13, the traveling unit 11 and the suction cup 12 are of the same height, that is, all three are in contact with the work surface.
  • the walking unit 11 may be a roller as needed Or crawler walking mechanism.
  • the suction cup 12 is connected to a vacuum pump through a hose, and the vacuum pump works to form a negative pressure in the suction cup, so that the window cleaning robot is attracted to the working surface.
  • FIG. 3 is a schematic view showing the structure of the scraper strip of the present invention
  • FIG. 4 is a schematic view showing the connection structure of the scraper strip and the rotating base.
  • the rotating base 10 is provided with a groove 14, and the side wall of the groove 14 is provided with a convex plate 141, and the fixed ends of the scraping strip 13 are concave on both sides.
  • the groove 130 is engaged in the concave groove 130.
  • the wiper strip 13 forms a complete closed shape, and the walking unit 11 and the suction cup 12 are completely enclosed therein to be separated from the outer space of the wiper strip 13.
  • its walking mode includes straight walking and in-situ steering. Specifically, when the window cleaning robot works along the direction of the glass frame, the movement mode of the straight line is adopted; when the window cleaning robot encounters the glass top angle, the rotating base body is turned to the original position of the frame, and then returns to the frame. Straight walking state.
  • the scraped strip 13 can be isolated by the closed scraper 13 regardless of the direction in which the stain or scale of the working surface is encountered. The outside thereof does not have any influence on the walking unit 11 and the suction cup 12.
  • FIG. 5 is a schematic structural view of a bottom body of a second embodiment of the present invention.
  • the scraper strip may be a complete closed shape as described in the first embodiment, or may be divided into a plurality of complete closed shapes.
  • the scraper strip 13 may be There is a first scraper 131 and a second scraper 132.
  • the first scraper 131 is disposed around the outer circumference of the walking unit 11
  • the second scraper 132 is disposed around the outer circumference of the suction cup 12 .
  • the first scraper strip and the second scraper strip may also be respectively plural, and the number of the corresponding ones respectively correspond to the set number of the walking unit and the suction cup.
  • the traveling unit 11 and the suction cup 12 are also closed by the scraping strip, which is different from the foregoing embodiment in that the traveling unit 11 and the suction cup 12 are respectively enclosed.
  • the walking unit and the suction cup are enclosed.
  • only the walking unit can be enclosed to prevent the robot from slipping, or the suction cup can be enclosed to prevent it.
  • the scraper strip of the present invention is arranged as a closed whole.
  • the robot is attracted to the window, since the closed structure is adopted, and the height of the scraper is higher than the height of the walking unit, when the window cleaning robot adsorbs On the surface of the window, the scraper is pressed to separate the enclosed interior from the outside. No matter how the window cleaning robot walks, it can wipe 360°. The water in any direction will be blocked by the scraper and will not enter the scraping.
  • the inner wetted walking unit 11 and the suction cup 12 have better wiping effect, and effectively prevent the window cleaning robot from slipping or the suction cup being polluted by water stains.

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  • Manipulator (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

带有封闭刮条（13）的擦窗机器人，包括旋转基体（10）和外框（20），所述旋转基体（10）可旋转设置在外框（20）上，所述外框（20）底部设有清洁单元（21），所述旋转基体（10）上设有行走单元（11）和吸盘（12），所述旋转基体（10）底面上还设有刮条（13），所述刮条（13）在旋转基体（10）底面围设成一封闭形状，所述行走单元（11）和/或吸盘（12）被围设在所述封闭形状内。刮条（13）为封闭的整体，无论机器人如何行走，能够实现360°刮水，有效防止行走单元（11）和吸盘（12）被打湿，刮水效果更好，有效防止打滑。

Description

带有封闭刮条的擦窗机器人 技术领域
本发明涉及一种带有封闭刮条的擦窗机器人，属于家用小电器制造技术领域。
背景技术
随着擦窗机器人广泛进入到人们的家庭中使用，如何使擦窗机器人在窗户上正常行走，关系到整个产品擦窗效果的好坏。防滑是保证机器人正常行走的前提，图1为现有擦窗机器人长条形刮条结构示意图，如图1所示，现有擦窗机器人100的底座200上设有驱动轮300和吸盘400，通常在底座200上还设有长条形硅胶条500用来刮去玻璃上的水，从而防止驱动轮300因与水接触而打滑，同时还可以防止吸盘400被水打湿。由于现有硅胶条为长条形结构，因此，只能有效刮去一个方向的水，即：与长条形的设置方向相互垂直的方向，如果擦窗机器人旋转至与长条形的设置方向相互平行，则无法刮水，驱动轮300还是会因沾水而打滑。
发明内容
本发明所要解决的技术问题在于针对现有技术的不足，提供一种带有封闭刮条的擦窗机器人，刮条设置为封闭的整体，当机器人吸附在窗户上的时候，封闭刮条被压紧，刮条将其内部与外部隔开，无论机器人如何行走，能够实现360°刮水，任意方向的水都会被刮条阻挡在外面，不会进入刮条内部，有效防止驱动轮和吸盘被打湿，刮水效果更好，有效防止机器打滑。
本发明的所要解决的技术问题是通过如下技术方案实现的：
一种带有封闭刮条的擦窗机器人，包括旋转基体和外框，所述旋转基体可旋转设置在外框上，所述外框底部设有清洁单元，所述旋转基体上设有行走单元和吸盘，所述旋转基体底面上还设有刮条，所述刮条在旋转基体底面围设成一封闭形状，所述行走单元和/或吸盘被围设在所述封闭形状内。
为了确保刮条将其内部与外部隔开，所述刮条的高度高于所述行走单元的高度。
为了便于布置，所述刮条既可以是一个完整的封闭形状，又可以分割成多个完整的封闭形状，例如，所述刮条可以具有第一刮条和第二刮条。所述第一刮条围设在所述行走单元的外周，所述第二刮条围设在所述吸盘的外周。
根据需要，所述行走单元为滚轮或履带行走机构。
所述第一刮条和第二刮条分别为多个，其设置数量分别与行走单元和吸盘的设置 数量相对应。
为了确保防滑效果，所述刮条比所述行走单元高0.01mm～1mm。
为了方便连接固定，所述旋转基体上设有凹槽，凹槽侧壁设有凸板，所述刮条的固定端两侧呈凹形槽，所述凸板卡合在所述凹形槽中。
所述吸盘通过软管与真空泵相连，真空泵工作使吸盘内形成负压，使所述擦窗机器人吸附在作业表面。
为了方便转向，所述外框为方形。
综上所述，本发明中的刮条设置为封闭的整体，当机器人吸附在窗户上的时候，封闭刮条被压紧，刮条将其内部与外部隔开，无论机器人如何行走，能够实现360°刮水，任意方向的水都会被刮条阻挡在外面，不会进入刮条内部，有效防止驱动轮和吸盘被打湿，刮水效果更好，有效防止机器打滑或吸盘被水渍污染。
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。
附图说明
图1为现有擦窗机器人长条形刮条结构示意图；
图2为本发明实施例一机体底部结构示意图；
图3为本发明刮条局部结构示意图；
图4为刮条与旋转基体连接结构示意图；
图5为本发明实施例二机体底部结构示意图。
具体实施方式
实施例一
图2为本发明实施例一机体底部结构示意图。如图2所示，本发明提供一种带有封闭刮条的擦窗机器人，包括旋转基体10和外框20，旋转基体10可旋转设置在外框20上，所述外框20为方形(但不仅限于方形，可根据清洁工作表面的需要设置成其它形状)。所述外框20底部设有清洁单元21，比如，抹布。旋转基体10上设有行走单元11和吸盘12，所述旋转基体底面上还设有刮条13，所述刮条13在旋转基体10底面围设成一封闭形状。为了确保刮条将其内部与外部隔开，所述刮条13的高度高于所述行走单元11的高度，为了确保防滑效果，所述刮条13比所述行走单元11高0.01mm～1mm。但是，当擦窗机器人吸附在作业表面时，刮条13、行走单元11和吸盘12是等高的，即三者均与作业表面相接触。根据需要，所述行走单元11可以为滚轮 或履带行走机构。所述吸盘12通过软管与真空泵相连，真空泵工作使吸盘内形成负压，使所述擦窗机器人吸附在作业表面。
图3为本发明刮条结构示意图，图4为刮条与旋转基体连接结构示意图。如图3并结合图4所示，为了方便连接固定，所述旋转基体10上设有凹槽14，凹槽14侧壁设有凸板141，所述刮条13的固定端两侧呈凹形槽130，所述凸板141卡合在所述凹形槽130中。
结合图2所示，刮条13形成一个完整的封闭形状，将行走单元11和吸盘12完全围设在其内部，使其与刮条13的外部空间隔离开。当擦窗机器人开始作业时，其行走方式包括直线行走和原地转向。具体来说，当擦窗机器人沿着玻璃边框的方向作业时，采用直线行走的运动方式；当擦窗机器人遇到玻璃顶角时，旋转基体会相对于边框原地转向，之后再重新回复到直线行走状态。在上述运动过程中，由于行走单元11和吸盘12被刮条13围设在封闭空间内，因此，无论在哪个方向上遇到作业表面的污渍、水垢，都能够被封闭的刮条13隔离在其外部，不会对行走单元11和吸盘12构成任何影响。
实施例二
图5为本发明实施例二机体底部结构示意图。如图5所示，为了便于布置，所述刮条既可以是如实施例一中所述的一个完整的封闭形状，也可以分割成多个完整的封闭形状，例如，所述刮条13可以具有第一刮条131和第二刮条132。所述第一刮条131围设在所述行走单元11的外周，所述第二刮条132围设在所述吸盘12的外周。当然，所述第一刮条和第二刮条还可以分别为多个，其设置数量分别与行走单元和吸盘的设置数量相对应。显然，在本实施例中，同样通过刮条将行走单元11和吸盘12封闭起来，与前述实施例一不同之处在于，本实施例将行走单元11和吸盘12分别围设起来。
本发明的上述两个实施例都是将行走单元和吸盘围设起来，在实际应用中，实际上只将行走单元围设起来同样可以达到防止机器人打滑的效果，或者只将吸盘围设起来防止吸盘被水渍污染的效果。综上所述，本发明中的刮条设置为封闭的整体，当机器人吸附在窗户上的时候，由于采用的是封闭结构，且刮条的高度高于行走单元的高度，当擦窗机器人吸附在窗户表面上的时候，刮条被压紧，将封闭内部与外部隔开，无论擦窗机器人怎样行走，可以360°刮水，任意方向的水都会被刮条阻挡在外面，不会进入刮条内部打湿行走单元11和吸盘12，刮水效果更好，有效防止擦窗机器人打滑或吸盘被水渍污染。

Claims (9)

  1. 一种带有封闭刮条的擦窗机器人，包括旋转基体(10)和外框(20)，所述旋转基体可旋转设置在外框上，所述外框底部设有清洁单元(21)，所述旋转基体上设有行走单元(11)和吸盘(12)，所述旋转基体底面上还设有刮条(13)，其特征在于，所述刮条(13)在旋转基体底面围设成一封闭形状，所述行走单元(11)和/或吸盘(12)被围设在所述封闭形状内。
  2. 如权利要求1所述的擦窗机器人，其特征在于，所述刮条(13)的高度高于所述行走单元(11)的高度。
  3. 如权利要求2所述的擦窗机器人，其特征在于，所述刮条(13)具有第一刮条(131)和第二刮条(132)，所述第一刮条(131)围设在所述行走单元(11)的外周，所述第二刮条(132)围设在所述吸盘(12)的外周。
  4. 如权利要求3所述的擦窗机器人，其特征在于，所述行走单元(11)为滚轮或履带行走机构。
  5. 如权利要求4所述的擦窗机器人，其特征在于，所述第一刮条(131)和第二刮条(132)分别为多个，其设置数量分别与行走单元(11)和吸盘(12)的设置数量相对应。
  6. 如权利要求1至5任一项所述的擦窗机器人，其特征在于，所述刮条(13)比所述行走单元(11)高0.01mm～1mm。
  7. 如权利要求1所述的擦窗机器人，其特征在于，所述旋转基体(10)上设有凹槽(14)，凹槽侧壁设有凸板(141)，所述刮条(13)的固定端两侧呈凹形槽(130)，所述凸板(141)卡合在所述凹形槽(130)中。
  8. 如权利要求1所述的擦窗机器人，其特征在于，所述吸盘(12)通过软管与真空泵相连，真空泵工作使吸盘内形成负压，使所述擦窗机器人吸附在作业表面。
  9. 如权利要求1所述的擦窗机器人，其特征在于，所述外框(20)为方形。
PCT/CN2015/074385 2014-03-17 2015-03-17 带有封闭刮条的擦窗机器人 WO2015139613A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP15764648.0A EP3120743B1 (en) 2014-03-17 2015-03-17 Window-cleaning robot provided with closed wiper
JP2017500117A JP6586156B2 (ja) 2014-03-17 2015-03-17 閉じたワイパが設けられた窓清掃ロボット
US15/126,556 US10213073B2 (en) 2014-03-17 2015-03-17 Window-cleaning robot provided with closed wiper

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201410098719.3A CN104921655B (zh) 2014-03-17 2014-03-17 带有封闭刮条的擦窗机器人
CN201410098719.3 2014-03-17

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WO2015139613A1 true WO2015139613A1 (zh) 2015-09-24

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US (1) US10213073B2 (zh)
EP (1) EP3120743B1 (zh)
JP (1) JP6586156B2 (zh)
CN (1) CN104921655B (zh)
WO (1) WO2015139613A1 (zh)

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CN106821152A (zh) * 2017-01-17 2017-06-13 郑明珠 智能滚筒抹布擦地扫地清洁机器人

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US9215962B2 (en) * 2014-03-13 2015-12-22 Ecovacs Robotics, Inc. Autonomous planar surface cleaning robot
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