CN103110396A - Automatic cleaning machine for high-rise buildings - Google Patents
Automatic cleaning machine for high-rise buildings Download PDFInfo
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- CN103110396A CN103110396A CN2013100775941A CN201310077594A CN103110396A CN 103110396 A CN103110396 A CN 103110396A CN 2013100775941 A CN2013100775941 A CN 2013100775941A CN 201310077594 A CN201310077594 A CN 201310077594A CN 103110396 A CN103110396 A CN 103110396A
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Abstract
The invention discloses an automatic cleaning machine for high-rise buildings. The automatic cleaning machine for the high-rise buildings comprises a box body structure (1), a drive device (2), a cleaning working device (4) and an absorption device (3), and is characterized in that the absorption device (3) comprises a sucking disc structure and an air-extracting device; the cleaning working device (4) is placed inside the sucking disc structure; and a remote control system is placed. The automatic cleaning machine for the high-rise buildings can clean outer walls of buildings instead of manual work, needs few safeguard measures, does not have construction danger and is not limited by time.
Description
Technical field
The present invention relates to a kind of equipment for cleaning external wall.
Background technology
At present, domestic cleaning for external wall is all adopted manually, and concrete mode has following several:
1, eminence boatswain chair (rope mode): the workman uses and slides into assigned address under boatswain chair (rope) and carry out constructing operation.This form of construction work has convenience, flexible, and safety coefficient is than high.Simultaneously, take resource less, can reduce in maximum owner's routine work, life impact.
2, hanging basket mode: set up hanging basket at roof and the workman is transported to assigned address carries out constructing operation.This form of construction work cleaning efficiency is lower, and cost is higher.
3, high-altitude spider car: use the platform devices such as spider car, lift truck that the workman is transported to assigned address and carry out constructing operation.This form of construction work limitation is larger, generally is applicable to highly difficult engineering below 36 meters.Because cost is higher, seldom adopt.
4, track window cleaning equipment: reserved track window cleaning equipment when the part high building is built, this form of construction work be with the hanging basket mode, but be convenient to mobile.
Above several mode all needs personnel are placed in the high-altitude, has potential safety hazard, and expense is high, is all usually to do Integratively about 1 year to clean, and is difficult to accomplish to clean at any time.
5, indoor two-side eraser mode: the segment glass exterior window clean to adopt the double-sided magnetic glass scraper, and this mode can be in in-house operation, but efficient is lower, poor reliability, and south is used more.Due to the magnetism intensity reason, to hollow pair glass almost without the effect.
Summary of the invention
The technical problem to be solved in the present invention: for the problem that above-mentioned employing manual cleaning external wall exists, provide a kind of automatic rinser for cleaning external wall.
Technical solution of the present invention:
A kind of
The skyscraper automatic rinser, comprising body structure, drive unit, washing and cleaning operation device and adsorbent equipment, adsorbent equipment comprises sucker structure and air extractor, the washing and cleaning operation device is arranged on sucker structure inside, disposes remote control system.
The shirt rim of sucker structure is air bag, and air bag is arranged on below fixed head, fixed head upper end connection guide rod, guide rod is inserted in the installing hole of box body connecting structure, box body connecting structure is arranged on body structure, and the guide rod overcoat has spring, connects by sealing shroud between fixed head and body structure.
Pressure sensor is set in sucker structure.
Air extractor adopts centrifugal exhaust fan.
The side of body structure is equipped with the obstacle detouring wheels, and each obstacle detouring wheels is by 3 the wheel that equilateral triangle arranges and forms.
The washing and cleaning operation device comprises the spray nozzle that turns brush, turns brush central authorities, scraper plate and the water supply and storage device that turns the brush both sides.
A side at body structure arranges dirty water collecting tank, and filter screen and circulating pump are set in dirty water collecting tank.
Be provided with follow-up trolley, hoisting mechanism is installed in follow-up trolley, be connected with cleaning machine tank body by steel cable
Beneficial effect of the present invention:
1. the present invention can replace the manual cleaning external wall, does not need too many safeguard procedures, and construction is not dangerous, is not subjected to time restriction yet.
2. comprehensive barrier-exceeding vehicle wheels: machinery is realized simple, and bearing capacity is large, and obstacle climbing ability is strong, pulls the movement that realizes after class wall device any direction, optional position at tractive force.Wheel type mobile mechanism turns to flexibly, movement velocity is fast.The all-directional wheel with obstacle crossing function of particular design can guarantee that the wall device body moves freely and crosses＜the window frame class obstacle of 50mm on wall.
3. due to the diversity of building wall decorating material, and great majority be non-magnet material (as ceramic tile, coating etc.), the scope of application and the technical feasibility of consideration purging system, and the employing negative-pressure adsorption mode of bleeding is a kind of mode of reasonable.The single sucking disc is simple in structure, controls easily, can work continuously, thus the operating efficiency of raising purging system.The sucker structure with good wall adaptive capacity has been used in conception, adopt the sealing mechanism of spring and air bag combination, guarantee between sucker and wall good fit, utilize the distortion of sucker elasticity shirt rim can adapt to preferably the uneven of wall, guarantee sucker and wall positiver sealing, keep in sucker and extraneous enough large pressure reduction.
5. propose and implemented to integrate and scrub, scrape the operating type of washing, rinsing, more single flushing or scrub more and can thoroughly clean wall, whole purging system is arranged in vacuum pan, utilize the sewage after the inside and outside pressure differential of sucker guarantees to clean can not ooze out and the Re-pollution wall from the gap between vacuum cup and wall, utilize the difference in height of sewage storage bin and vacuum cup, in the sealed storage case that sewage can flow into automatically with the vacuum cup chamber is connected, reach sewage the automatic recovery purpose.A pressure sensor is installed in sucker, and during with wall device body throwing over barrier, the Control Nozzle water spray prevents that the sewage ejection is to the pollution of wall when cleaning device.
Description of drawings:
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is the structural representation of wall device body.
Fig. 3 is the sealed structural representation of adsorbent equipment.
Fig. 4 is the follow-up trolley structural representation.
The specific embodiment:
Embodiment:
For realizing the washing and cleaning operation function of high-rise building wall surface automatic cleaning system, as follows to the specific requirement that the high-rise building wall surface automatic cleaning system proposes:
Suction type: the negative-pressure adsorption of bleeding, to adapt to the wall of the various materials such as mixed earth, ceramic tile, glass
Travel mechanism: hoist cable traction
Creep speed: 12m/min
Height: 0～500m creeps
Control system: ground remote control box operation
Drive and safety locking motion: the roof follow-up trolley
The washing and cleaning operation device: be equipped with the nozzle that cleans various material walls, turn brush, scraper plate, employing rinses+turns and scrub+and scraper plate scrapes the symphyogenetic washing and cleaning operation mode of washing, and can the automatic recovery sewage.
Cleaning efficiency: 110 ㎡/h
Obstacle climbing ability: movement is the window frame class obstacle that can cross over the 50mm left and right
System is small-sized, lightweight
For realizing purging system high efficiency washing wall, purging system has absorption and the locomotive function on wall, also the washing and cleaning operation function to be arranged simultaneously, so the present invention includes wall device body, remote control system, washing and cleaning operation device, driving and safety locking motion four major parts.
The wall device body is comprised of body structure 1, obstacle detouring wheels and adsorbent equipment 3, adsorbent equipment 33 adopts the single sucking disc negative-pressure adsorption mode, the shirt rim of sucker structure is air bag 37, air bag 37 is arranged on fixed head 35 belows, fixed head 35 upper ends connect guide rod 32, guide rod 32 is inserted in the installing hole of body structure 1, and guide rod 32 overcoats have spring 33, connects by sealing shroud 34 between fixed head 35 and body structure 1.The side of body structure 1 is equipped with obstacle detouring wheels 11, and each obstacle detouring wheels 11 is by 3 the wheel that equilateral triangle arranges and forms.
In purging system operation moving process, sucker and wall form an annular seal space, form certain vacuum by air extractor in the sealing chamber, utilize the inside and outside pressure differential of sucker that absorption affinity to wall is provided.Produce the certain vacuum degree vavuum pump method, ejector method etc. are arranged, adopt the ejector method to need extra feeder, be unfavorable for miniaturization and the lightweight of high-rise building wall surface purging system, so select the vavuum pump method, the high-speed centrifugal fan that is arranged on wall device box wall produces negative pressure.This high-speed fan capacity is large, vacuum is high, and capacity per minute is greater than 2.8m, and negative pressure of vacuum is greater than 15kPa.Realize that the key of negative-pressure adsorption does not lie in the generation of negative pressure of vacuum, but be keeping of negative pressure, the function of sealing device is kept the negative pressure in sucker just.Have between the wall ceramic tile of skyscraper on certain gap and projection, wall rough obstacle arranged sometimes, the high-rise building wall surface purging system want can safety and steady the washing and cleaning operation that carries out, sealing mechanism must have good adaptive ability.Elastic bag 37 formula sealing mechanisms can address this problem preferably.This sealing mechanism is comprised of air bag 37 sealed skirts and spring 33, satisfies the required adaptive capacity of sealing, and air bag 37 sealed skirts are comprised of the bicycle tube that the surface scribbles high-abrasive material, utilizes the micro-strain of air bag 37 to adapt to the little concavo-convex of wall.Require frictional force between the two as far as possible little when air bag 37 sealed skirts and wall are made relative sliding, therefore, the selection of abrasion-resistant coating material is had certain requirement: wearability is good, little with the coefficient of friction of ceramic and glass tile etc., pliability good.
Washing and cleaning operation device 4 is the concrete executing agencies that carry out the wall washing and cleaning operation, by water supply installation, spray nozzle 14, turn the mechanisms such as brush 13, scraper plate, sewage storage bin 5 and form.Consider from the angle that improves cleaning efficiency and effect, adopt high pressure washing, turn to scrub with scraper plate and scrape the washing and cleaning operation mode of washing integration of operation, for preventing from cleaning the sewage Re-pollution wall of rear formation, must in time reclaim sewage, consider from the compact angle of sewage recovery and mechanism, directly be placed on washing and cleaning operation device 4 in negative pressure sucker, owing to there being pressure differential inside and outside sucker, the sewage that forms after cleaning can not flow out from the gap between sucker and wall, and flows into by drainpipe in sewage storage bin 5 on the tank wall that is arranged on the wall device body.And when cleaning device during with wall device body throwing over barrier, want the Control Nozzle water spray this moment, a pressure sensor is installed in sucker, nozzle stops water spray automatically when the sucker internal gas pressure significantly raises, and nozzle begins automatic water jetting (during crossing over blockage during the pressure of sucker internal gas pressure when being reduced to cleaning, sucker leaves wall, and air enters, and air pressure raises; The sucker that surmounts obstacles produces negative pressure from newly being adjacent to wall).
Driven by synchronous cog belt by motor and turn brush 13 rotations, wall is scrubbed, remove the larger dirt of adhesive force, the rotary speed that turns brush 13 should be complementary with drive unit 2 traction wall device body translational speeds, the logical 14 pairs of walls of spray nozzle that turn in brush 13 that are arranged on rinse and infiltrate simultaneously, remove the less dirt of adhesive force on wall, for improving developing result, provide water under high pressure (or aqueous cleaning agent) by jetting machine.The scraper plate that is arranged in sucker can be scraped the drop that totally remains on wall, and guiding sewage, enters sewage storage bin 5 by drainpipe.Dirty water collecting tank is located at the downside of body structure 1, and filter screen and circulating pump are set in dirty water collecting tank, recycling a part of sewage.
Driving and safety locking motion mainly comprise several parts such as roof follow-up trolley 24, hoisting mechanism 21 and steel wire rope, and truss 22 and pulley 23 are installed on follow-up trolley 24.Draw moving up and down of wall device body by the motor drives hoist engine in dolly, and moving left and right of follow-up trolley 24 can drive moving left and right of wall device body.The water pipe that the weight of its holder body of while and roof are suspended and the weight of cable play the effect of security insurance.Outstanding for adapting to different eaves, and can be between adjacent wall continuous moving, adopt the truss 22 adjustable versions in inclination angle.Driving and safety locking motion are installed on sub-roof, can be controlled with the movement of motor-car and the folding and unfolding of steel wire rope by remote-control box by the ground handling personnel, also can be controlled by the manual control box by the staff of roof.
Drive safety locking motion in the interlocking that must guarantee in electrical control between each sensing switch, after guaranteeing that the elevator motor brake is open in electric motor starting, mechanically adopt the worm gear pole drive mechanism, guarantee counter-rotational self-locking.
Remote control system adopts two-channel wireless RF remote-controlled, mainly comprises radio frequency communication device and function control device, and remote control distance is not less than 500m.Its major function is by ground or the operation of roof remote control operation box, controls purging system and controls and washing and cleaning operation control in absorption, the driving of wall.Concrete control object comprises:
1) driving safety locking motion controls: the rotating speed of follow-up trolley 24 drive motors and turn to control; The switching of brake, steering cluth is controlled; The speed of hoisting mechanism 21 winches is controlled; The startup of span winch, close and speed governing.
2) control of purging system adsorption system and cleaning device: the switching of vavuum pump, speed governing; The startup of jetting machine, stop; Turn the rotation of brush and stop.
The specific requirement of remote control system:
1) small-sized, the lightweight of remote control, high reliability.
2) regulate the speed of elevator winch by remote-control box, be the translational speed of wall device body and cleaning device, the maximum translational speed of wall device body is 12m/min, and the work translational speed is 6m/min.There is on remote-control box corresponding function button control the rotating speed of winch motor, controls simultaneously the rotating speed of roof follow-up trolley drive motors and turn to and brake, steering cluth, realize the omnibearing movement of wall device body on wall.
3) by remote-control box control air exhauster startup, stop and speed governing, realize that the wall device body reliably is attached on wall, guarantee the applying that air bag 37 sealed skirts and wall are good.
4) control the jetting machine switch, turn switch and the speed governing of brushing motor by remote-control box, make purging system complete the wall cleaning task.
5) remote control system should have appropriate redundancy, guarantees can put the wall device body safely to ground by redundant system when remote handling system breaks down to keep in repair.
The design philosophy that the design of purging system remote control system is followed reliably, miniaturization, lightweight, convenient operation are safeguarded, romote controlled receiving system is directly installed on the wall device body, moving up and down with the wall device body makes the structure of whole system tightr, takes waterproof sealing on structure.
Claims (8)
1. skyscraper automatic rinser, comprise body structure (1), drive unit (2), washing and cleaning operation device (4) and adsorbent equipment (3), it is characterized in that: adsorbent equipment (3) comprises sucker structure and air extractor, washing and cleaning operation device (4) is arranged on sucker structure inside, disposes remote control system.
2. skyscraper automatic rinser according to claim 1, it is characterized in that: the shirt rim of sucker structure is air bag (37), air bag (37) is arranged on below fixed head (35), fixed head (35) upper end connects guide rod (32), guide rod (32) is inserted in the installing hole of box body connecting structure (31), and box body connecting structure (31) is arranged on body structure (1); Guide rod (32) overcoat has spring (33), connects by sealing shroud (34) between fixed head (35) and box body connecting structure (31).
3. skyscraper automatic rinser according to claim 2, is characterized in that: pressure sensor is set in sucker structure.
4. skyscraper automatic rinser according to claim 1, is characterized in that: air extractor employing centrifugal exhaust fan.
5. skyscraper automatic rinser according to claim 1, it is characterized in that: the side of body structure (1) is equipped with obstacle detouring wheels (11), and each obstacle detouring wheels (11) is by 3 the wheel that equilateral triangle arranges and forms.
6. skyscraper automatic rinser according to claim 1 is characterized in that: washing and cleaning operation device (2) comprises the spray nozzle (14) that turns brush (13), turns brush central authorities, scraper plate and the water supply and storage device that turns the brush both sides.
7. skyscraper automatic rinser according to claim 1, it is characterized in that: the side at body structure (1) arranges dirty water collecting tank (5), and filter screen and circulating pump are set in dirty water collecting tank.
8. skyscraper automatic rinser according to claim 1, it is characterized in that: drive unit (1) is follow-up trolley (24), hoisting mechanism (21) is installed in follow-up trolley (24), and the body structure (1) of being connected with cleaning machine by steel cable connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100775941A CN103110396A (en) | 2013-03-12 | 2013-03-12 | Automatic cleaning machine for high-rise buildings |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100775941A CN103110396A (en) | 2013-03-12 | 2013-03-12 | Automatic cleaning machine for high-rise buildings |
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| Publication Number | Publication Date |
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| CN103110396A true CN103110396A (en) | 2013-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013100775941A Pending CN103110396A (en) | 2013-03-12 | 2013-03-12 | Automatic cleaning machine for high-rise buildings |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103637751A (en) * | 2013-11-13 | 2014-03-19 | 梧州学院 | Remote control glass curtain wall cleaning vehicle |
| CN104545666A (en) * | 2013-10-23 | 2015-04-29 | 无锡吊蓝机械制造有限公司 | Single-arm wheel-load type window cleaning machine |
| WO2015074556A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Pressure detection and release apparatus and adsorption robot provided with same |
| CN104983369A (en) * | 2015-06-15 | 2015-10-21 | 福建工程学院 | Building outer facade washing robot system and using method thereof |
| CN105889298A (en) * | 2014-11-05 | 2016-08-24 | 江南大学 | Device with multiple suction cups |
| CN106088547A (en) * | 2016-08-02 | 2016-11-09 | 武汉科技大学 | A kind of high-altitude vertical wall rendering robot |
| CN106419773A (en) * | 2016-12-13 | 2017-02-22 | 杨铭 | Building glass curtain wall cleaning spider robot |
| CN107260052A (en) * | 2016-10-19 | 2017-10-20 | 罗浩 | Intelligent window cleaning equipment and wiping wall telephone |
| CN107280568A (en) * | 2017-06-20 | 2017-10-24 | 葛荣超 | Purging system |
| CN107605169A (en) * | 2017-10-31 | 2018-01-19 | 无锡市湖昌机械制造有限公司 | The house outer surface cleaning equipment of jointing plate is installed |
| CN108643599A (en) * | 2018-05-25 | 2018-10-12 | 杭州电子科技大学 | Topological three-dimensional suspended structure glass-wall cleaning robot system and motion control method |
| CN109018049A (en) * | 2018-06-22 | 2018-12-18 | 刘禄军 | A kind of wall surface walking device |
| CN109008765A (en) * | 2018-07-20 | 2018-12-18 | 深圳聚纵科技有限公司 | A kind of high pressure multi-fluid curtain cleaning robot system |
| CN109700394A (en) * | 2018-12-02 | 2019-05-03 | 杨留英 | Glass curtain wall cleaning device |
| CN110367887A (en) * | 2019-08-19 | 2019-10-25 | 苏州六翼智能科技有限公司 | Contactless soft guide rail high-altitude facade washing machine |
| CN110694312A (en) * | 2019-09-27 | 2020-01-17 | 合肥思筹科技有限公司 | Underwater walking type mud scraper for sewage treatment sedimentation tank |
| CN111345750A (en) * | 2020-03-23 | 2020-06-30 | 河南理工大学 | Glass curtain wall cleaning robot and use method thereof |
| WO2020181453A1 (en) * | 2019-03-11 | 2020-09-17 | 魏天魁 | Smart all-terrain glass curtain wall cleaning robot and cleaning control method therefor |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104545666A (en) * | 2013-10-23 | 2015-04-29 | 无锡吊蓝机械制造有限公司 | Single-arm wheel-load type window cleaning machine |
| CN103637751A (en) * | 2013-11-13 | 2014-03-19 | 梧州学院 | Remote control glass curtain wall cleaning vehicle |
| CN103637751B (en) * | 2013-11-13 | 2016-01-27 | 梧州学院 | Distance type glass curtain wall cleaning cart |
| WO2015074556A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Pressure detection and release apparatus and adsorption robot provided with same |
| CN105889298A (en) * | 2014-11-05 | 2016-08-24 | 江南大学 | Device with multiple suction cups |
| CN104983369A (en) * | 2015-06-15 | 2015-10-21 | 福建工程学院 | Building outer facade washing robot system and using method thereof |
| CN106088547A (en) * | 2016-08-02 | 2016-11-09 | 武汉科技大学 | A kind of high-altitude vertical wall rendering robot |
| CN107260052A (en) * | 2016-10-19 | 2017-10-20 | 罗浩 | Intelligent window cleaning equipment and wiping wall telephone |
| CN106419773A (en) * | 2016-12-13 | 2017-02-22 | 杨铭 | Building glass curtain wall cleaning spider robot |
| CN107280568A (en) * | 2017-06-20 | 2017-10-24 | 葛荣超 | Purging system |
| CN107605169A (en) * | 2017-10-31 | 2018-01-19 | 无锡市湖昌机械制造有限公司 | The house outer surface cleaning equipment of jointing plate is installed |
| CN108643599A (en) * | 2018-05-25 | 2018-10-12 | 杭州电子科技大学 | Topological three-dimensional suspended structure glass-wall cleaning robot system and motion control method |
| CN108643599B (en) * | 2018-05-25 | 2020-11-06 | 杭州电子科技大学 | Topological three-dimensional suspension structure curtain wall cleaning robot system and motion control method |
| CN109018049A (en) * | 2018-06-22 | 2018-12-18 | 刘禄军 | A kind of wall surface walking device |
| CN109008765A (en) * | 2018-07-20 | 2018-12-18 | 深圳聚纵科技有限公司 | A kind of high pressure multi-fluid curtain cleaning robot system |
| CN109700394A (en) * | 2018-12-02 | 2019-05-03 | 杨留英 | Glass curtain wall cleaning device |
| CN109700394B (en) * | 2018-12-02 | 2020-12-22 | 南京美华羽绒制品有限公司 | Glass curtain wall cleaning device |
| WO2020181453A1 (en) * | 2019-03-11 | 2020-09-17 | 魏天魁 | Smart all-terrain glass curtain wall cleaning robot and cleaning control method therefor |
| CN110367887A (en) * | 2019-08-19 | 2019-10-25 | 苏州六翼智能科技有限公司 | Contactless soft guide rail high-altitude facade washing machine |
| CN110694312A (en) * | 2019-09-27 | 2020-01-17 | 合肥思筹科技有限公司 | Underwater walking type mud scraper for sewage treatment sedimentation tank |
| CN110694312B (en) * | 2019-09-27 | 2021-08-27 | 合肥思筹科技有限公司 | Underwater walking type mud scraper for sewage treatment sedimentation tank |
| CN111345750A (en) * | 2020-03-23 | 2020-06-30 | 河南理工大学 | Glass curtain wall cleaning robot and use method thereof |
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Application publication date: 20130522 |