CN106419768A - Wall surface cleaning machine - Google Patents
Wall surface cleaning machine Download PDFInfo
- Publication number
- CN106419768A CN106419768A CN201610663259.3A CN201610663259A CN106419768A CN 106419768 A CN106419768 A CN 106419768A CN 201610663259 A CN201610663259 A CN 201610663259A CN 106419768 A CN106419768 A CN 106419768A
- Authority
- CN
- China
- Prior art keywords
- wall surface
- framework
- cleaning machine
- sucker
- surface cleaning
- 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
Links
Classifications
-
- 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
-
- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
- A47L11/4041—Roll 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
The invention discloses a wall surface cleaning machine. The wall surface cleaning machine is mainly used for cleaning an outdoor external wall and an indoor wall surface and comprises one or two frames which are called as a large frame and a small frame for convenience, wherein 2-4 suckers are fixed on the large frame; a cleaning working piece capable of ascending and descending freely is fixed on the small frame; the small frame and the large frame are distributed in an interfingering manner, are connected with each other by a movable trolley, and can move in an X-Y mode; and by movement of the cleaning working piece which can freely ascend and descend and is fixed on the small frame, the X-Y-Z three-dimensional integrated high-altitude wall surface cleaning machine is formed. The high-altitude wall surface cleaning machine is further provided with devices for reducing adsorption difficulty and improving safety level. The devices comprise an adsorption device arranged on the movable trolley and provided with an extension arm, a track sliding block mounted on the small frame, a movable track with adsorption devices at two ends and a pressure plate frame for cleaning wall seams.
Description
Technical field
The invention belongs to machinery manufacturing technology field, it is related to a kind of building wall cleaning equipment and in particular to one kind is used for
The wall surface cleaning machine of indoor and outdoor metope cleaning.
Background technology
Outdoor overhead metope cleans, and washing exterior wall is a kind of high-risk work, often has an accident, we have discovered that, washes
Exterior wall is fearness " hanging ", when sucker can not being used when operation, for example, in window cleaning equipment, hanging basket decline when
Wait it is necessary to untie sucker and then could decline, also just in that time untiing sucker, a gust of wind suddenly, window cleaning equipment or
Rocking occurs in hanging basket, and along with operator has palpitation, rocking can be increasing, eventually causes accident；Wash exterior wall in wall surface cleaner
During how could allow sucker keep to metope persistently keep adsorb, this is to increase wall surface cleaner security critical institute
This is also the significant problem that a process we have discovered that；This is also a kind of method reducing adsorbent equipment difficulty simultaneously.
201580002915.9 inventions of my application, are one and invent well, imitate manual cleaning glass completely
Method, is the best mode of cleaning glass, through we have discovered that, we equally have huge safety at this solution
Hidden danger, that is, unstable during declining, encounters strong wind and is easy to the problems such as accidents happened.
It is known that elevator to be raising and lowering all very steady, also very safe, this is all because that elevator has the edge of track
Therefore, so some researchers also just propose the method in building exterior wall predetermined trajectory, this idea is all well and good, but problem is cost
Too high, it is difficult to realize, my idea is how to lay running track to the just wall surface cleaning machine in operation.
We also noted that, wall surface cleaning machine can encounter a lot of obstacles during lifting, is primarily due to this simultaneously
The lifting that a little barrier height are too high and hinder wall surface cleaning machine and sucker.
Often have on smooth metope injustice metope, sucker suction metope when, the range sensor meeting on sucker
It is that distance reaches setting range and sends signal, but in fact sucker can be because the injustice of metope and gas leakage, sucker does not have to be inhaled
Live metope, for example, the junction that sucker falls between glass and glass, cause production can not proceed or even bring accident to send out
Raw.
It has been found that when sucker suction has waterglass, the horizontal shearing force of sucker can be greatly reduced, and holds very much
Skidding easily occurs, the power impact of vertical direction is limited；Nearly all scientist research reptiles glass curtain wall robot,
All use the cross shear of sucker to do climbing robot support force, the maximum shortcoming of this robot, that is, Bu Nengyong
Water, after being because that sucker has water the reason search to the bottom, its cross shear can drastically decline skidding and can not work, but right
But affect limited in vertical pulling force, but it is known that washing exterior wall is to can't do without using water, here it is climbing robot failure
Basic reason.
Exterior wall to be cleaned has many kinds, and 201580002915.9 are relatively suitable for a bulk of glass, I found that there are a lot of glass
Glass is that a bulk of glass is made up of some pieces of glass, has horizontal stripe to separate, of this sort glass is difficult to wash between glass.
It is known that because the problem of active force and reaction force, in the air simultaneously can be very with four sucker suction metopes
Difficulty, the difficulty reducing sucker suction is the problem of our researchs.
Indoor wall cleans
We also do not find the washing machine for indoor wall at present, and 201580002915.9 can be used for cleaning interior
Metope, and disclose the scheme reclaiming waste water, but, when we clean metope with wall surface cleaning machine, we can send out
Existing, there are a lot of crossbeams interior, and a part of metope machine must be made not wash by the design of crossbeam, and we design
The machine of automation must be able to pass through the function of this crossbeam, how to pass through crossbeam, how to reduce the area that can not clean is me
Thing to be considered.
A lot of metopes are to be put together by plastic plate now, and in order to reduce deformation etc. of expanding with heat and contract with cold, a seam is stayed in centre,
During we clean metope, these seams have just become the dead angle of cleaning, and a lot of sewage can flow to seam, and that is local.
Content of the invention
Outdoor：In order to prevent the shearing force using sucker, we provide a kind of wall surface cleaning machine having crane, in order to increase
Security during lifting（During particularly declining）, we are the process laid rail of wall surface cleaning machine lifting
Road, is also that track is laid in the lifting of track, in order to increase the reliability of absorption, we increase detection sucker inside sucker simultaneously
The sensor of the inside air pressure, in order to deal with the problem of diversity metope, I is designed with 3D function wall surface machine.
Indoor：It has been similarly solution to break the barriers（Crossbeam）Problem, wall surface cleaner is designed with 3D function,
For the cleaning problems in gap between firm metope plate, we fix cleansing bar using in a column, and by cleansing bar plug
Enter the gap between plate, thereon face pressure lastblock plate（Refined chase frame）, prevent cleansing bar from falling down, in wall surface cleaner
Drag lower cleaning.
A kind of wall surface cleaning machine, it is a crane that its feature includes upper end, and crane rope is sling one or two framework,
Equipped at least with a set of metope cleaning device with cleaning head and wiper mechanism on one framework；As needed metope can be entered
Row roller cleans, and scrapes water and freely change, and framework is installed adsorbent equipment, and system also includes device and the spray that difficulty is adsorbed in reduction
Mouth.
A kind of wall surface cleaning machine, its feature includes one or two framework, has on individual framework and has installation adsorbent equipment and band
There are cleaning cylinder and wiper mechanism cleaning device, roller cleaning can be carried out to metope as needed, and scrape water freely changing, have
Nozzle is installed.
The device that difficulty is adsorbed in described reduction is a moving track adsorbent equipment and is arranged on rail slider on framework,
Moving track adsorbent equipment mid portion is a track, and sucker is installed at its two ends, has range sensor inside sucker.
Linear reciprocating motor is installed at described moving track track two ends, and sucker is installed, inside sucker in one end of motor shaft
There is range sensor.
Described framework has two, two framework sockets, and one of them has installation Acetabula device, and another one has socket clear
Clean work package, the attachment between two frameworks is a dolly, enables the linkage of X-Y, because cleaner between two frameworks
Workpiece, can move along the Z direction, integrally enable X-Y-Z three-dimensional linkage.
A linear reciprocating motor installed by two framework attachment dollies of device that difficulty is adsorbed in described reduction, motor shaft
External part is a sucker, and sucker has range sensor.
There is air pressure probe inside described sucker.
Described framework has two, and position is divided into upper frame and underframe, and underframe has three or four castors, has one
Base plate, quite, when two base plates overlap, upper frame is apart from the height on roof for the height indoor wall crossbeam apart from ground for the base plate
The barrier passing through with needs（Crossbeam）Quite.
A kind of metope cleaning device of the pressing plate framework for cleaning wall seam is also had on described framework.
The feature of described wall surface cleaning machine is to realize two dimension or three-dimensional state by motor rotation.
First, wall surface cleaning machine of the present invention is very efficient, and very safe, enables to clean different metope cleanings.Very
There is industrial applicibility, produce also completely out of question.
Brief description
Outdoor：
Fig. 1 is a kind of structural representation of wall surface cleaning machine of the present invention.
Fig. 2 is that a kind of moving track of wall surface cleaning machine of the present invention declines schematic diagram.
Fig. 3 is that a kind of workbench of wall surface cleaning machine of the present invention declines schematic diagram.
Fig. 4 is a kind of present invention wall surface cleaning machine moving track structural representation.
Fig. 5 is a kind of present invention wall surface cleaning machine moving track upper and lower ends adsorption system structural representation.
Fig. 6 is a kind of rail slider structural representation of present invention wall surface cleaning machine moving track.
Fig. 7 is part-structure schematic diagram on a kind of workbench of wall surface cleaning machine of the present invention.
Fig. 8 is a kind of a kind of structural representation of wall surface cleaning machine of the present invention.
Fig. 9 is that a kind of a kind of moving cart of wall surface cleaning machine of the present invention has the structural representation of adsorption system.
Figure 10 is a kind of a kind of structural representation having moving track of wall surface cleaning machine of the present invention.
Figure 11 is the structural representation of wall surface cleaning machine big frame of the present invention.
Figure 12 is the structural representation of wall surface cleaning machine big frame mid portion of the present invention.
Figure 13 is a kind of embodiment structural representation of wall surface cleaning machine little framework of the present invention.
Figure 14 is a kind of embodiment structural representation of wall surface cleaning machine little framework of the present invention.
Figure 15 is a kind of embodiment structural representation of wall surface cleaning machine little framework of the present invention.
Figure 16 is a kind of structural representation of embodiment of wall surface cleaning machine cleaner's workpiece of the present invention.
Figure 17 is the structural representation of wall surface cleaning machine cleaner's workpiece mid portion of the present invention.
Figure 18 is the structural representation of wall surface cleaning machine cleaner's workpiece cylinder of the present invention.
Figure 19 is the structural representation that wall surface cleaning machine water of the present invention is scraped.
Figure 20 is a kind of structural representation of embodiment of wall surface cleaning machine cleaner's workpiece of the present invention.
Figure 21 is the structural representation of wall surface cleaning machine cleaner's workpiece mid portion of the present invention.
Figure 22 is the structural representation of wall surface cleaning machine cleaner's workpiece cylinder of the present invention.
Figure 23 is the structural representation that wall surface cleaning machine water of the present invention is scraped.
Figure 24 is the structural representation of wall surface cleaning machine motor shaft nut of the present invention.
Figure 25 is the structural representation of wall surface cleaning machine cleaner's workpiece mid portion of the present invention.
Figure 26 is wall surface cleaning machine cleaner's workpiece mid portion driving principle figure of the present invention.
Figure 27 is wall surface cleaning machine cleaner's workpiece mid portion driving stepper motor schematic diagram of the present invention.
Figure 28 is a kind of structural representation of embodiment of wall surface cleaning machine cleaner's workpiece of the present invention.
Figure 29 is the structural representation of wall surface cleaning machine cleaner's workpiece lifting motor of the present invention.
Figure 30 is a kind of structural representation of embodiment that wall surface cleaning machine moving cart of the present invention adopts stepper motor.
Figure 31 is a kind of structural representation of embodiment that wall surface cleaning machine moving cart of the present invention adopts adsorption system.
Figure 32 is the structural representation that wall surface cleaning machine moving cart of the present invention adopts feed screw nut and rail slider.
Figure 33 is that wall surface cleaning machine sucker of the present invention is being adsorbed with waterglass force analysis figure.
Indoor：
Figure 34 is a kind of structural representation of wall surface cleaning machine of the present invention.
Figure 35 is a kind of structural representation of wall surface cleaning machine of the present invention.
Figure 36 is a kind of structural representation of wall surface cleaning machine of the present invention.
Figure 37 is a kind of structural representation of wall surface cleaning machine of the present invention.
Figure 38 is that the present invention cleans a kind of state that metope is.
Figure 39 is that wall surface cleaning machine of the present invention cleaning wall surface machine breaks the barriers a kind of state being.
Figure 40 is the big frame of wall surface cleaning machine of the present invention.
Figure 41 is the little framework of wall surface cleaning machine of the present invention.
Figure 42 is the pressing plate framework of wall surface cleaning machine of the present invention.
Figure 43 is wall surface cleaning machine top structure schematic diagram of the present invention.
Figure 44 is the joining part of wall surface cleaning machine little framework of the present invention and big frame.
Figure 45 is a kind of lift structure schematic diagram in the middle part of the present invention.
Figure 46 is a kind of lift structure schematic diagram in the middle part of the present invention.
Figure 47 is the structural representation of track pillar of the present invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
Outdoor overhead：
Embodiment one；
As shown in figure 1, a kind of wall surface cleaning machine generally comprises three parts, crane 1 hangs the wall of lifting by steel wire rope 101
Face cleaning platform 2, on metope cleaning platform 2, there is installation adsorbent equipment 201 corner and is fixed in the middle part of metope cleaning platform 2
（Preferably upper and lower ends）Rail slider 305（Invisible, below 302）, and moving track system 3.Metope cleaning platform 2 in order to
Mitigate weight, built by some hollow pillar stands and be welded.
The feature of this structure is that the lifting of metope cleaning platform 2 is the power relying on crane 1, rather than the shearing of sucker
Masterpiece is support force, and that is, pipe is rainy day, the also very little of the impact to metope cleaning platform 2.
With reference to Figure 33, when metope has water, the power impact very little in sucker A direction, but the impact of the power in B direction is just
Very big.In the case of using crane, the suction of sucker is not used as the support of wall surface cleaning machine to our wall surface cleaning machine
Power, i.e. the power in B direction, but use the power in A direction.
Reference Fig. 1,2,3,4,5,6,7
Moving track system 3 Fig. 5, Fig. 6, Fig. 7, including：Track 301, and be contained in the adsorption system 301 at track two ends and be arranged on
Rail slider 305 on cleaning platform 2.
System start start, crane 1 by rope 101 decline metope cleaning platform 2 arrive suitable position, Fig. 3 Fig. 6, clearly
Acetabula device 201 on washing machine platform starts, and ([note], because Fig. 3 could not show, is replaced with Fig. 6, and principle is the same, and straight line is past
Compound machine 3022 starts, and forward, a sucker 3025, the range sensor inside sucker are fixed in motor shaft front end to motor shaft 3021
3023, sucker is constantly forward to reach setting position near metope, and range sensor 3023 sends signal, and sucker stops forward, very
To sucker air-breathing, closed check valve, air pressure probe 3024 meeting simultaneously constantly detects sucker 3025 the inside to empty pump 3026
Air pressure, sets numerical value when sucker 3025 the inside air pressure reaches,（If all not reaching setting number in special time
Value, is informed about crane and passes through lifting change sucker position), Fig. 8 starts for lifting moving rail system motor 304, mobile
Rail system 3 declines, and meanwhile, metope cleaning platform 2 is started working.
Fig. 6, is off when the sensor 3023 of moving track system upper end is near metope cleaning platform 2 upper end, meanwhile,
The sucker of moving track system 3 upper and lower ends stretches out system 302 and starts, and motor shaft 3021 forward, fix by motor shaft 3021 front end
One sucker 3025, the range sensor 3023 inside sucker and air pressure probe 3024, sucker constantly forward close metope,
Reach setting position, range sensor 3023 sends signal, and sucker 3025 stops forward, vavuum pump 3026 is to sucker air-breathing, single
Close to valve, the air pressures of continuous detection suckers 3025 the inside of air pressure probe meeting simultaneously 3024, inside detection sucker
Whether air pressure reaches setting numerical value, if when the specific time all reaching setting numerical value, system can start and be used for
Lifting orbit motor, changes the position of sucker system, and the air pressure inside sucker can reach setting numerical value, or sends out
Go out alarm.
Set when the air pressure of sucker 3025 the inside on moving track reaches, and metope cleaning platform 2 completes
Work, being arranged on cleaning platform 2 sucker system 201 will start, and vavuum pump 3026 stops suction first, check valve is beaten
Open, inflate to sucker 3025, sucker is decontroled, and linear reciprocating motor 3022 inverts, and returns to the position of setting, sends signal, crane 1
Can start, allow metope cleaning platform 2 move along track 301 and decline, when metope cleaning platform 2 lower end is near following sensor
3023 are, send signal, and crane 1 stops operating.
Sucker system 201 on metope cleaning platform 2 can be similar to sucker system 302 working method of moving track,
Do not do repetition at this；The motion mode of actually moving track system 3 and metope cleaning platform 2 is to pass through as needed
Program or sensor are realizing.
With reference to Fig. 5, Fig. 6, Fig. 7.
Moving track system 3 includes：Lift system 202, rail system 3, adsorption system 302.
Fig. 7 adsorption system includes, linear reciprocating motor（The push-rod electric machine of line-like motor, hydraulic bar or gas rod）
3022, the projecting shaft 3021 on linear reciprocating motor, the sucker 3025 that on motor shaft, 3021 one end are installed, it is arranged on sucker
Range sensor 3023 and air pressure probe 3024, vavuum pump 3026 and check valve（Do not mark）.
Fig. 7, rail slider 305, mid portion is a framework 3053, the internal limited location pulley 3051 of framework 3053, spacing
The middle part of pulley is the place 3053 that track 301 passes through, and has the pulley 3052 turning to for steel wire rope 3027 or Timing Belt, and lifting
The track installation hole 3054 that system 304 is passed through, rail slider 305 can install 1 ~ 2 in cleaning machine platform 2, in order to run more
Plus steadily, preferably install 2, track 301 is preferably lightweight long tube, and aluminium alloy is an option.
Lifting moving track system is installed can be with using a lot of forms：
（1）Steel wire rope 3027 one end connects moving track 301 upper end, and one end connects moving track 301 lower end, by angle pulley
204 are connected with lifting motor 304, and a rack-track laid up and down by workbench, and lifting motor 304 fixes a gear, and gear exists
Drive moving track is moved back and forth on tooth bar rise or fall, Fig. 7, for the steel wire rope 3027 of lifting moving track.
（2）Metope cleaning platform 2 upper end is fixed on using a motor 304（Assume upper end）, motor 304 is installed one
Synchronizing belt gear, another one synchronizing belt gear is fixed on wall surface cleaning machine platform 2 lower end, is synchronous between two synchronous pulleys
Band, moving track 301 is fixed on above Timing Belt, and motor 304 rotates and drives Timing Belt motion, thus driving moving track
301 lifting.
（3）Can also be driven using motor, screw mandrel drives nut, nut is fixed on the form of the movement of moving guide rail, but
Screw mandrel is heavier.
With reference to Fig. 2 Fig. 3, this is the moving track mounting structure schematic diagram of wall surface cleaning machine, has two lifting motors 304 and 202,
Cleaner's workpiece 203 rises or falls under the drive of lifting motor 202 implements cleaning to metope；Another one lifting motor
304 motors pass through steel wire rope 3027, and angle pulley 204 etc. is reaching the purpose of lifting moving track 3.
Wherein 205 are used for mounting distance sensor etc., prevent from encountering barrier.
Embodiment two；
There is two ways and can reduce the difficulty that adsorbent equipment 201 adsorbs metope.
Mode one；
With reference to Fig. 8, Fig. 9, Figure 10, Figure 11；
This is a kind of wall surface cleaning machine with 3D function, is particularly suitable for having several pieces of glass combination to form, centre has parting bead to separate,
The typically cleaning of the window of house.
First by some lightweight pillars（Aluminium alloy）Be welded two frameworks, distinguishes us for convenience and is big frame respectively
Frame 4, and little framework 5, the middle part of big frame is a passage 408, and little framework 5 is socketed in outside big frame 4, little framework 5 and big
The junction of framework 4 is a dolly 6, and dolly 6 can drive little framework 5 to slide in passage 408, realize the fortune of X-direction
Dynamic；Meanwhile, dolly 6 at least one motor 603 installed above（Figure 33）, motor 603 can make little framework by motor shaft 604
5 towards Y-direction motion（Dolly 6 can be with attachment rail slide block 607, little framework 5 corresponding place attachment rail pillar 2033 figure
37）, there is installation adsorbent equipment 201 corner of big frame 4, little framework 5 has installation cleaner's workpiece 203, cleaner's workpiece 203
In lifting piece 304（This effect being designed with counterweight of Figure 32）In the presence of realize the motion of Z-direction, so, metope cleans
Machine has just had tri- direction 3D functions of X-Y-Z.Nozzle, even high-pressure spray gun can be laid on cleaner's workpiece 203；Figure
Adsorption system can be installed on 35 dollies 6, can be identical with 302 with adsorption system 201, just do not discussing here.
When use, wall surface cleaning machine hangs decline in crane 1, comes region to be worked and stops, dolly 6 drives first
Stop in the middle part of adsorbent equipment to big frame 4（Or the initial point as machine movement）, Figure 35, on the adsorbent equipment of dolly 6
Linear reciprocating motor starts, on cantilever arm 3021, sucker 3025 is constantly close to metope, and range sensor 3023 sends letter
Number, linear reciprocating motor stops operating, vacuum pump depletion,（Do not draw, as Fig. 6 vavuum pump 3026）Air pressure senses
Device 3024 detects the air pressure in sucker 3025, if detection pressure reaches setting, linear reciprocating motor inverts, and returns to and sets
After fixed local stopping, (if the air pressure of detection sucker does not all reach setting value in the scheduled time, straight-line electric chance inverts
Returning to initial point, dolly changes position and restarts adsorbent equipment) adsorbent equipment 201 of 4 four jiaos of big frame starts,（Because program
With the adsorbent equipment above dolly 6 is, do not comment here）；
The sucker pressure of the adsorbent equipment of big frame corner reaches default, adsorbent equipment vavuum pump closing on dolly 6, unidirectional
Valve is decontroled, and linear reciprocating motor inverts, and returns to initial point, cleaner's workpiece starts according to pre-set programs, metope to be carried out, complete
After becoming cleaning, adsorbent equipment 201 program is as the adsorbent equipment of above-mentioned dolly 6（No longer discuss）, crane play metope cleaning
Machine is down or up.
Mode two,
Figure 12, Figure 13, Figure 14, Figure 15, Figure 36
Moving track system is fixed on little framework 5 one end near working face, at this moment suction will no longer be installed by dolly 6 here
Attached system, because the method installed just no longer can be discussed as embodiment one here.
When use, dolly 6 drives the middle part of moving track system to big frame 4 to stop, and starts operation, because flow and method
Can be identical with embodiment one, just will not be discussed further here.
Fig. 8 ~ Figure 12, Figure 30 ~ Figure 32, Figure 45, Figure 46, X-direction is moved.
This is two kinds of different modes that dolly 6 runs（In fact have a lot of modes）, mode one, motor 401 rotational band
Dynamic screw mandrel 402 rotates, and coordinates with the nut 606 being fixed on dolly 6, and dolly can move back and forth passage 408 on screw mandrel；Side
Formula two, is that a motor passes through to drive synchronizing wheel to rotate, synchronizing wheel drives Timing Belt to rotate, and the rotation of Timing Belt can drive fixation
Dolly on Timing Belt moves back and forth in passage 408；Mode three, lays tooth bar or Timing Belt in passage 408, and dolly 6 is installed
Motor and gear, such dolly just can move back and forth in passage 408.
Figure 13, Y-direction is moved
Little framework 5, little framework 5 has cleaner's workpiece 203, track pillar 306, rail slider 2033, and cleaner's workpiece 203 is
Lifted by lifting motor 202 and complete the cleaning to metope, cleaner's workpiece 203 is the rail by being fixed thereon
Road slide block 2033 is matched with the track pillar 306 being fixed in little framework, and at the middle part of little framework 5, dolly 6 upper end fixes one
Individual rail slider 2033, has track pillar 306 two ends to be connected with the pillar in little framework 5, with Figure 33 dolly 6 on straight
Line reciprocating motor 603 coordinates, and makes little framework realize the motion of Y-direction；Figure 18 counterweight 505, lifting motor is 202.
Figure 16 ~ Figure 23, is the cylinder 20314 of three kinds of cleaner's workpieces, and suspension member 2030 scrapes wet part 2032 different structure
Mounting means, different modes can realize a common folding function, mode one, and the motor of rotation passes through synchronous wheel belt
Dynamic Timing Belt drives another one synchronizing wheel to rotate, and synchronous pulley drives screw rod to rotate, by the screw thread on motor shaft and screw rod
On screw thread cooperation be exactly make cleaner's workpiece cylinder and scrape wet part produce folding state.Mode two, cleaner's workpiece
Middle part suspension member is designed to the form of a little framework.The design of Figure 23, Figure 24, Figure 25, Figure 26, Figure 27 can make cleaning roller and scrape
Wet part energy far apart during opening, can reduce the impact between screw rod and cylinder during conjunction.Figure 28 mode three,
Its structure uses two motors, because stroke is little, it is possible to use.
The motor that Figure 30 ~ Figure 32 is dolly 6 to be connected from little framework adopts two kinds of different motors, linear electric motors, and one
Individual for stepper motor（Servomotor is also an option in fact）.
Fig. 8 ~ Figure 12, is that dolly 6 is doing X-direction（Big frame passage 408）Motion is the different modes adopting, mode one：
Rack-and-pinion, mode two：Screw mandrel and nut, the third mode is：Synchronizing wheel Timing Belt.
Indoor wall：
Figure 34 ~ Figure 39 this be a simplest wall surface cleaning machine for indoor wall cleaning, include the welding of several root posts
Support, have castor below support, at top and bottom, adsorbent equipment 201 be installed, this adsorbent equipment is fairly simple,
Only has range sensor, including a lifting motor 20311 inside sucker.
It is people's hand propelled wall surface cleaning machine, when wall encountered by four suckers, the range sensor inside sucker is just
Signal can be sent, vavuum pump may turn on, and check valve closes, sucker 201 holds metope, drum cleaning of spraying water ----wipe off
Sewage ----complete to clean ----vavuum pump cuts out, and check valve is opened.
Figure 35 ~ Figure 39 this be a wall surface cleaning machine having two frameworks, big frame 4, little framework 5, the base plate of big frame 4
There are three holes corresponding with the castor 501 of little framework 5, during using wall surface machine cleaning metope, people moves little framework 5 by hand and arrives big frame
Above 4, break the barriers（Crossbeam）When, the pin 501 of little framework 5 is put into the corresponding empty set 5011 of big frame 4 and can pass through.
Figure 46 big frame 4 adjacency has a column 700, and Figure 37 pressing plate framework 7 passes through two little suspension columns 701, hangs up,
During use, only somewhat a little bigger than seam cleansing bar need to be fixed on the pipe of inner side, the cleansing bar of strip is filled in seam,
Rotate pressing plate framework 7 (can rotate with 90 degree), will prevent it from coming off in cleansing bar press-in seam.The movement of wall surface cleaner is dragged simultaneously
Dynamic cleansing bar cleaning seam.
Figure 43, mid portion has trolley 6.
Figure 38, Figure 39 are wall surface cleaning machine cleaning metope and the two kinds of different conditions being that break the barriers.Castor 409, pin
Wheel 501, castor set 5011（To preferably lift, below a little bit smaller, above big a bit）, 20311 is wall surface cleaning machine
Peak, sucker 201, the apparent Figure 45 wall surface cleaning machine peak 20311 of cleaner's workpiece 203. metope 100. is apart from metope
100 is much larger, here it is wall surface cleaning machine breaks the barriers（Crossbeam）When state, little framework 5 can be moved by hand by people
Come by crossbeam.
Figure 34, Figure 36, Figure 37, Figure 40, Figure 42, dolly 6 guide rail 411 on big frame 4, pressing plate framework 7 hangs column
701, pulley 409, the lifting crossbeam 511 in little framework 5 and the castor column 501 of little framework 5 and pulley 5011；Figure 42, pressing plate
By several pipes 702 and two square tubes 703, at a right angle have a suspension crossbeam 704 to framework 7, and rotates duckpin 701 and skid-proof rubber
Set（Do not mark）Composition.
Figure 43 is little framework above structure, notes to reduce the area that can not clean, can be synchronous by motor 20311
Wheel 502, Timing Belt 503 is put into the lower section of current position.
Figure 37, Figure 44, Figure 45, Figure 46 are dolly 6 and the structural representation installed.Figure 45, a motor, by synchronization
Gear 402 Timing Belt drives the rotation of another one synchronizing wheel, and one end of Timing Belt is fixed on little framework 5 lifting crossbeam 5011
On, other end is fixed on a gear, lifts little framework 5 by the rotation of gear, reaches avoiding obstacles（Crossbeam）
Purpose；Figure 46 is an up another mode of system, a motor, synchronously brings drive other by a synchronizing wheel
Individual synchronizing wheel, and then drive another one to be fixed on the screw rod in synchronizing wheel, screw rod and threaded motor shaft rotate, and drive solid
It is scheduled on the nut above little framework lifting crossbeam 5011, thus lift or have dropped little framework 5, realize the motion of Y-direction（Class
There is discussion like before structure）.
Figure 43, motor 20311 lifting cleaning work package 203 is the motion that wall surface cleaning machine realizes Z-direction.
Meanwhile, the castor 409 of big frame rotates the motion that can bring X-direction, and such wall surface cleaning machine is achieved that X-Y-Z
Linkage.
Figure 47 is track pillar, widely uses in the present invention.
Claims (10)
1. a kind of wall surface cleaning machine, it is a crane that its feature includes upper end, and crane rope is sling one or two framework, one
Equipped at least with a set of metope cleaning device with cleaning head and wiper mechanism on individual framework；As needed metope can be carried out
Roller cleans, and scrapes water and freely change, and framework is installed adsorbent equipment, and system also includes device and the spray that difficulty is adsorbed in reduction
Mouth.
2. a kind of wall surface cleaning machine, its feature includes one or two framework, has and has the suction installing displacement transducer on individual framework
Adsorption device and with cleaning cylinder and wiper mechanism cleaning device, can carry out roller cleaning to metope as needed, and scrape water
Freely change, have installation nozzle and castor.
3., according to claim 1, the device that difficulty is adsorbed in described reduction is a moving track adsorbent equipment and is arranged on framework
On rail slider, moving track adsorbent equipment mid portion is a track, its two ends install sucker, have distance inside sucker
Sensor.
4. according to claim 3, linear reciprocating motor is installed at described moving track track two ends, and one end of motor shaft is installed and inhaled
Disk, has range sensor inside sucker.
5. framework according to claim 1 has two, two framework sockets, and one of them has installation Acetabula device, in addition
One has socket cleaner's workpiece, and the attachment between two frameworks is a dolly, enables the connection of X-Y between two frameworks
Dynamic, because cleaner's workpiece can be moved along the Z direction, integrally enable X-Y-Z three-dimensional linkage.
6., according to claim 2, a linear reciprocation installed by two framework attachment dollies of device that difficulty is adsorbed in described reduction
Motor, the external part of motor shaft is a sucker, and sucker has range sensor.
7., according to claim 1, inside the sucker described in 3,4,6, there is air pressure probe.
8. according to claim 2, described framework has two, and position is divided into upper frame and underframe, underframe have three or
Four castors, have a base plate, and the height indoor wall crossbeam apart from ground for the base plate is suitable, when two base plates overlap, upper frame
The barrier that height apart from roof is passed through with needs（Crossbeam）Quite.
9., according to claim 2, described framework also has a kind of metope cleaning device of the pressing plate framework for cleaning wall seam.
10., according to claim 2,8,9 wall surface cleaning machine, is to realize two dimension or three-dimensional state by motor rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/097280 WO2018028707A1 (en) | 2015-11-08 | 2017-08-11 | Wall cleaning machine |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015107488542 | 2015-11-08 | ||
| CN201510748854 | 2015-11-08 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106419768A true CN106419768A (en) | 2017-02-22 |
Family
ID=57713832
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610658009.0A Pending CN106256308A (en) | 2015-11-08 | 2016-08-12 | A kind of have the hoistable platform that metope persistently keeps absorption |
| CN201610663259.3A Pending CN106419768A (en) | 2015-11-08 | 2016-08-12 | Wall surface cleaning machine |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610658009.0A Pending CN106256308A (en) | 2015-11-08 | 2016-08-12 | A kind of have the hoistable platform that metope persistently keeps absorption |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN106256308A (en) |
| WO (1) | WO2018028707A1 (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107307800A (en) * | 2017-09-04 | 2017-11-03 | 常州工学院 | A kind of high building curtain wall cleaning robot and its cleaning method |
| CN107536566A (en) * | 2017-09-04 | 2018-01-05 | 常州工学院 | Based on monolithic processor controlled curtain cleaning robot control system and control method |
| CN107616758A (en) * | 2017-11-09 | 2018-01-23 | 广东豪信激光装备制造有限公司 | A kind of glass wall cleaning robot with walking mechanism |
| WO2018028707A1 (en) * | 2015-11-08 | 2018-02-15 | 柯干兴 | Wall cleaning machine |
| CN107981772A (en) * | 2017-12-08 | 2018-05-04 | 梁平县足金机电设备有限公司 | Creeping motion type exterior wall cleaning machine |
| CN108030436A (en) * | 2017-12-22 | 2018-05-15 | 衢州职业技术学院 | A kind of glass curtain wall cleaning machine device people |
| CN108158478A (en) * | 2017-12-22 | 2018-06-15 | 衢州职业技术学院 | A kind of cleaning device in glass curtain wall cleaning machine device people |
| CN108703720A (en) * | 2018-07-11 | 2018-10-26 | 广东工业大学 | A kind of high-altitude exterior wall automatic cleaning apparatus |
| CN109748211A (en) * | 2017-11-02 | 2019-05-14 | 上海阿发渔具厂 | Birdcage t shore high-altitude robot up and down with lateral walking mechanism |
| CN110080334A (en) * | 2019-06-04 | 2019-08-02 | 龙游卡伊环保科技有限公司 | It is a kind of to carry out the clean equipment of facade using collection rainwater |
| CN110123189A (en) * | 2019-05-08 | 2019-08-16 | 北京中恒欧嘉节能环保科技有限公司 | A kind of automatic scrubbing glass device |
| WO2020134875A1 (en) * | 2018-12-25 | 2020-07-02 | 柯干兴 | Intelligent flat surface cleaning apparatus |
| CN111852048A (en) * | 2020-08-11 | 2020-10-30 | 中发腾龙建设有限公司 | High-rise building construction discharge apparatus |
| CN115095179A (en) * | 2022-07-07 | 2022-09-23 | 黄河水利职业技术学院 | Building facade cleaning robot system and using method thereof |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976490A (en) * | 2017-04-05 | 2017-07-25 | 南京瑞麒凰电子科技有限公司 | A kind of absorption type surface job platform and its equipment of loading |
| CN208618757U (en) * | 2017-11-24 | 2019-03-19 | 亿立科技国际有限公司 | The automated system of wall for coated building |
| CN110292333A (en) * | 2018-03-23 | 2019-10-01 | 上海亿力电器有限公司 | One kind climbing wall high-pressure wash machine people |
| CN108742290A (en) * | 2018-05-29 | 2018-11-06 | 温州职业技术学院 | A kind of external wall apparatus for work |
| CN113428815B (en) * | 2021-06-04 | 2022-10-11 | 大连海事大学 | Manned space operation stable platform |
| CN113356558B (en) * | 2021-07-02 | 2023-04-21 | 佛山市南方重工实业有限公司 | Anti-shaking hanging basket device for building high-altitude operation |
| CN115653271A (en) * | 2022-10-25 | 2023-01-31 | 福建技术师范学院附属龙华职业技术学校 | Hanging basket anti-swing device with automatic adjusting function |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6436588A (en) * | 1987-07-31 | 1989-02-07 | Yokohama Rubber Co Ltd | Walking machine for wall surface washing |
| CN2475366Y (en) * | 2001-02-23 | 2002-02-06 | 北京科林蓝宝机器人科技有限公司 | Hanging-basket type automatic window cleaner |
| CN103437536A (en) * | 2013-08-27 | 2013-12-11 | 柯干兴 | Gear-driven multipurpose wall space machine |
| CN104905738B (en) * | 2015-05-22 | 2017-06-06 | 芜湖特源鑫复合材料科技有限公司 | A kind of reciprocating high-altitude glass cleaning machine people |
| CN105030169B (en) * | 2015-06-19 | 2019-01-22 | 刘禄军 | A kind of metope crawling device |
| CN106256308A (en) * | 2015-11-08 | 2016-12-28 | 柯干兴 | A kind of have the hoistable platform that metope persistently keeps absorption |
| CN205181263U (en) * | 2015-12-10 | 2016-04-27 | 武汉大学 | High -altitude glass cleaning device |
-
2016
- 2016-08-12 CN CN201610658009.0A patent/CN106256308A/en active Pending
- 2016-08-12 CN CN201610663259.3A patent/CN106419768A/en active Pending
-
2017
- 2017-08-11 WO PCT/CN2017/097280 patent/WO2018028707A1/en active Application Filing
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018028707A1 (en) * | 2015-11-08 | 2018-02-15 | 柯干兴 | Wall cleaning machine |
| CN107536566A (en) * | 2017-09-04 | 2018-01-05 | 常州工学院 | Based on monolithic processor controlled curtain cleaning robot control system and control method |
| CN107307800A (en) * | 2017-09-04 | 2017-11-03 | 常州工学院 | A kind of high building curtain wall cleaning robot and its cleaning method |
| CN107536566B (en) * | 2017-09-04 | 2019-09-10 | 常州工学院 | Based on monolithic processor controlled curtain cleaning robot control system and control method |
| CN109748211A (en) * | 2017-11-02 | 2019-05-14 | 上海阿发渔具厂 | Birdcage t shore high-altitude robot up and down with lateral walking mechanism |
| CN107616758A (en) * | 2017-11-09 | 2018-01-23 | 广东豪信激光装备制造有限公司 | A kind of glass wall cleaning robot with walking mechanism |
| CN107981772A (en) * | 2017-12-08 | 2018-05-04 | 梁平县足金机电设备有限公司 | Creeping motion type exterior wall cleaning machine |
| CN108158478A (en) * | 2017-12-22 | 2018-06-15 | 衢州职业技术学院 | A kind of cleaning device in glass curtain wall cleaning machine device people |
| CN108030436A (en) * | 2017-12-22 | 2018-05-15 | 衢州职业技术学院 | A kind of glass curtain wall cleaning machine device people |
| CN108703720A (en) * | 2018-07-11 | 2018-10-26 | 广东工业大学 | A kind of high-altitude exterior wall automatic cleaning apparatus |
| WO2020134875A1 (en) * | 2018-12-25 | 2020-07-02 | 柯干兴 | Intelligent flat surface cleaning apparatus |
| CN110123189A (en) * | 2019-05-08 | 2019-08-16 | 北京中恒欧嘉节能环保科技有限公司 | A kind of automatic scrubbing glass device |
| CN110080334A (en) * | 2019-06-04 | 2019-08-02 | 龙游卡伊环保科技有限公司 | It is a kind of to carry out the clean equipment of facade using collection rainwater |
| CN111852048A (en) * | 2020-08-11 | 2020-10-30 | 中发腾龙建设有限公司 | High-rise building construction discharge apparatus |
| CN115095179A (en) * | 2022-07-07 | 2022-09-23 | 黄河水利职业技术学院 | Building facade cleaning robot system and using method thereof |
| CN115095179B (en) * | 2022-07-07 | 2024-04-19 | 黄河水利职业技术学院 | Application method of building outer elevation cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018028707A1 (en) | 2018-02-15 |
| CN106256308A (en) | 2016-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106419768A (en) | Wall surface cleaning machine | |
| CN107200077B (en) | Three-body wall-climbing robot and obstacle crossing method thereof | |
| CN105873490A (en) | Wall cleaning machine | |
| CN104960932B (en) | A kind of stacking machine | |
| CN104983369B (en) | A kind of facade cleaning robot system and its application method | |
| CN108771509B (en) | Glass curtain wall cleaning robot | |
| CN109744930B (en) | Many sucking discs formula high altitude glass curtain wall cleaning robot | |
| CN206630559U (en) | Glass of building curtain cleaning spider robot | |
| CN205963958U (en) | Multi -functional high altitude curtain cleaning robot | |
| JP2017535390A5 (en) | ||
| CN113800359B (en) | Mine steel wire rope dust and dirt removing robot and working method | |
| CN102661128B (en) | Automatic drill pipe placing and withdrawing device | |
| CN208822653U (en) | A kind of glass curtain wall cleaning machine device people | |
| CN113320002A (en) | Big case roof beam external mold cleaning device of high-speed railway | |
| CN108078482A (en) | Exterior wall glass cleaning device | |
| CN2037598U (en) | Window cleaning machine | |
| CN106618360A (en) | High-rise glass curtain wall cleaning system | |
| CN214402607U (en) | Automatic crawling spraying machine | |
| CN206253262U (en) | Sheet material paint spraying apparatus is used in a kind of elevator manufacture | |
| CN107969981A (en) | A kind of two-legged type climbing robot | |
| CN202500508U (en) | Automatic placing and taking device for drill rods | |
| CN218323808U (en) | Hanging basket for curtain wall | |
| CN208693150U (en) | A kind of exterior wall cleaning robot for skyscraper | |
| CN201861551U (en) | Roof synchronous window cleaning device | |
| CN214157231U (en) | Wall-climbing cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170222 |
|
| WD01 | Invention patent application deemed withdrawn after publication |