CN103462566A - Surface cleaner for high-rise buildings - Google Patents

Surface cleaner for high-rise buildings Download PDF

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Publication number
CN103462566A
CN103462566A CN2013103859417A CN201310385941A CN103462566A CN 103462566 A CN103462566 A CN 103462566A CN 2013103859417 A CN2013103859417 A CN 2013103859417A CN 201310385941 A CN201310385941 A CN 201310385941A CN 103462566 A CN103462566 A CN 103462566A
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CN
China
Prior art keywords
cylinder
cleaning machine
round brush
movement
supporting leg
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN2013103859417A
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Chinese (zh)
Inventor
蔺小军
王志伟
张新鸽
郭研
崔栋鹏
吴广
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Northwestern Polytechnical University
Original Assignee
Northwestern Polytechnical University
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 Northwestern Polytechnical University filed Critical Northwestern Polytechnical University
Priority to CN2013103859417A priority Critical patent/CN103462566A/en
Publication of CN103462566A publication Critical patent/CN103462566A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a surface cleaner for high-rise buildings. The surface cleaner powered by compressed air has the function of adsorbing to the surface of a high-rise building during operating, the function of having a cleaning mechanism, and the function of being controlled to move on the surface of the building through a control unit. When performing the third function, the surface cleaner can move up and down in the vertical direction and move horizontally according to the principle: each motion is decomposed of movements in spatial three orthogonal directions, and the movements are achieved through three orthogonal cylinders respectively under control of simple programs. A body of the surface cleaner is light in weight; production process of the surface cleaner is simple; structural strength of the surface cleaner is high; multiple surface cleaners can be used simultaneously for efficient automatic cleaning with no manual intervention.

Description

A kind of skyscraper surface cleaning machine
Technical field
The present invention relates to a kind of device for cleaning tall building, specifically, relate to a kind of skyscraper surface cleaning machine.
Background technology
Current, along with the economic development skyscraper also is on the increase, and building surface adopts the more smooth material such as safety glass to decorate more, needs periodic cleaning.For a long time, be all to carry out manual cleaning with the form of crane and suspension, work is dangerous.In recent years, engender unmanned automatic cleaning equipment, but being mostly of adopting is lifting elevator form, need to be at the top of building mounting hanger, and gears, the cam parts of adopting in mechanism, cause complex structure. more
A kind of automatic cleaning machine for external wall of high-rise building is disclosed in patent of invention 200810044382.2, by air walk machine and fixing operation machine, formed, need during work at top of building, to settle winding plant that the air walk machine is moved up and down in advance, realize cleaning by brush fixing on vehicle with walking machine and water injector.This cleaning machine does not provide the scheme that horizontal direction moves, and can not realize the cleaning of building surface Zone Full; The brush cleaned is fixed on vehicle with walking machine, and just along with the movement of walking mechanism is cleared up building surface, cleaning efficiency is lower.
In recent years, the development of vacuum adsorption bionic wall climbing robot rapidly.Existing disclosed document " a kind of multicup wall-lcimbing robot's prototype development " has been introduced a kind of climbing robot prototype of imitative tank in (Machine Design, the 20th the 8th phase of volume).The novel part of this robot is the adsorbing mechanism that adopts a plurality of suckers to form and single-chain is creeped and steering mechanism, can on metope, creep continuously, and certain obstacle climbing ability is arranged.This robot is owing to adopting the single-chain form, turning be by rotary joint under the driving that turns to cylinder, make the most forward hinged on a chain very little angle of one group of sucker conversion, radius of turn is larger.Right-angled intersection formula multi-sucker has been proposed from walking robot in " vertically glass curtain wall cleaning machine device people's design " (Chinese science and technology information, 2,011 8 phases of the end of the year) literary composition.In the running gear of this robot, two cylinders are connected by middle connecting plate, form the walking of right-angled intersection formula; The cross two ends connect respectively one group of sucker, and every group of sucker is comprised of three suckers, and every group of sucker, all with double-acting cylinder, makes the sucker group lift or fall when robot ambulation, to reach the function of being close to glass or obstacle detouring.This robot is in whole process, the extension of the double-acting cylinder on two groups of suckers is supporting all weight with the form of cantilever beam, can make like this cylinder extension deform, work long hours and can make cylinder wear and gas leakage, shorten cylinder service life.
Summary of the invention
For avoiding the deficiencies in the prior art part, the present invention proposes a kind of skyscraper surface cleaning machine.Cleaning machine adopts the simple rod member of manufacture craft and low power Bidirectional gas pressure cylinder to realize the automatic moving function.
The technical solution adopted for the present invention to solve the technical problems is: comprise wiper mechanism, advancement mechanism, hoisting mechanism, translation mechanism and auxiliary body, wherein wiper mechanism is realized the cleaning function of cleaning machine; Advancement mechanism realizes cleaning machine movement vertically, and translation mechanism is realized the movement of cleaning machine along continuous straight runs, and hoisting mechanism is realized the close away from reaching of the relative building surface of cleaning machine; Each travel mechanism is carried out by the first cylinder of three omnidirectional distribution, the second cylinder, the 3rd cylinder respectively, and travel mechanism is under the driving of cylinder, by the cooperatively interact movement of the both direction of realizing cleaning machine of many groups rod member; Movement vertically, the air cylinder driven distributed by horizontal direction and vertical direction, mobile track is controlled by the supporting leg guide rail; The movement of along continuous straight runs, the cylinder distributed by two horizontal directions has coordinated; The motion transfer chain is that cylinder drives pull bar, and pull bar drives supporting leg, and supporting leg moves under the guiding of supporting leg guide rail; Negative pressure sucker adopts alternating expression, four negative pressure suckers that are connected above supporting leg at each, and symmetry is arranged sideling in twos; Cleaning machine is usingd air motor and is driven the round brush rotation as power source and carry out wiping, and round brush is sleeved on pivotal support arm, and support arm makes round brush be close to building surface under the effect of main spring, in the process moved at cleaning machine, round brush is cleaned incessantly.
Beneficial effect
A kind of skyscraper surface cleaning machine that the present invention proposes, employing compressed air is power source, possesses three functions: the first, can be adsorbed on the skyscraper surface, the second, equipment has clean mechanism, and the 3rd, equipment should move along building surface.Wherein, movement in the 3rd function comprises moving up and moving down and the movement of along continuous straight runs vertically, the direction that the principle adopted is is three quadratures in space by each Kinematic Decomposition, under simple programme-control, have respectively the cylinder of three quadrature arrangement to carry out.The cleaning machine body is light, manufacture craft is simple, structural strength is higher, and can many uses to realize that high efficiency is clean simultaneously, realizes unmanned Automatic clearance.
The accompanying drawing explanation
Below in conjunction with drawings and embodiments, a kind of skyscraper surface cleaning machine of the present invention is described in further detail.
Fig. 1 is skyscraper surface cleaning machine schematic diagram of the present invention.
Fig. 2 is that skyscraper surface cleaning machine of the present invention is removed the shell body schematic diagram.
The advancement mechanism that Fig. 3 is skyscraper surface cleaning machine of the present invention, hoisting mechanism schematic diagram.
The translation mechanism schematic diagram that Fig. 4 is skyscraper surface cleaning machine of the present invention.
In figure:
1. front transverse arm 9. limited block 10. round brush support 11. first cylinders 12. of round brush 2. first driving-belt 3. rotating cylinder 4. main spring 5. forearm 6. second driving-belt 7. air motor 8. pull bar 13. slide bar 14. hoisting frames 15. that advance that advance promote guide blocks 16. guide rod 17. guide rail 18. rear support leg 19. rear support leg suckers 20. support bar 21. second cylinder 22. second cylinder saddle 23. the 3rd cylinder 24. translation pull bar 25. lateral bracing strut 26. front leg strut fixed bar 27. housing 28. control module 29. front leg strut 30. front leg strut sucker 31. high-pressure air pipe 32. negative pressure tracheaes that advance that advance that advance
The specific embodiment
The present embodiment is a kind of skyscraper surface cleaning machine.
Consult Fig. 1, Fig. 2, Fig. 3 Fig. 4, skyscraper surface cleaning machine of the present invention is comprised of wiper mechanism, advancement mechanism, hoisting mechanism, translation mechanism and auxiliary body, and wherein wiper mechanism is realized the cleaning function of cleaning machine; Advancement mechanism realizes cleaning machine movement vertically, and translation mechanism is realized the movement of cleaning machine along continuous straight runs, and hoisting mechanism is realized the close away from reaching of the relative building surface of cleaning machine.
Wiper mechanism comprises round brush 1, the first driving-belt 2, rotating cylinder 3, main spring 4, forearm 5, the second driving-belt 6, air motor 7, front transverse arm 8, limited block 9, round brush support 10;
Round brush 1 is arranged on round brush support 10, under the drive of the first driving-belt 2, around round brush support 10, rotates.Round brush support 10 is arranged on front transverse arm 8 and can presses close to as much as possible building surface under the effect of main spring 4 around front transverse arm 8 rotations, and swing is set and only done under the guiding of limited block 9 to the lowest order of its swing by limited block 9.Air motor 7 and forearm 5 are bolted on housing, and limited block is fixed on forearm 5.In cleaning process, air motor 7 drives rotating cylinder 3 rotations through the second driving-belt 6, and rotating cylinder 3 drives round brush 1 through the first driving-belt 2 and rotates, and realizes cleaning the function of building surface.
Advancement mechanism comprises the first cylinder 11, the pull bar 12 that advances, the slide bar 13 that advances, the guide rod 16 that advances, the guide rail 17 that advances, rear support leg 18, the support bar 20 that advances, rear support leg sucker 19;
The first cylinder 11 is fixed on the housing of cleaning machine.The riser of pull bar 12 intermediate risers of advancing is connected by the expansion link on bolt and the first cylinder 11, and pull bar 12 two ends of advancing are through on two hyphen bars in the middle of the slide bar 13 that advances fixing.The slide bar 13 that advances is arranged on housing by self two stock, and before and after in the hole on housing, slides under the drive of the first cylinder 11.Four guide rods 16 that advance are sleeved on two stocks of the slide bar 13 that advances, and both can relative sliding.The guide rod end upward that advances is dome-type, and this end is arranged on the guide rail that advances, and can slide along track.The other end of guide rod 16 of advancing is sleeved on the cross bar of rear support leg 18, drives when the guide rod 16 that advances slides in the guide rail 17 that advances that rear support leg 18 is done up and down, the motion of front and back.Connect the support bar 20 that advances on the cross bar of rear support leg 18, by advancing, support bar 20 links together two rear support legs 18.Rear support leg sucker 19 forms negative pressure or connects with air under the control of control module.The first cylinder 11 drives through advance pull bar 12 and the slide bar 13 that advances the guide rod 16 that advances, and the guide rod 16 that advances drives rear support leg 18 and does the motion of vertical direction with respect to housing.
Hoisting mechanism comprises the second cylinder 21, the second cylinder saddle 22, hoisting frame 14, promotes guide block 15;
The second cylinder 21 is fixed on housing by gas the second cylinder saddle 22, and the expansion link of cylinder and hoisting frame 14 are connected.Promote guide block 15 and be fixed on housing, hoisting frame 14 slides up and down along promoting guide block 15.Hoisting frame 14 two ends are connected with the support bar 20 that advances, and drive rear support leg by the support bar 20 that advances and move up and down.The expansion link of the second cylinder 21 drives hoisting frame 14 and moves up and down with respect to housing by the support bar 20 drive rear support legs 18 that advance.
Translation mechanism comprises the 3rd cylinder 23, translation pull bar 24, lateral bracing strut 25;
The 3rd cylinder 23 is bolted on housing, and the expansion link of cylinder and translation pull bar 24 are fastening.Stretch on the translation pull bar in U-lag lateral bracing strut 25 lower ends of inverted T-shaped, and the cross bar of upper end and two rear support legs is fixed.When the expansion link of the 3rd cylinder 23 moves reciprocatingly, drive rear support leg 18 by translation pull bar 24 and lateral bracing strut 25 and do translational motion with respect to housing.
Auxiliary body comprises front leg strut fixed bar 26, housing 27, control module 28, front leg strut 29, front leg strut sucker 30, high-pressure air pipe 31, negative pressure tracheae 32;
Control module 28 and front leg strut 29 are fixed on housing.Between front leg strut 29 fixed bars, two front leg struts couple together and form integral body, the end of front leg strut 29 is fixed with front leg strut sucker 30, front leg strut sucker 30 is hollow with front leg strut 29, under the control of control module 28, makes in front leg strut sucker 30 form negative pressure or connect with air.Wherein, high-pressure air pipe 31 and negative pressure tracheae 32 are connected on respectively in control module 28, and control module 28 is connected all cylinders and air motor 7 by tracheae.
Advancement mechanism has coordinated the movement of cleaning machine vertical direction with hoisting mechanism.Front leg strut sucker 30 is connected negative-pressure adsorption at building surface, and rear support leg sucker 19 is connected air, and the expansion link of the second cylinder 21 stretches out, and rear support leg 18 is away from building surface; After putting in place, the expansion link of the first cylinder 11 stretches out, and housing is vertically moved up; After putting in place, the expansion link of the second cylinder 21 is retracted, and rear support leg sucker 19 is adjacent to building surface, and rear support leg sucker 19 is connected negative pressure, and front leg strut sucker 19 is connected air, and expansion link continues retraction, forces front leg strut 29 to drive housing and leaves building surface; After putting in place, the expansion link of the first cylinder 11 retraction, housing vertically moves up; The expansion link retraction of the second cylinder 21, front leg strut sucker 30 is adjacent to building surface, and front leg strut sucker 30 is connected negative pressure, and rear support leg sucker 19 is connected air, and expansion link continues retraction, and rear support leg 18 is away from building surface; Complete a circulation, cleaning machine is a mobile segment distance vertically.
Translation mechanism has coordinated the movement of cleaning machine vertical direction with hoisting mechanism.Front leg strut 29 and rear support leg 18 are adsorbed on building surface, and front leg strut sucker 30 is connected air, and the expansion link of the second cylinder 21 stretches out, and force housing to drive front leg strut 29 away from building surface; After putting in place, the expansion link of the 3rd cylinder 23 stretches out, and the housing along continuous straight runs is moved; After putting in place, the expansion link of the second cylinder 21 is retracted, and front leg strut sucker 30 is adjacent to building surface and connects negative pressure, and rear support leg sucker 19 is connected air, and expansion link continues retraction, makes rear support leg 18 leave building surface; After putting in place, the expansion link of the 3rd cylinder 23 retraction, rear support leg 18 along continuous straight runs move right; After putting in place, the expansion link of the second cylinder 21 retraction, rear support leg sucker 19 is adjacent to building surface and connects negative pressure, and front leg strut sucker 30 is connected air, and expansion link continues retraction, forces housing to drive front leg strut 29 away from building surface; Complete a circulation, the cleaning machine along continuous straight runs moves a segment distance.
By the program woven in control module, first lock the 3rd cylinder, open the first cylinder and the 3rd cylinder, make vertically mobile cleaning of cleaning machine.Behind top, lock the first cylinder, open the second cylinder, the cleaning machine along continuous straight runs is moved.After desired location, lock the second cylinder, open the first cylinder, cleaning machine is vertically moved down.Round brush is close to building surface always and is cleaned.Until clean, finish.

Claims (1)

1. a skyscraper surface cleaning machine, it is characterized in that: comprise wiper mechanism, advancement mechanism, hoisting mechanism, translation mechanism and auxiliary body, wherein wiper mechanism is realized the cleaning function of cleaning machine; Advancement mechanism realizes cleaning machine movement vertically, and translation mechanism is realized the movement of cleaning machine along continuous straight runs, and hoisting mechanism is realized the close away from reaching of the relative building surface of cleaning machine; Each travel mechanism is carried out by the first cylinder of three omnidirectional distribution, the second cylinder, the 3rd cylinder respectively, and travel mechanism is under the driving of cylinder, by the cooperatively interact movement of the both direction of realizing cleaning machine of many groups rod member; Movement vertically, the air cylinder driven distributed by horizontal direction and vertical direction, mobile track is controlled by the supporting leg guide rail; The movement of along continuous straight runs, the cylinder distributed by two horizontal directions has coordinated; The motion transfer chain is that cylinder drives pull bar, and pull bar drives supporting leg, and supporting leg moves under the guiding of supporting leg guide rail; Negative pressure sucker adopts alternating expression, four negative pressure suckers that are connected above supporting leg at each, and symmetry is arranged sideling in twos; Cleaning machine is usingd air motor and is driven the round brush rotation as power source and carry out wiping, and round brush is sleeved on pivotal support arm, and support arm makes round brush be close to building surface under the effect of main spring, in the process moved at cleaning machine, round brush is cleaned incessantly.
CN2013103859417A 2013-08-29 2013-08-29 Surface cleaner for high-rise buildings Pending CN103462566A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105212843A (en) * 2014-06-16 2016-01-06 宸盛科华(北京)科技有限公司 A kind of curtain cleaning device
WO2016070586A1 (en) * 2014-11-06 2016-05-12 柯干兴 Wall cleaning machine
CN106419724A (en) * 2016-11-04 2017-02-22 胡增浩 Window-cleaning robot for building and municipal administration
CN106419723A (en) * 2016-11-04 2017-02-22 王莎莎 Window wiping robot for building
CN106419765A (en) * 2016-11-04 2017-02-22 仲松梅 Floor washer for architectural decoration
WO2018095250A1 (en) * 2016-11-25 2018-05-31 厦门华蔚物联网科技有限公司 Wall-climbing robot capable of surmounting and treading on obstacles
CN113443594A (en) * 2021-06-28 2021-09-28 湖南铁路联创技术发展有限公司 Aerial work auxiliary device for air conditioner installation and maintenance and using method thereof
CN114158991A (en) * 2021-12-17 2022-03-11 杭州电子科技大学 Wall surface cleaning robot and method for cleaning and moving wall surface by using same

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JPS60206791A (en) * 1984-03-30 1985-10-18 Mitsubishi Heavy Ind Ltd Space scanner
US5351626A (en) * 1991-11-11 1994-10-04 Ken Yanagisawa Walking robot
CN201343082Y (en) * 2008-12-26 2009-11-11 上海师范大学 Running mechanism of four-legged walking robot
CN201861569U (en) * 2010-11-05 2011-06-15 广州大学 Polyarticular climbing overhead cleaning robot
CN202020382U (en) * 2011-02-10 2011-11-02 长沙理工大学 Multifunctional cleaning and painting machine of outer wall of building
KR20130025486A (en) * 2011-09-02 2013-03-12 주식회사 휴로 Adhesion type cleaning robot for solar battery

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60206791A (en) * 1984-03-30 1985-10-18 Mitsubishi Heavy Ind Ltd Space scanner
US5351626A (en) * 1991-11-11 1994-10-04 Ken Yanagisawa Walking robot
CN201343082Y (en) * 2008-12-26 2009-11-11 上海师范大学 Running mechanism of four-legged walking robot
CN201861569U (en) * 2010-11-05 2011-06-15 广州大学 Polyarticular climbing overhead cleaning robot
CN202020382U (en) * 2011-02-10 2011-11-02 长沙理工大学 Multifunctional cleaning and painting machine of outer wall of building
KR20130025486A (en) * 2011-09-02 2013-03-12 주식회사 휴로 Adhesion type cleaning robot for solar battery

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105212843A (en) * 2014-06-16 2016-01-06 宸盛科华(北京)科技有限公司 A kind of curtain cleaning device
CN105212843B (en) * 2014-06-16 2017-12-22 宸盛科华(北京)科技有限公司 A kind of curtain cleaning device
WO2016070586A1 (en) * 2014-11-06 2016-05-12 柯干兴 Wall cleaning machine
CN105873490A (en) * 2014-11-06 2016-08-17 柯干兴 Wall cleaning machine
CN106419724A (en) * 2016-11-04 2017-02-22 胡增浩 Window-cleaning robot for building and municipal administration
CN106419723A (en) * 2016-11-04 2017-02-22 王莎莎 Window wiping robot for building
CN106419765A (en) * 2016-11-04 2017-02-22 仲松梅 Floor washer for architectural decoration
WO2018095250A1 (en) * 2016-11-25 2018-05-31 厦门华蔚物联网科技有限公司 Wall-climbing robot capable of surmounting and treading on obstacles
CN113443594A (en) * 2021-06-28 2021-09-28 湖南铁路联创技术发展有限公司 Aerial work auxiliary device for air conditioner installation and maintenance and using method thereof
CN114158991A (en) * 2021-12-17 2022-03-11 杭州电子科技大学 Wall surface cleaning robot and method for cleaning and moving wall surface by using same

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Application publication date: 20131225