CN106214083B - One kind hanging pull-type glass curtain wall clean robot - Google Patents
One kind hanging pull-type glass curtain wall clean robot Download PDFInfo
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- CN106214083B CN106214083B CN201610810454.4A CN201610810454A CN106214083B CN 106214083 B CN106214083 B CN 106214083B CN 201610810454 A CN201610810454 A CN 201610810454A CN 106214083 B CN106214083 B CN 106214083B
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- robot body
- tail
- arm
- robot
- curtain wall
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The present invention relates to robotic technology field, especially one kind to hang pull-type glass curtain wall clean robot.It includes robot body, draws high device, vacuum chuck component and cleaning device of wagging the tail；Wherein, cleaning device of wagging the tail include wag the tail motor, screw rod, Y type bellows, stretch driver, shaft coupling, thread bush, sweep disk and swing arm.The present invention is when being fixed on predetermined position, screw rod rotation is driven using motor of wagging the tail, it is mobile to make thread bush generate position on screw rod, since the effect meeting of pull rod is so that two swing arms carry out opposite closure or expansion as basic point using shaft coupling, position movement occurs to make to sweep disk, and then realizes the cleaning to glass curtain wall；Meanwhile channel can be provided for the supply of cleaning agent using Y type bellows, such as during sweeping disk movement, using bellows to disk injection medicament is swept, so that the cleaning function of robot maximizes.
Description
Technical field
The present invention relates to robotic technology field, especially one kind to hang pull-type glass curtain wall clean robot.
Background technique
Glass curtain wall is one of most important ornament materials in the world today, by the family widely as all kinds of buildings
Exterior wall comes using the maximum feature for assigning building is by the aesthetics of architecture, building function, building energy conservation and building structure etc.
Factor is organically united, building is enable to show different tones from different perspectives, with sunlight, moonlight, light
Variation gives dynamic beauty.
Due in air dust, dust, excreta of birds of entrained with etc. can gradually deposit to building in rainwater
The curtain wall surface of object, to influence the aesthetics of curtain wall and the clean-up performance of building appearance；Therefore, to the cleaning of glass curtain wall
It has had been to be concerned by more and more people and has gradually formed huge curtain cleaning market.
However, main to the cleaning of glass curtain wall at present or completed using manual type, it may be assumed that by cleanup crew from
After roof suspends in midair to the side wall of building, manually curtain wall surface is cleared up by cleanup crew, such mode not only exists
The problems such as whole process cleaning efficiency is not high, danger coefficient is big, and cleaning cost is higher, also thus affects glass curtain wall
Beautiful, cleaning and the space further developed.
Summary of the invention
In view of the deficiency of the prior art, the purpose of the present invention is to provide one kind to hang pull-type glass curtain wall cleaning
Robot.
To achieve the goals above, the present invention adopts the following technical scheme:
One kind hanging pull-type glass curtain wall clean robot, it includes robot body, mounts in the head end of robot body
Portion is with the abdomen for drawing high device, being set to robot body for moving up and down with mobile robot body along wall to be used for
By vacuum chuck component that robot body is adsorbed on wall and the tail end of robot body is installed in be used for wall
Wall carries out clean cleaning device of wagging the tail；
It is described wag the tail cleaning device include one wag the tail motor, a screw rod, a Y type bellows, one stretch driver and two
A swing arm, the back side for stretching driver and being installed on the tail end of robot body and being located at robot body, two
The head end of the swing arm passes through a shaft coupling axis simultaneously and is connected on stretching driver, and the equal axis of tail end of each swing arm is connected with one
Disk is swept, the shared end of the Y type bellows is arranged in robot body, two branch ends are connected with corresponding disk of sweeping respectively,
The motor of wagging the tail is installed on the tail end of robot body and is located between the cephalic par of two swing arms, the head of the screw rod
End is connected by one first universal joint with the output shaft for motor of wagging the tail, and a thread bush is socketed on the screw rod, each described
Equal axis is connected with a pull rod on the tail end of swing arm, and the head end of two pull rods is connected with thread bush.
Preferably, be installed on the tail end of each swing arm one for drive sweep disk relative to corresponding swing arm into
The rotation motor of row rotation, each back swept on the shaft of disk and be located at swing arm are installed with one first conical tooth, often
Second conical tooth for engaging with the contraposition of corresponding first conical tooth is installed on the output shaft of a rotation motor.
Preferably, the robot body includes the liquor storage of trunk shell and the head end for being installed in trunk shell
Case, the liquor storage box are connected through the liquid pipe that trunk shell is distributed with the shared end of Y type bellows by one, the liquid
One is installed in pipe for the hydraulic pump that the liquor of liquor storage box is delivered in Y type bellows, the two of the Y type bellows
A branch end is connected separately with a liquor jet cover, and the liquor jet cover is coated in the wherein one section of circumferential wall for sweeping disk；
The shaft coupling is installed in the back side on the tail end of trunk shell and being located at robot body, described to draw high dress
It sets and is lifted in liquor storage box.
Preferably, the spiral shell for stretching driver and including stretching motor, being installed in by the second universal joint on stretching motor
Rasp bar and the inner thread sleeve being socketed on threaded rod, pass through shaft coupling axis is connected in interior spiral shell to the head end of two swing arms simultaneously
On the tail end of line sleeve.
Preferably, it further includes the arm foot guiding device to move along a straight line for controlling robot body, and the arm foot is led
It include two joint arm groups being installed at left and right sides of robot body respectively to device, one end of each joint arm group is equal
Connect with robot body phase axis, the other end is installed at least one guide wheel disk.
Preferably, each joint arm group include the cephalic par that inner end axis is connected in robot body the first spiral arm,
The outer end phase axis that inner end axis is connected in the second spiral arm of the tail end of robot body, head end and the first spiral arm connects and tail end and second
The outer end phase axis of the first joint arm, inner end and the first spiral arm that the outer end phase axis of cantilever connects is even and outer end is installed with a guide wheel disk
The outer end phase axis of third spiral arm, inner end and the second spiral arm connects and outer end is installed with the 4th spiral arm of a guide wheel disk and axis is connected in
The second joint arm between two guide wheel disks.
Preferably, it further include one be used for and the matching used guiding rail assembly of arm foot guiding device, the guided way group
Part includes two limit guide rails for being located at the left and right sides of robot body and offseting respectively with corresponding guide wheel disk.
Preferably, a camera is also installed on the breech face of the robot body.
Preferably, the vacuum chuck component is distributed along the head end of robot body to tail end direction sequence by several
Vacuum chuck is constituted.
As the above scheme is adopted, for the present invention when being fixed on predetermined position, using wagging the tail, motor drives screw rod to turn
It is dynamic, moved so that thread bush be made to generate position on screw rod, due to pull rod effect meeting so that two swing arms using shaft coupling as base
Point carries out opposite closure or expansion, to make to sweep disk generation position movement, and then realizes the cleaning to glass curtain wall；Together
When, channel can be provided using Y type bellows for the supply of cleaning agent, such as sweep disk it is mobile during, using bellows to
Disk injection medicament is swept, so that the cleaning function of robot maximizes；Its is simple and compact for structure, without cleanup crew directly to glass
Curtain wall is cleaned, and while guaranteeing cleaning effect, is also conducive to improve cleaning effect and is reduced danger coefficient, have very strong
Practical value and market popularization value.
Detailed description of the invention
Fig. 1 is the planar structure schematic diagram (one) of the embodiment of the present invention；
Fig. 2 is the planar structure schematic diagram (two) of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
As depicted in figs. 1 and 2, one kind provided in this embodiment hangs pull-type glass curtain wall clean robot, it includes machine
People's body a, the cephalic par in robot body a is mounted for drawing high with mobile robot body a along what wall moved up and down
(it can use different forms to device b as the case may be, such as merely using drawstring or using drawstring+pulley manually to draw
Dynamic mode carries out robot to hang drawing, and motor+drawstring mode can also be used and hung in automatically controlled mode to robot
Draw), be set to the abdomen of robot body a with for robot body a being adsorbed on wall vacuum chuck component c and
The tail end of robot body a is installed in for carrying out clean cleaning device d of wagging the tail to wall；Wherein, it wags the tail sanitizer cartridge
Setting d includes that wag the tail motor 1, a screw rod 2, a Y type bellows 3, one stretches driver and two swing arms 4, stretches driver
It is installed on the tail end of robot body a and is located at the back side of robot body a, the head end of two swing arms 4 passes through simultaneously
One shaft coupling, 5 axis, which is connected in, to be stretched on driver, is connected in the equal axis of tail end of each swing arm 4 and is swept disk 6, and Y type bellows 3 shares
End is arranged in robot body a, two branch ends are connected with corresponding disk 6 of sweeping respectively, and motor 1 of wagging the tail then is installed in machine
On the tail end of people's body a and be located between the cephalic par of two swing arms 4, the head end of screw rod 2 by one first universal joint 7 with
The output shaft of motor 1 of wagging the tail is connected, and a thread bush 8 is socketed on screw rod 2, while on the tail end of each swing arm 4
Axis is connected with a pull rod 9, and the head end of two pull rods 9 is connected with thread bush 8.
With this, entire robot is hung at building by the roof of building using drawing high device b by cleanup crew
Attach robot and the wall of glass curtain wall mutually on wall and using vacuum chuck component c, when needing that robot is pulled to arrive down
It, can be by the control to vacuum chuck component c (as using having for prevalence is sought connections on the market at present when in one region to be cleaned
The vacuum chuck component of function, is mainly made of components such as vacuum pump, cylinder and suckers) so that it is discharged adsorptive pressure, thus
Moving up or down a distance along wall under the pulling for drawing high device b then makes vacuum chuck component c generate absorption
Pressure, to realize the fixation of robot；When robot is fixed on predetermined position, motor 1 of wagging the tail drives screw rod 2 to rotate, from
And generate thread bush 8 on screw rod 2 position is mobile, since the effect meeting of pull rod 9 is so that two swing arms 4 with shaft coupling 5 are base
Point carries out opposite closure or expansion, to make to sweep the generation of disk 6 position movement, and then realizes the cleaning to glass curtain wall；Together
When, channel can be provided for the supply of cleaning agent using Y type bellows 3, such as during sweeping the movement of disk 6, utilize bellows
To 6 injection medicament of disk is swept, so that the cleaning function of robot maximizes.
Disk 6 is swept to the wiping effect of glass curtain wall to further enhance, and is installed with one on the tail end of each swing arm 4
For driving the rotation motor 10 sweeping disk 6 and being rotated relative to corresponding swing arm 4, on each shaft for sweeping disk 6 and it is located at
The back of swing arm 4 is installed with one first conical tooth 11, correspondingly, is installed with one on the output shaft of each rotation motor 10
The second conical tooth 12 for being engaged with the contraposition of corresponding first conical tooth 11.With this, while 4 displacement of swing arm,
Can be controlled by opening and closing to drive motor 10 or positive and negative rotation, and using the engagement effect between conical tooth, enable to sweep disk 6 into
The accurate positive and negative rotation campaign of row, thus using sweeping disk 6 and being closely bonded effect with glass curtain wall and sweep disk 6 in radial direction
Movement and axial direction rotating effect repeatedly, realization cleaning is wiped repeatedly to glass curtain wall.
For the performance for optimizing entire robot, the robot body a of the present embodiment includes trunk shell 13 and is installed in
The liquor storage box 14 of the head end of trunk shell 13；Wherein, liquor storage box 14 is distributed by one through trunk shell 13
Liquid pipe 15 is connected with the shared end of Y type bellows 3, while being installed with one in liquid pipe 15 and being used for the liquid in liquor storage box 14
Agent is delivered to the hydraulic pump 16 in Y type bellows 3, and two branch ends of Y type bellows 3 are then connected separately with liquor injection
Cover 17, liquor jet cover 17 is coated in the wherein one section of circumferential wall for sweeping disk 6；Shaft coupling 5 is installed in the tail end of trunk shell 13
Back side in portion and positioned at robot body a, draws high device b and is then lifted in liquor storage box 14.With this, by machine
The optimization of the composed structure of device people's body a provides installation space using trunk shell 13 for the main composition mechanism of robot
And position, the medicaments such as detergent can be then stored using liquor storage box 14, it is by hydraulic pump 16 and Y type bellows 3 that medicament is straight
It connects and is pumped into corresponding liquor jet cover 17, finally to sweep medicament injection in disk 6.
For the controllability for enhancing cleaning device d of wagging the tail, to increase cleaning area by the range for expanding its movement, sheet
The threaded rod 20 that the stretching driver of embodiment includes stretching motor 18, is installed in by the second universal joint 19 on stretching motor 18
And it is socketed on the inner thread sleeve 21 on threaded rod 20, the head end of two swing arms 4 is then connected in interior spiral shell by 5 axis of shaft coupling simultaneously
On the tail end of line sleeve 21.Threaded rod 20 can be made in internally threaded sleeve 21 by power provided by stretching motor 18 with this
Interior generation position is mobile, and then along head end to tail end direction position can occur for the cleaning device d that makes to wag the tail relative to robot body a
It is mobile；Based on this, swing arm 4 can both be swung or be stretched end to end, can effectively expand robot to glass curtain wall
Cleaning area.
For the entire robot traveling comfort of enhancing, can especially move along a straight line along the distance of restriction,
The robot of the present embodiment further includes the arm foot guiding device e to move along a straight line for controlling robot body a, arm foot guiding dress
Setting e includes two joint arm groups being installed at left and right sides of robot body a (specially trunk shell 13) respectively, each joint
One end of arm group connects with robot body a phase axis, the other end is installed at least one guide wheel disk 22.Due to building
Glass curtain wall be it is assembled by numerous glass, will form structure gap between two blocks of adjacent glass or structure be convex
It rises, with this, when robot to be attached on glass curtain wall, offsets using guide wheel disk 22 and structure gap or structure protrusion
Touching can effectively limit robot in predetermined stroke when robot is mobile, avoid the problem that lateral shift occurs in it；Together
When, by the structure optimization to joint arm group, joint arm group can also be utilized when using device b pulling robot is drawn high
The effect that stretches or compresses so that guide wheel disk 22 is capable of providing certain auxiliary force, avoid cleanup crew that excessive strength is lost.
As a preferred embodiment, each joint arm group of the present embodiment includes that inner end axis is connected in robot body a
The first spiral arm 23, the inner end axis of cephalic par are connected in the second spiral arm 24, head end and the first spiral arm 23 of the tail end of robot body a
Outer end phase axis even and the outer end of the first joint arm 25 of the outer end phase axis of tail end and the second cantilever 24 company, inner end and the first spiral arm 23
The outer end phase axis that phase axis company and outer end are installed with the third spiral arm 26 of a guide wheel disk 22, inner end and the second spiral arm 24 is even and outer
The 4th spiral arm 27 for being installed with a guide wheel disk 22 and axis is held to be connected in the second joint arm 28 between two guide wheel disks 22.
In addition, for the functional effect of enhancing arm foot guiding device e, it is especially not apparent in the glass curtain wall of building
In the case where structure gap or structure protrusion；The robot of the present embodiment further includes one for mating with arm foot guiding device e
The guiding rail assembly used, guiding rail assembly include two left and right sides for being located at robot body a and respectively with it is corresponding
The limit guide rail 29 that offsets of guide wheel disk 22.
For the utility function of the robot of abundant the present embodiment to the maximum extent, gone back on the breech face of robot body a
It is installed with a camera 30, with this, operation picture that cleanup crew can be shot with video-corder in real time using camera 30 observes job state,
Guarantee to the cleaning effect of glass curtain wall and state adjustment is carried out to robot itself.
As a preferred embodiment, the vacuum chuck component c of the present embodiment is by several along the head end of robot body a
Vacuum chuck to the sequentially distribution of tail end direction is constituted, and each vacuum chuck preferably climb on the market at present by having for prevalence
The vacuum chuck component of attached function, i.e., its be mainly made of components such as vacuum pump, cylinder and suckers, by each vacuum chuck
Centralized control realize the fastness of its absorption and to guarantee that position can occur for robot mobile.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (9)
1. one kind hangs pull-type glass curtain wall clean robot, it is characterised in that: it includes robot body, mounts in robot body
The cephalic par of body is with the abdomen for drawing high device, being set to robot body for moving up and down with mobile robot body along wall
Portion with the vacuum chuck component for robot body to be adsorbed on wall and be installed in the tail end of robot body with
For carrying out clean cleaning device of wagging the tail to wall；
It is described wag the tail cleaning device include one wag the tail motor, a screw rod, a Y type bellows, one stretch driver and two pendulum
Arm, the driver that stretches is installed in the back side on the tail end of robot body and being located at robot body, described in two
The head end of swing arm passes through a shaft coupling axis simultaneously and is connected on stretching driver, and the equal axis of tail end of each swing arm, which is connected with, to be swept
Disk, the shared end of the Y type bellows is arranged in robot body, two branch ends are connected with corresponding disk of sweeping respectively, institute
Motor of wagging the tail is stated to be installed on the tail end of robot body and be located between the cephalic par of two swing arms, the head end of the screw rod
It is connected by one first universal joint with the output shaft for motor of wagging the tail, and is socketed with a thread bush on the screw rod, each pendulum
Equal axis is connected with a pull rod on the tail end of arm, and the head end of two pull rods is connected with thread bush.
2. one kind as described in claim 1 hangs pull-type glass curtain wall clean robot, it is characterised in that: each swing arm
It is installed with one on tail end and sweeps the rotation motor that disk is rotated relative to corresponding swing arm for driving, it is each described to sweep disk
Shaft on and be located at swing arm back be installed with one first conical tooth, installed on the output shaft of each rotation motor
There is second conical tooth for engaging with the contraposition of corresponding first conical tooth.
3. one kind as claimed in claim 2 hangs pull-type glass curtain wall clean robot, it is characterised in that: the robot body
Liquor storage box including trunk shell and the head end for being installed in trunk shell, the liquor storage box pass through one through body
The liquid pipe of dry shell distribution is connected with the shared end of Y type bellows, and one is installed in the liquid pipe and is used for liquor storage box
Liquor is delivered to the hydraulic pump in Y type bellows, and two branch ends of the Y type bellows are connected separately with liquor injection
Cover, the liquor jet cover are coated in the wherein one section of circumferential wall for sweeping disk；
The shaft coupling is installed in the back side on the tail end of trunk shell and being located at robot body, and the device that draws high is hung
Loaded in liquor storage box.
4. one kind as claimed in claim 3 hangs pull-type glass curtain wall clean robot, it is characterised in that: the stretching driver
Including stretching motor, the threaded rod being installed on stretching motor by the second universal joint and the internal screw thread being socketed on threaded rod
Sleeve, the head end of two swing arms pass through shaft coupling axis simultaneously and are connected on the tail end of inner thread sleeve.
5. as one kind of any of claims 1-4 hangs pull-type glass curtain wall clean robot, it is characterised in that: it is also
Including the arm foot guiding device to move along a straight line for controlling robot body, the arm foot guiding device includes two and fills respectively
Joint arm group at left and right sides of robot body, one end of each joint arm group with robot body phase axis connect,
The other end is installed at least one guide wheel disk.
6. one kind as claimed in claim 5 hangs pull-type glass curtain wall clean robot, it is characterised in that: each joint arm
Group includes that the first spiral arm, the inner end axis of the cephalic par that inner end axis is connected in robot body are connected in the tail end of robot body
Second spiral arm, the outer end phase axis of head end and the first spiral arm are even and the first joint arm of the outer end phase axis of tail end and the second cantilever company, interior
The outer end phase axis of end and the first spiral arm company and outer end are installed with the outer end of the third spiral arm of a guide wheel disk, inner end and the second spiral arm
Phase axis is even and outer end is installed with the 4th spiral arm of a guide wheel disk and axis is connected in the second joint arm between two guide wheel disks.
7. one kind as claimed in claim 5 hangs pull-type glass curtain wall clean robot, it is characterised in that: it further includes one being used for
With the matching used guiding rail assembly of arm foot guiding device, the guiding rail assembly includes two and is located at robot body
The left and right sides and the limit guide rail to offset respectively with corresponding guide wheel disk.
8. one kind as described in claim 1 hangs pull-type glass curtain wall clean robot, it is characterised in that: the robot body
Breech face on be also installed with a camera.
9. one kind as described in claim 1 hangs pull-type glass curtain wall clean robot, it is characterised in that: the vacuum chuck group
Part is made of several vacuum chucks along head end to the sequence distribution of tail end direction of robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610810454.4A CN106214083B (en) | 2016-09-08 | 2016-09-08 | One kind hanging pull-type glass curtain wall clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610810454.4A CN106214083B (en) | 2016-09-08 | 2016-09-08 | One kind hanging pull-type glass curtain wall clean robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106214083A CN106214083A (en) | 2016-12-14 |
| CN106214083B true CN106214083B (en) | 2019-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610810454.4A Active CN106214083B (en) | 2016-09-08 | 2016-09-08 | One kind hanging pull-type glass curtain wall clean robot |
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| CN (1) | CN106214083B (en) |
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| CN108372923A (en) * | 2018-03-17 | 2018-08-07 | 殷红平 | A kind of tuning blade driving mechanism for Intelligent Underwater Robot |
| CN108639290A (en) * | 2018-03-17 | 2018-10-12 | 殷红平 | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction |
| CN108372922A (en) * | 2018-04-08 | 2018-08-07 | 殷红平 | A kind of tuning blade driving mechanism for Intelligent Underwater Robot |
| CN108583832A (en) * | 2018-04-08 | 2018-09-28 | 殷红平 | A kind of tuning driving mechanism for Intelligent Underwater Robot |
| CN108639291A (en) * | 2018-04-08 | 2018-10-12 | 殷红平 | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction |
| CN109620071A (en) * | 2018-12-26 | 2019-04-16 | 深兰科技（上海）有限公司 | The walking mechanism of clean robot and the traveling method of clean robot |
| CN111636707A (en) * | 2020-06-19 | 2020-09-08 | 李雅鹏 | Glass curtain wall cleaning safety device |
| CN111591366A (en) * | 2020-07-06 | 2020-08-28 | 重庆科技学院 | Vacuum chuck type crawling device |
| CN112376477A (en) * | 2020-10-30 | 2021-02-19 | 王慧 | Highway maintenance method |
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| CN2406781Y (en) * | 2000-01-27 | 2000-11-22 | 北京航空航天大学 | Cleaning robot |
| CN202505274U (en) * | 2011-12-29 | 2012-10-31 | 刘骞生 | Height glass wipe robot |
| JP2014083985A (en) * | 2012-10-24 | 2014-05-12 | Kinki Univ | Wall surface climbable device |
| CN204995352U (en) * | 2015-09-25 | 2016-01-27 | 陈方舟 | Glass door and window cleaning device |
| CN205433586U (en) * | 2015-12-31 | 2016-08-10 | 天津禹汀科技有限公司 | Robot for cleaning glass |
| CN206303861U (en) * | 2016-09-08 | 2017-07-07 | 肇庆市小凡人科技有限公司 | One kind hangs pull-type glass curtain wall clean robot |
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