CN105212843B - A kind of curtain cleaning device - Google Patents
A kind of curtain cleaning device Download PDFInfo
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- CN105212843B CN105212843B CN201410268599.7A CN201410268599A CN105212843B CN 105212843 B CN105212843 B CN 105212843B CN 201410268599 A CN201410268599 A CN 201410268599A CN 105212843 B CN105212843 B CN 105212843B
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Abstract
The present invention proposes a kind of curtain cleaning device, including system of creeping, purging system and control system；System of creeping includes exopodal plate and endopodal plate；The upper surface of exopodal plate is provided with outside cylinder, and outside cylinder has piston rod, and the termination of the piston rod of outside cylinder is fixed with outer sucker by outer sucker connector, and outer sucker is located at the lower face side of exopodal plate；The upper surface of exopodal plate is provided with linear bearing, and linear bearing is provided with line slideway, and the exopodal plate at linear bearing both ends is provided with limiting plate；Exopodal plate is provided with break-through mouth；One end of exopodal plate is provided with cleaning cylinder, cleans the termination connection purging system of the piston rod of cylinder；Endopodal plate is fixed on line slideway, and the upper surface of endopodal plate is provided with inside cylinder, and the termination of the piston rod of inside cylinder is fixed with interior sucker by interior sucker connector, and interior sucker connector passes through break-through mouth, interior sucker is located at the lower face side of exopodal plate；Control system is located on endopodal plate.Obstacle climbing ability of the present invention is strong, light weight.
Description
Technical field
The present invention relates to robot to clean field, specifically a kind of curtain cleaning device.
Background technology
At present, in high buildings and large mansions in a compact mass in city, glass curtain wall is generally employed as exterior wall, possesses beauty
Also the problem of cleaning glass is brought while outward appearance.For now, most glass curtain walls uses what is manually cleaned
Operating type.And it is to hang one or suspension lifting platform by lifting rope to be cleaned manually to clean, this operating type is simple
It is easy, but as society is to the life security attention rate more and more higher of high-risk radiological workcr, the cost manually cleaned also is got over
Come higher, according to investigations, the problem of recruitment is difficult occurred in some tier 2 cities.Therefore, people can be substituted by designing one
The glass curtain wall climbing cleaning device of work is imperative solution.
Since 20 end of the centurys, lot of domestic and international researcher has done many trials, and these designs have their own characteristics each, but
There is a common deficiency, be exactly that overall mass is bigger than normal.Domestic existing glass curtain wall cleaning machine structure at present mainly has Peking blue
A kind of wall surface cleaning robot (patent No. that Robotics Technology Co., Ltd. of star Harbin Institute of Technology develops：ZL01202018.4), its skill
Art is characterized in that translational speed is very fast, cleaning efficiency is higher, cleaning performance using wheeled locomotion mechanism, the single sucking disc suction type
Preferably, easy to operate, low cost, but not across obstacles such as window frames.A kind of window cleaning equipment device that BJ University of Aeronautics ＆ Astronautics develops
People's (patent No.：ZL00201085.2), its technical characteristic is to use frame-type travel mechanism, polypody multi-sucker suction type, right
The bumps of glass wall have certain adaptability, and cleaning performance is also preferable, intelligence degree is high, but translational speed is slow, cleaning
Efficiency is low, complicated and cost is high.The high building glass curtain wall for the Publication No. CN1586384A that Shanghai Communications University develops is clear
System is washed, its technical characteristic is that, by sealing mechanism, mechanism is same using double sucker negative adsorption under the draw of hoist engine
When or alternating sorbent in glass wall, glass curtain wall is cleaned by round brush, but obstacle climbing ability is limited, and overall mass compared with
Greatly, cleaning efficiency is relatively low.It is limited that above patent application is primarily present obstacle climbing ability, it is impossible to across obstacles such as window frames, and complete machine
Heavier mass, causes translational speed slow, the deficiencies such as cleaning efficiency is low.
The content of the invention
The present invention proposes a kind of curtain cleaning device, with solve equipment for washing external wall cleaning performance in the prior art it is bad,
The problems such as obstacle climbing ability is poor, overall mass weight.
The technical proposal of the invention is realized in this way：
A kind of curtain cleaning device, including system of creeping, purging system and control system；
The system of creeping includes exopodal plate and endopodal plate；The upper surface of the exopodal plate is provided with outside cylinder, the outer gas
Cylinder has piston rod, and the termination of the piston rod of the outside cylinder is fixed with outer sucker, the outer sucker by outer sucker connector
Positioned at the lower face side of the exopodal plate；The upper surface of the exopodal plate is provided with linear bearing, and the linear bearing is provided with straight
Line guide rail, the exopodal plate at the linear bearing both ends are provided with limiting plate；The exopodal plate is provided with break-through mouth；The exopodal plate
One end be provided with cleaning cylinder, the cleaning cylinder has a piston rod, described in the termination connection of the piston rod of the cleaning cylinder
Purging system；
The endopodal plate is fixed on the line slideway, and the upper surface of the endopodal plate is provided with inside cylinder, the interior gas
Cylinder has piston rod, and the termination of the piston rod of the inside cylinder is fixed with interior sucker, the interior sucker by interior sucker connector
Connector passes through the break-through mouth, the interior sucker is located at the lower face side of the exopodal plate；
The control system is located on the endopodal plate.
Further, the purging system includes supporting plate, and round brush, cleaning head and fixation are fixed with the supporting plate
Part.
Further, the round brush has roller brush shaft；
The both ends of the supporting plate are equipped with adjusting screw rod, and one end of the adjusting screw rod is screwed with adjusting nut, described
The other end of adjusting screw rod is fixed with connection ring, and damping part, the connection are provided between the connection ring and the supporting plate
Connecting rod is equipped with ring, the connecting rod is provided with fixed disk, and the roller brush shaft is arranged in the fixed disk.
Further, the supporting plate is provided with slideway, and the slideway is provided with sliding part, and the sliding part, which is provided with, to be stretched
Contracting bar, the expansion link are provided with horizontal rotation apparatus, and the horizontal rotation apparatus is provided with vertical rotating device, described vertical
Rotating device is provided with clamping device, and the cleaning head is fixed on the clamping device.
Further, the damping part is the damping spring being sheathed on the adjusting screw rod.
Further, the curtain cleaning device also includes security system, and the security system includes hoist engine and safety rope,
The safety rope is connected with the curtain cleaning device.
Beneficial effects of the present invention are：
1st, round brush relies on the reciprocating motion of cleaning cylinder, the hydro-peening of matching purge head to realize cleaning function, and overall process need not
Motor, using pure pneumatic actuation, securely and reliably, cleaning efficiency is high, simple to operate.
2nd, by the system of creeping and the structure design of purging system, make machine that there is height-adjustable obstacle climbing ability, greatly
The big adaptivity for improving complete machine.
3rd, by line slideway and gravity, coordinate inside/outside sucker alternating sorbent to complete vertical direction motion, both simplified fortune
Dynamic structure realizes loss of weight, also saves energy resource consumption.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the general structure schematic diagram of one embodiment of the invention；
Fig. 2 is the part-structure exploded view of the one embodiment for the system of creeping；
Fig. 3 is the part-structure schematic diagram of one embodiment of exopodal plate；
Fig. 4 is the part-structure schematic diagram of one embodiment of purging system；
Fig. 5 is the decomposing schematic representation of round brush part；
Fig. 6 is the decomposing schematic representation of cleaning head part.
In figure：
1- round brush, 2- connecting rods, 3- connection rings, 4- adjusting screw rods, 5- supporting plates, 6- fixtures, 7- adjusting nuts, 8- subtract
Shake part, 9- cleaning heads, 10- clamping devices, the vertical rotating devices of 11-, 12- horizontal rotation apparatus, 13- stretches interior bar, and 14- stretches
Contracting outer bar, 15- sliding parts, 16- roller brush shafts, 17- fixed disks, 18- cleaning cylinders, 19- cleaning connectors, the outer sucker connections of 20-
Part, 21- outside cylinders, 22- vacuum generators, 23- connection sleeve pipes, 24- vacuum solenoids, 25- endopodal plates, sucker in 26-, 27-
Outer sucker, 28- exopodal plates, sucker connector in 29-, 30- inside cylinders, 31- lower limiting boards, 32- line slideways, 33- linear axis
Hold, 34- upper limit plates, 35- break-through mouths, 36- slideways.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As shown in figure 1, the curtain cleaning device in the present embodiment, including system of creeping, purging system and control system.
The system of creeping includes exopodal plate 28 and endopodal plate 25；Referring to Fig. 2 and Fig. 3, the upper surface of the exopodal plate 28
Provided with outside cylinder 21, the outside cylinder 21 has piston rod, and the termination of the piston rod of the outside cylinder 21 is connected by outer sucker
Part 20 is fixed with outer sucker 27, and the outer sucker 27 is located at the lower face side of the exopodal plate 28；The upper table of the exopodal plate 28
Face is provided with linear bearing 33, and the linear bearing 33 is provided with line slideway 32, the exopodal plate 28 at the both ends of linear bearing 33
Limiting plate is provided with, as shown in figure 3, respectively upper limit plate 34 and lower limiting board 31；The exopodal plate 28 is provided with break-through mouth
35, break-through mouth 35 can be through-hole structure on exopodal plate 28, can also be the gap structure at the edge of exopodal plate 28；The exopodal
One end of plate 28 is provided with cleaning cylinder 18, and the cleaning cylinder 18 is fixed on exopodal plate 28 by cleaning connector 19, described clear
Gas washing cylinder 18 has piston rod, and the termination of the piston rod of the cleaning cylinder 18 connects the purging system.
Referring to Fig. 2, the endopodal plate 25 is fixed on the line slideway 32, and the upper surface of the endopodal plate 25 is provided with interior
Cylinder 30, the inside cylinder 30 have piston rod, and the termination of the piston rod of the inside cylinder 30 is consolidated by interior sucker connector 29
Surely there is interior sucker 26, the interior sucker connector 29 passes through the break-through mouth 35, the interior sucker 26 is located at the exopodal plate
28 lower face side, so outer sucker 27 are located at the homonymy of exopodal plate 28 with interior sucker 26.
The control system is located on the endopodal plate 25, and the part-structure of control system, including vacuum are represented in Fig. 2
Magnetic valve 24, vacuum generator 22 and its connection sleeve pipe 23, connection sleeve pipe 23 are used to connect vacuum generator 22 and each sucker；Very
Empty generator 22 is used to form vacuum so that each sucker realizes adsorption function；Vacuum solenoid 24 is used for the air-breathing for controlling each sucker
And deflation, to control the absorption of each sucker and release.Control system can use remote control and default control two ways.It is logical
Automatic scrubbing can be realized by crossing default control, real-time control can be realized by way of remote control, according to operating personnel's
Corresponding movement and cleaning action are done in instruction.
Negative pressure caused by vacuum generator 22 makes each sucker suction on curtain wall surface, and system of creeping is located at lower section, cleaning system
Unite above；Interior sucker 26 is with the outer alternating sorbent of sucker 27 with unclamping so that endopodal plate 25 and an absorption in exopodal plate 28
On curtain wall surface, another then declines due to gravity, then coordinates the expanding-contracting action of inside cylinder 30 and outside cylinder 21, realizes interior
Pedal plate 25 replaces with exopodal plate 28 along line slideway 32 to move ahead.And limiting plate then plays control endopodal plate 25 and exopodal plate 28 moves
The effect of displacement so that complete machine moves identical step-length every time.Cleaning cylinder 18, which moves back and forth, drives purging system to be cleaned,
Overall process is without motor, and using pure pneumatic actuation, a stretching motion of cleaning cylinder 18 can be realized to be cleaned twice, very great Cheng
Improve the efficiency and cleannes of scouring degree.
As shown in figure 4, the purging system includes supporting plate 5, round brush 1, the and of cleaning head 9 are fixed with the supporting plate 5
Fixture 6, there are two round brush 1 in the present embodiment.Referring also to Fig. 5, the round brush 1 have roller brush shaft 16；The supporting plate 5
Both ends are equipped with adjusting screw rod 4, and one end of the adjusting screw rod 4 is screwed with adjusting nut 7, the other end of the adjusting screw rod 4
Connection ring 3 is fixed with, is provided with damping part 8 between the connection ring 3 and the supporting plate 5, in the present embodiment, the damping portion
Part 8 is the damping spring being sheathed on the adjusting screw rod 4；Connecting rod 2 is equipped with the connection ring 3, in the connecting rod 2
Provided with fixed disk 17, the roller brush shaft 16 is arranged in the fixed disk 17.By adjustment of the adjusting nut 7 to damping spring,
The regulation to the height of round brush 1 can be realized, so as to improve obstacle climbing ability, is adapted to different structure glass curtain wall, very great Cheng
Degree improves the obstacle climbing ability and adaptive ability of complete machine.
Referring to Fig. 4 and Fig. 6, the supporting plate 5 is provided with slideway 36, and the slideway 36 is provided with sliding part 15, the cunning
Moving part 15 is provided with expansion link, and the expansion link has flexible outer bar 14 and flexible interior bar 13, and the expansion link is provided with level
Rotating device 12, the horizontal rotation apparatus 12 are provided with vertical rotating device 11, and the vertical rotating device 11 is provided with folder
Device 10 is held, the cleaning head 9 is fixed on the clamping device 10.Cleaning head 9 carries out hydro-peening, while cleaning head 9 to curtain wall
The orientation of cleaning can be changed by horizontal rotation apparatus 12 and vertical rotating device 11,360 ° of level and vertical can be carried out
180 ° of rotation, realize comprehensive cleaning；Simultaneously can by the height of adjustable telescopic rod come realize cleaning head 9 it is long-range or
The hydro-peening of short range；So as to improve the area of scouring and cleaning efficiency.
In order to improve security, the curtain cleaning device of the present embodiment also includes security system, and the security system includes
Hoist engine and safety rope, the safety rope are connected with the curtain cleaning device.In use, hoist engine is arranged on roof, hoist engine
Rotation drives safety rope to ensure the safety of curtain cleaning device.Hoist engine can be located in moving cart, be moved easily.Safety rope
It can bypass a support Hou Zaiyan buildings body and put down traction curtain cleaning device.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (6)
- A kind of 1. curtain cleaning device, it is characterised in that：Including the system of creeping, purging system and control system；The system of creeping includes exopodal plate and endopodal plate；The upper surface of the exopodal plate is provided with outside cylinder, the outside cylinder tool There is piston rod, the termination of the piston rod of the outside cylinder is fixed with outer sucker by outer sucker connector, and the outer sucker is located at The lower face side of the exopodal plate；The upper surface of the exopodal plate is provided with linear bearing, and the linear bearing is led provided with straight line Rail, the exopodal plate at the linear bearing both ends are provided with limiting plate；The exopodal plate is provided with break-through mouth；The one of the exopodal plate End is provided with cleaning cylinder, and the cleaning cylinder has piston rod, and the termination of the piston rod of the cleaning cylinder connects the cleaning System；The endopodal plate is fixed on the line slideway, and the upper surface of the endopodal plate is provided with inside cylinder, the inside cylinder tool There is piston rod, the termination of the piston rod of the inside cylinder is fixed with interior sucker, the interior sucker connection by interior sucker connector Part passes through the break-through mouth, the interior sucker is located at the lower face side of the exopodal plate；The control system is located on the endopodal plate.
- A kind of 2. curtain cleaning device as claimed in claim 1, it is characterised in that：The purging system includes supporting plate, institute State and round brush, cleaning head and fixture are fixed with supporting plate.
- A kind of 3. curtain cleaning device as claimed in claim 2, it is characterised in that：The round brush has roller brush shaft；The both ends of the supporting plate are equipped with adjusting screw rod, and one end of the adjusting screw rod is screwed with adjusting nut, the regulation The other end of screw rod is fixed with connection ring, is provided with damping part between the connection ring and the supporting plate, in the connection ring Connecting rod is equipped with, the connecting rod is provided with fixed disk, and the roller brush shaft is arranged in the fixed disk.
- A kind of 4. curtain cleaning device as claimed in claim 2, it is characterised in that：The supporting plate is provided with slideway, described Slideway is provided with sliding part, and the sliding part is provided with expansion link, and the expansion link is provided with horizontal rotation apparatus, the level Rotating device is provided with vertical rotating device, and the vertical rotating device is provided with clamping device, and the cleaning head is fixed on institute State on clamping device.
- A kind of 5. curtain cleaning device as claimed in claim 3, it is characterised in that：The damping part is to be sheathed on the tune Save the damping spring on screw rod.
- A kind of 6. curtain cleaning device as claimed in claim 1, it is characterised in that：The curtain cleaning device also includes safety system System, the security system include hoist engine and safety rope, and the safety rope is connected with the curtain cleaning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410268599.7A CN105212843B (en) | 2014-06-16 | 2014-06-16 | A kind of curtain cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410268599.7A CN105212843B (en) | 2014-06-16 | 2014-06-16 | A kind of curtain cleaning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105212843A CN105212843A (en) | 2016-01-06 |
| CN105212843B true CN105212843B (en) | 2017-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410268599.7A Active CN105212843B (en) | 2014-06-16 | 2014-06-16 | A kind of curtain cleaning device |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106245924B (en) * | 2016-08-08 | 2018-10-12 | 江苏景泰玻璃有限公司 | A kind of glass curtain wall surface cleaning apparatus |
| CN108125629B (en) * | 2017-12-22 | 2021-02-05 | 烟台华发七弦琴知识产权运营有限公司 | Cleaning and sterilizing robot for toilet |
| CN116138673B (en) * | 2023-02-10 | 2024-04-05 | 青岛理工大学 | Automatic ash removing robot for building outer wall |
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|---|---|---|---|---|
| CN203153652U (en) * | 2013-04-10 | 2013-08-28 | 丽水学院 | Wall-climbing mechanism of high-rise glass cleaning robot and PLC control system |
| CN103448827A (en) * | 2013-09-09 | 2013-12-18 | 徐州工业职业技术学院 | Two-foot type wall climbing cleaning robot |
| CN103462566A (en) * | 2013-08-29 | 2013-12-25 | 西北工业大学 | Surface cleaner for high-rise buildings |
| CN204033263U (en) * | 2014-06-16 | 2014-12-24 | 宸盛科华（北京）科技有限公司 | A kind of curtain cleaning device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3002846B2 (en) * | 1991-09-27 | 2000-01-24 | 東芝プラント建設株式会社 | Drive device for wall or window glass cleaning device |
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2014
- 2014-06-16 CN CN201410268599.7A patent/CN105212843B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203153652U (en) * | 2013-04-10 | 2013-08-28 | 丽水学院 | Wall-climbing mechanism of high-rise glass cleaning robot and PLC control system |
| CN103462566A (en) * | 2013-08-29 | 2013-12-25 | 西北工业大学 | Surface cleaner for high-rise buildings |
| CN103448827A (en) * | 2013-09-09 | 2013-12-18 | 徐州工业职业技术学院 | Two-foot type wall climbing cleaning robot |
| CN204033263U (en) * | 2014-06-16 | 2014-12-24 | 宸盛科华（北京）科技有限公司 | A kind of curtain cleaning device |
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| CN105212843A (en) | 2016-01-06 |
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