CN101518429B - Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof - Google Patents
Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof Download PDFInfo
- Publication number
- CN101518429B CN101518429B CN2009100262499A CN200910026249A CN101518429B CN 101518429 B CN101518429 B CN 101518429B CN 2009100262499 A CN2009100262499 A CN 2009100262499A CN 200910026249 A CN200910026249 A CN 200910026249A CN 101518429 B CN101518429 B CN 101518429B
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- cleaning
- building
- robot
- sweeping robot
- operation hawser
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Abstract
The invention discloses a robot cleaning system for cleaning the outside vertical surface of a building and a cleaning method using the same. An operation cable is hung on a mounting bracket, wherein the bottom end of the operation cable is connected to a hoisting machine, the operation cable is provided with a cleaning robot, a winding holding wheel and a driving device thereof are rotatablely connected with the cleaning robot, the operation cable penetrates into the cleaning robot and winds around the winding holding wheel for one or more circles, one surface of the cleaning robot is fixedlyprovided with three or more telescopic supporting arms, the surface of the cleaning robot provided with the telescopic supporting arms is also rotatablely connected with a cleaning arm and a rotary d riving device thereof, and the top of the cleaning arm is fixedly connected with a cleaning hair brush. The robot cleaning system can thoroughly free high-altitude leaning workers from dangerous rugged environments, improve the working efficiency, reduce the cleaning cost, has good safety performance, and prevents casualties from taking place in the process of artificial high-altitude operations; besides, the cleaning method is simple and easy to perform.
Description
Technical field
The invention discloses a kind of outside vertical surface of building robot purging system, the invention also discloses a kind of cleaning method that uses this robot purging system.
Background technology
The city middle-high building is increasing, and outer facade cleaning becomes problem anxious to be solved.Still use now the mode of hand sweeping, by the roof rope that hangs down, use hanging basket or use safety rope, the workman is by the progressively cleaning downwards of floor most significant end.Inefficiency, cost of labor is high, and labour intensity is high, and work under bad environment is dangerous.According to incompletely statistics, there are nearly 60,000 workmans injures and deaths when work high above the ground in the annual whole nation.
Summary of the invention
One of the object of the invention is to overcome the deficiency that exists in the prior art, provides a kind of and can completely the high-altitude swabber be freed, increases work efficiency, reduce the outside vertical surface of building robot purging system that cleaning expense is used, security performance is good, the injures and deaths situation takes place when having avoided artificial work high above the ground from dangerous rugged environment.
Another object of the present invention provides a kind of cleaning method that uses listing robot purging system.
According to technical scheme provided by the invention; Suspension operation hawser on mounting bracket; Operation hawser bottom is connected on the hoist engine, on said operation hawser, is provided with sweeping robot, is rotatably connected on the sweeping robot to have to roll up to hold wheel and drive unit thereof; The operation hawser penetrate sweeping robot and around volume hold the wheel one the circle or one the circle more than; Said sweeping robot is fixed with the retractable support arm more than three or three on one surface, also is rotatably connected to cleaning arm and device of rotation driving thereof having on the sweeping robot surface of retractable support arm, and cleaning wall top ends is fixedly connected brush sweeper.
Said retractable support arm has three, and they are " article " word shape row portion.Said cleaning arm has three, and they are inverted " article " word shape row portion, and cleaning arm and retractable support arm are set in distance.
The cleaning method of above-mentioned outside vertical surface of building robot purging system comprises following steps:
A, sweeping robot are through on the operation hawser by the workman in advance;
B, the end that mounting bracket is used for fixing the operation hawser is set at the roof of building; The other end of operation hawser is put into bottom of the building along the outer facade of building and firmly is connected with hoist engine; The hoist engine of bottom of the building is with the rolling-in of operation hawser; Make the operation hawser parallel as far as possible near building to be cleaned outer facade and keep exceptionally straight, the retractable support arm stretches out, and makes sweeping robot become the support on the outer facade of building;
The retractable support arm withdrawal of c, sweeping robot; Sweeping robot utilizes power of self and inner volume to hold wheel moving up and down along the active of operation hawser; Cleaning arm rotates, and makes the brush sweeper that is installed on the cleaning arm top begin the outer facade of building is carried out cleaning works from roof; After the outer facade of this file was accomplished cleaning, hoist engine loosened the operation hawser slightly, and the mounting bracket of roof and the hoist engine of bottom of the building move to the outer facade of next file jointly, and hoist engine is with the rolling-in once more of operation hawser;
D, sweeping robot rise to roof along the operation hawser, and cleaning arm rotates, and make the brush sweeper that is installed on the cleaning arm top proceed the cleaning work of the outer facade of follow-up file; The back and forth cleaning task of facade outside accomplishing integral body like this.
The present invention can free the high-altitude swabber completely from dangerous rugged environment, improved operating efficiency, has reduced cleaning expense usefulness, and security performance is good, and the injures and deaths situation takes place when having avoided artificial work high above the ground, and cleaning method is simple.
Description of drawings
Fig. 1 is an overall structure sketch map of the present invention.
Fig. 2 is one of sweeping robot stereogram among the present invention.
Fig. 3 be among the present invention the sweeping robot stereogram two.
The specific embodiment
Below in conjunction with concrete accompanying drawing and embodiment the present invention is described further.
As shown in the figure: suspension operation hawser 2 on mounting bracket 1; Operation hawser 2 bottoms are connected on the hoist engine 3; On said operation hawser 2, be provided with sweeping robot 4; Be rotatably connected on the sweeping robot 4 and have volume and hold wheel 5 and drive unit, operation hawser 2 penetrates sweeping robot 5 and holds wheel 5 one circles or more than the circle, said sweeping robot is fixed with the retractable support arm 6 more than three or three on 4 one surfaces around volume; On 4 surfaces of the sweeping robot with retractable support arm 6, also be rotatably connected to cleaning arm 7 and device of rotation driving thereof, cleaning wall 7 top ends are fixedly connected brush sweeper 8.
Said retractable support arm 6 has three, and they are " article " word shape row portion.Said cleaning arm 7 has three, and they are inverted " article " word shape row portion, and cleaning arm 7 is set in distance with retractable support arm 6.
The cleaning method of this outside vertical surface of building robot purging system comprises following steps:
A, sweeping robot 4 are through on the operation hawser 2 by the workman in advance;
B, the end that mounting bracket 1 is used for fixing operation hawser 2 is set at the roof of building; The other end of operation hawser 2 is put into bottom of the building along the outer facade of building and firmly is connected with hoist engine 3; The hoist engine 3 of bottom of the building is with 2 rolling-in of operation hawser; Make operation hawser 2 parallel as far as possible near building to be cleaned outer facade and keep exceptionally straight, retractable support arm 6 stretches out, and makes 4 one-tenth supports on the outer facade of building of sweeping robot;
D, sweeping robot 4 rise to roof along operation hawser 2, and cleaning arm 7 rotates, and make the brush sweeper 8 that is installed on cleaning arm 7 tops proceed the cleaning work of the outer facade of follow-up file; The back and forth cleaning task of facade outside accomplishing integral body like this.
Roof at building is provided with the end that mounting bracket 1 is used for fixing operation hawser 2, and the other end of operation hawser 2 is put into bottom of the building along the outer facade of building and firmly is connected with hoist engine 3.Sweeping robot 4 is through on the operation hawser 2 by the workman in advance, can initiatively creep up and down along operation hawser 2.The cleaning work method is: after the fixed installation of the two ends of operation hawser 2, the hoist engine 3 of bottom of the building is 2 rolling-in of operation hawser, make operation hawser 2 parallel as far as possible near building to be cleaned outer facade and keep exceptionally straight; Sweeping robot 4 utilizes self power and inner volume to hold wheel 5 along operation hawser 2 moving up and down initiatively, and begins the outer facade of building is carried out cleaning works from roof; After the outer facade of this file was accomplished cleaning, hoist engine 3 loosened operation hawser 2 slightly, and the mounting bracket 1 of roof and the hoist engine 3 of bottom of the building move to the outer facade of next file jointly, and hoist engine 3 is with operation hawser 2 rolling-in once more; Sweeping robot 4 rises to roof along operation hawser 2, proceeds the cleaning work of the outer facade of follow-up file; The back and forth cleaning task of facade outside accomplishing integral body like this.
Because main cleaning works is accomplished by sweeping robot 4, the staff is responsible for support and hoist engine 3 mobile of roof and bottom of the building, the replacing of the working face of sweeping robot 4 etc.Nature can be handled many sweeping robots 4 and carry out cleaning work simultaneously.So not only thoroughly avoided personnel's danger such as injures and deaths of falling to improve labour intensity, improved operating efficiency simultaneously and reduced job costs.
Claims (1)
1. outside vertical surface of building robot purging system; Be included in mounting bracket (1) and go up the operation hawser (2) of suspension; It is characterized in that: operation hawser (2) bottom is connected on the hoist engine (3); On said operation hawser (2), be provided with sweeping robot (4); Be rotatably connected to volume on the sweeping robot (4) and hold wheel (5) and drive unit thereof, operation hawser (2) penetrates sweeping robot (4) and holds more than wheel (5) one circles around volume, and said sweeping robot is fixed with three retractable support arms (6) on (4) one surfaces; On the sweeping robot with retractable support arm (6) (4) surface, also be rotatably connected to cleaning arm (7) and device of rotation driving thereof, cleaning arm (7) top ends is fixedly connected brush sweeper (8);
Said retractable support arm (6) has three, and they are " article " word shape row portion;
Said cleaning arm (7) has three, and they are inverted " article " word shape row portion, and cleaning arm (7) is set in distance with retractable support arm (6);
The method that said outside vertical surface of building robot purging system cleans comprises following steps:
A, sweeping robot (4) are through on the operation hawser (2) by the workman in advance;
B, the end that mounting bracket (1) is used for fixing operation hawser (2) is set at the roof of building; The other end of operation hawser (2) is put into bottom of the building along the outer facade of building and firmly is connected with hoist engine (3); The hoist engine of bottom of the building (3) is with operation hawser (2) rolling-in; Make operation hawser (2) parallel as far as possible near building to be cleaned outer facade and keep exceptionally straight, retractable support arm (6) stretches out, and makes sweeping robot (4) be the support on the outer facade of building;
Retractable support arm (6) withdrawal of c, sweeping robot (4); Sweeping robot (4) utilizes power of self and inner volume to hold wheel (5) moving up and down along operation hawser (2) active; Cleaning arm (7) rotates, and makes the brush sweeper (8) that is installed on cleaning arm (7) top begin the outer facade of building is carried out cleaning works from roof; After the outer facade of this file was accomplished cleaning, hoist engine (3) loosened operation hawser (2) slightly, and the hoist engine (3) of mounting bracket of roof (1) and bottom of the building moves to the outer facade of next file jointly, and hoist engine (3) is with operation hawser (2) rolling-in once more;
D, sweeping robot (4) rise to roof along operation hawser (2), and cleaning arm (7) rotates, and make the brush sweeper (8) that is installed on cleaning arm (7) top proceed the cleaning work of the outer facade of follow-up file; The back and forth cleaning task of facade outside accomplishing integral body like this.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100262499A CN101518429B (en) | 2009-03-17 | 2009-03-17 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100262499A CN101518429B (en) | 2009-03-17 | 2009-03-17 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101518429A CN101518429A (en) | 2009-09-02 |
| CN101518429B true CN101518429B (en) | 2012-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100262499A Expired - Fee Related CN101518429B (en) | 2009-03-17 | 2009-03-17 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
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| Country | Link |
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| CN (1) | CN101518429B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104146649B (en) * | 2013-05-13 | 2017-05-10 | 科沃斯机器人股份有限公司 | Self-moving adsorption robot |
| CN106388691A (en) * | 2016-11-09 | 2017-02-15 | 安双志 | Working method of dead-corner-free glass robot |
| CN106513344A (en) * | 2016-12-08 | 2017-03-22 | 宁波永良电梯技术发展有限公司 | Elevator cleaning device |
| CN108553015A (en) * | 2018-06-11 | 2018-09-21 | 杨俊杰 | Window wiping robot outside a kind of building that convenience and high-efficiency is unattended |
| CN110123191B (en) * | 2019-05-15 | 2023-09-22 | 江苏理工学院 | Window cleaning robot system and cleaning method |
| US20210180351A1 (en) * | 2019-12-16 | 2021-06-17 | Chun Wo Construction & Engineering Co., Limited | System and method for building façade cleaning and painting with a dual cable-driven robot |
| CN112873180A (en) * | 2021-01-22 | 2021-06-01 | 佛山(华南)新材料研究院 | High-altitude operation suspension device and robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2119190U (en) * | 1991-03-30 | 1992-10-21 | 杨振武 | Cradle for cleaning external wall |
| CN100998486A (en) * | 2006-12-27 | 2007-07-18 | 深圳市霖智电子有限公司 | Apparatus for automatically cleaning out-wall of high building |
| CN101322631A (en) * | 2008-07-09 | 2008-12-17 | 杨光 | Full-automatic machine for cleaning external walls of high-rise buildings |
| CN101332068A (en) * | 2008-07-16 | 2008-12-31 | 郝高林 | Suspension obstacle surmounting device of building cleaning robot |
| CN201379513Y (en) * | 2009-03-17 | 2010-01-13 | 江苏威汇力自动化技术有限公司 | Robot cleaning system for building outer vertical face |
-
2009
- 2009-03-17 CN CN2009100262499A patent/CN101518429B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2119190U (en) * | 1991-03-30 | 1992-10-21 | 杨振武 | Cradle for cleaning external wall |
| CN100998486A (en) * | 2006-12-27 | 2007-07-18 | 深圳市霖智电子有限公司 | Apparatus for automatically cleaning out-wall of high building |
| CN101322631A (en) * | 2008-07-09 | 2008-12-17 | 杨光 | Full-automatic machine for cleaning external walls of high-rise buildings |
| CN101332068A (en) * | 2008-07-16 | 2008-12-31 | 郝高林 | Suspension obstacle surmounting device of building cleaning robot |
| CN201379513Y (en) * | 2009-03-17 | 2010-01-13 | 江苏威汇力自动化技术有限公司 | Robot cleaning system for building outer vertical face |
Non-Patent Citations (1)
| Title |
|---|
| JP特开平10-276952A 1998.10.20 |
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| CN101518429A (en) | 2009-09-02 |
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Granted publication date: 20120704 Termination date: 20160317 |