CN101085524A - Glass wall adsorption device with built-in cleaning mechanism - Google Patents
Glass wall adsorption device with built-in cleaning mechanism Download PDFInfo
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- CN101085524A CN101085524A CN 200610087329 CN200610087329A CN101085524A CN 101085524 A CN101085524 A CN 101085524A CN 200610087329 CN200610087329 CN 200610087329 CN 200610087329 A CN200610087329 A CN 200610087329A CN 101085524 A CN101085524 A CN 101085524A
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- sucker
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- adsorbent equipment
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Abstract
The built-in cleaning structure negative pressure sucking device is used for cleaning robot system. Single face opening rectangular sucking plate frame realizes seal, side has two followed rolling wheel. The cleaning roll brush overpasses two sides of the sucker frame through a long shaft, nozzle at the rear bottom of the sucker spraying through the outside connected water pump, whipping the wall under the driving of the motor. The suction device under the building roof extraction device can clean the wall. The adjustment wind blower can change the inner negative pressure of the suction device, with good cleaning effect, convenient making and low cost.
Description
Technical field
The present invention relates to a kind of novel adsorbent equipment of built-in cleaning mechanism, be used for plane glass curtain wall wall surface cleaning robot system, belong to field of special robots.
Background technology
Climbing robot can be adsorbed on the specialized robot of carrying out certain function on the vertical walls as a kind of, and wall adsorption device is its important part.Adsorbent equipment mechanism design and performance quality directly have influence on operating efficiency, security and stability and the wall adaptive capacity of robot.Therefore, adsorbent equipment structure reasonable in design, making it better improve climbing robot wall work capacity in conjunction with the wall environment is a key technology.
In the prior art, the adsorbent equipment of glass wall cleaning robot mainly contains two big classes, and a class is the negative-pressure adsorption device that alternately adsorbs, and another kind of is slidingtype negative-pressure adsorption device.The negative-pressure adsorption device of a kind of wall surface cleaning robot of Lanxing Harbin Polytechnical Uinv. Robot Tech. Co., Ltd., Beijing's development (patent No.: ZL01202018.4) adopt the single sucking disc negative-pressure adsorption, sucker is a housing of single face opening, the shell nozzle periphery is provided with a circle pressure bladder, one cavity is arranged in the middle of air bag and the housing, electric fan is contained on the housing, and running gear is arranged in the sucker housing.This slidingtype adsorbent equipment is simple in structure, cost is low, can realize the fast moving of wall surface cleaning robot, and cleaning efficiency is higher, but ring wear is serious, and needs design wiper mechanism in addition.(patent No.: ZL00201085.2) adopt alternately adsorbent equipment, main body is a crossing skeleton, and head respectively has one group of small sucker in a kind of wiping robot of BJ University of Aeronautics ﹠ Astronautics development.X to Y to an air cylinder driven is arranged respectively, each is stretched out every group of sucker by an air cylinder driven and withdraws.This alternately adsorbent equipment has certain adaptability to obstacles such as window frames, but the slow efficient of translational speed is low, and complex structure cost height.
Existing wall adsorption device technology is all simply effective less than the reliable absorption, fast moving and the mechanism that effectively realize cleaning robot.Plane glass curtain wall wall has smooth smooth, characteristics such as coefficient of friction is little, between slidingtype adsorbent equipment and wall relative motion is arranged, consider the process characteristic that the glass face cleans, make full use of the relative motion between adsorbent equipment and wall, can simplify the whole system wiper mechanism, reduce cost, thus practicability more.Therefore, developing a kind of wall adsorption device that can reliably adsorb and can simplify wiper mechanism, is one of key issue in the cleaning robot research.
Summary of the invention
The objective of the invention is at the deficiency on the existing wall adsorption device structural design, design a kind of plane glass curtain wall wall surface cleaning robot that is used for, the negative pressure sucker wall adsorption device of built-in cleaning mechanism, make robot can reliably be adsorbed in wall, realize the simplification of wiper mechanism again easily.
For realizing such purpose, the negative pressure sucker adsorbent equipment of the present invention's design comprises that part, sucker frame part, wiper mechanism and sealing device part take place negative pressure.Realize sealing with the rubber strip sealing device around the sucker opening surface, each follower rollers about place in the sucker outside.Wiper mechanism is placed on sucker inside, comprises that round brush, nozzle and double as wall scrape the sucker sealing device of washing and reclaim sewage.Regulate the electric fan rotating speed and can change negative pressure in the sucker, guarantee that it can glide by an edge curtain wall, cleans Yi Bian carry out wall under the situation of reliable absorption.
Concrete structure of the present invention is: a kind of flat glass curtain wall wall surface cleaning robot that is used for, the negative pressure sucker adsorbent equipment of built-in cleaning mechanism comprise that part, sucker frame part, wiper mechanism and sealing device part take place negative pressure.Two typhoon machines are fixed on the back side outside the sucker framework through a flat board with screw, the sucker framework is the cuboid of single face opening, and the sealing device with the rubber material around the sucker frame openings face is realized sealing.Two follower rollers are respectively installed in the sucker two sides, prevent that sealing device excessively is adjacent to wall.Wiper mechanism comprises that cross-over connection is fixed on the cleaning round brush of sucker framework both sides, is fixed on the cleaning motor in the sucker framework upper right corner, the micro nozzle that is fixed on bottom, rear flank in the sucker is formed.Motor drives the roller brush shaft rotation through synchronous belt transmission device, is driven to rotate across twine billowing brush on the roller brush shaft of sucker framework two sides, thereby lashes wall, realizes the wall cleaning function.The last lower edge of sucker sealing device plays to scrape washing down clean wall function in the downward sliding process of sucker.The effect that wall sewage is reclaimed in guiding can be played in the sealing device lower edge of being close to wall.Sucker framework upper fixed has two suspension hooks, is used for the fixing and safety effect of traction.The sewage that accumulates in rear side in the sucker is communicated to the outside through waterway pipe, is extracted out by external suction pump.For preventing after round brush from turning round water to be got rid of into electric fan, close electric fan opening part one end distance is from fixing a rectangular panel on the sucker inner frame.
During work, sucker is close to wall, and electric fan starts, and under the sealing device effect of rubber material, produces negative pressure in the enclosure space of wall and sucker.Negative pressure acquires a certain degree, and cleans electric motor starting, drives the rotation of cleaning round brush and lashes wall.Simultaneously, begin in the storage tank of outside, to draw water, begin to the wall water spray through 8 nozzles of sucker inner bottom part by the suction pump that is placed on the sucker outside, thus moistening wall.Make sucker under the self gravitation effect by the roof draw-gear, to lower slider, sewage reclaims after outside suction pump is recovered in the outside storage tank by the road along sucker lower edge sealing device along wall.
The present invention has realized effective combination of wall adsorption function and wiper mechanism, has simple, the reliable operation, easily manufactured of mechanism, advantage with low cost, effectively avoid plane wall surface cleaning robot adsorbent equipment and wiper mechanism to carry out the contradiction of mechanism design separately, efficiently solved a key technology in the wall surface cleaning robot design.
Description of drawings
Fig. 1 is the three-dimensional structure schematic diagram (front) of adsorbent equipment of the present invention.
Fig. 2 is the three-dimensional structure schematic diagram (back side) of adsorbent equipment of the present invention.
In Fig. 1, Fig. 2:
1: sealing device side edge, 2: outer left side follower rollers, 3: roller bearing, 4: nozzle, 5: clean round brush, 6: water fender, 7: sealing device lower edge, 8: external right side follower rollers, 9: electric fan, 10: belt wheel, 11: be with 12: the sucker framework synchronously, 13: motor fixing plate, 14: clean motor, 15: suspension hook, 16: the sealing device upper edge.
The specific embodiment
Further specify concrete structure of the present invention and embodiment below in conjunction with accompanying drawing.
The negative pressure sucker adsorbent equipment of the built-in cleaning mechanism of the present invention's design mainly comprises negative pressure generator, sucker framework, sealing device and wiper mechanism part as shown in Figures 1 and 2.Negative pressure generator is formed by be fixed on outside the sucker framework two electric fans 9 at the back side with screw through a flat board.Sucker framework 12 is the cuboid of 800 * 200 * 100 millimeters single face openings of size, uses the sealing device 1,7,16 of rubber material to realize sealing around the sucker opening surface respectively.Two follower rollers 2,8 are installed in the sucker two sides.Two suspension hooks 15 are installed in sucker framework top, are used for lifting.Clean that round brush 5 is wrapped on the roller brush shaft 3 and across in sucker framework two sides, nozzle 4 is installed in the inner back lower place of sucker, water fender 6 anti-sealings are splashed into electric fan 9.Clean motor 14 and be fixed on sucker framework top, through being with conveyer 11 to drive roller brush shaft 3 rotations synchronously by a fixed head 13.Wall sewage is back to the sucker bottom through sealing device lower edge 7, extract out recycling by the water pump that cross current is external.
The course of work of adsorbent equipment of the present invention is as follows:
Whole adsorbent equipment makes it be parallel to wall by the traction of roof hoisting system.When starting working, electric fan 9 starts, and wall is close at the sealing device edge 1,7,16 of rubber material, begins to produce negative pressure in the sucker.Behind the negative regulation, hoisting system begins to transfer with constant speed, and under the self gravitation effect, adsorbent equipment is implemented in uniform motion straight down on the wall by being installed in the deformation extent of supporting roller 2, the 8 adjustment sealing devices 1,7,16 on the sucker.Simultaneously, clean motor 14 and start, clean round brush 5 rotations, spray water to wall by nozzle 4 by external suction pump through being with conveyer 10,11 to drive synchronously, moistening wall, thus realize that lashing wall by round brush 5 realizes peeling off wall dirt function.In addition, by the relative scraping campaign of lower edge on the sealing device 7,16 with wall, it is water stain to eliminate wall.Wall sewage can be reclaimed in sealing device lower edge 7, and the sewage that will be accumulated in the sucker inner bottom part by external suction pump is extracted out, thereby guarantees free from environmental pollution.
Claims (3)
1, a kind of negative pressure sucker adsorbent equipment of built-in cleaning mechanism, comprise that part, sucker frame part, wiper mechanism and sealing device part take place negative pressure, it is characterized in that two electric fans of negative pressure generation part (9) composition, the sucker framework is the cuboid of single face opening, use the sealing device 1,7,16 of rubber material to realize sealing around the sucker opening surface respectively, sealing device 7,16 can be scraped and wash down clean wall, sealing device 7 recyclable wall sewage, and two follower rollers 2,8 are installed in the sucker side.Clean round brush 5 and be placed on adsorbent equipment inside, clean motor 14 and be arranged in sucker framework top, drive 5 rotations of cleaning round brush by synchronous band conveyer 10,11 and lash wall.
2, negative pressure sucker adsorbent equipment as claimed in claim 1, built-in cleaning mechanism.
3, negative pressure sucker adsorbent equipment as claimed in claim 1, the outer side-sealing device of opening surface both can play sealing function, can carry out wall again and scrape the matting of washing with the sewage recovery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610087329 CN101085524A (en) | 2006-06-08 | 2006-06-08 | Glass wall adsorption device with built-in cleaning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610087329 CN101085524A (en) | 2006-06-08 | 2006-06-08 | Glass wall adsorption device with built-in cleaning mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101085524A true CN101085524A (en) | 2007-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200610087329 Pending CN101085524A (en) | 2006-06-08 | 2006-06-08 | Glass wall adsorption device with built-in cleaning mechanism |
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| CN (1) | CN101085524A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106491041A (en) * | 2016-11-15 | 2017-03-15 | 北京历途科技有限公司 | A kind of composite multifunction negative pressure cleaning device |
| CN107060359A (en) * | 2017-04-05 | 2017-08-18 | 西南交通大学 | A kind of external surface of buildings cleaning equipment |
| CN107969981A (en) * | 2018-01-16 | 2018-05-01 | 苏州瀚昆机器人科技有限公司 | A kind of two-legged type climbing robot |
| CN108120684A (en) * | 2018-01-30 | 2018-06-05 | 中国建材检验认证集团股份有限公司 | Safety partition detects robot and curtain wall detecting system |
| CN109116218A (en) * | 2018-09-07 | 2019-01-01 | 长鑫存储技术有限公司 | Grabbing device and electronic chip test equipment with the grabbing device |
| CN110454671A (en) * | 2019-08-16 | 2019-11-15 | 深圳市安耐佳电子有限公司 | A kind of sucker stand and product adsorb localization method |
| CN111449562A (en) * | 2020-04-09 | 2020-07-28 | 杭州杭优幕墙材料有限公司 | Curtain wall cleaning device |
-
2006
- 2006-06-08 CN CN 200610087329 patent/CN101085524A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106491041A (en) * | 2016-11-15 | 2017-03-15 | 北京历途科技有限公司 | A kind of composite multifunction negative pressure cleaning device |
| CN106491041B (en) * | 2016-11-15 | 2022-12-16 | 北京历途科技有限公司 | Composite multifunctional negative pressure cleaning device |
| CN107060359A (en) * | 2017-04-05 | 2017-08-18 | 西南交通大学 | A kind of external surface of buildings cleaning equipment |
| CN107969981A (en) * | 2018-01-16 | 2018-05-01 | 苏州瀚昆机器人科技有限公司 | A kind of two-legged type climbing robot |
| CN108120684A (en) * | 2018-01-30 | 2018-06-05 | 中国建材检验认证集团股份有限公司 | Safety partition detects robot and curtain wall detecting system |
| CN109116218A (en) * | 2018-09-07 | 2019-01-01 | 长鑫存储技术有限公司 | Grabbing device and electronic chip test equipment with the grabbing device |
| CN110454671A (en) * | 2019-08-16 | 2019-11-15 | 深圳市安耐佳电子有限公司 | A kind of sucker stand and product adsorb localization method |
| CN111449562A (en) * | 2020-04-09 | 2020-07-28 | 杭州杭优幕墙材料有限公司 | Curtain wall cleaning device |
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