CN107348915A - A kind of cleaning machine suitable for a variety of walls - Google Patents

A kind of cleaning machine suitable for a variety of walls Download PDF

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Publication number
CN107348915A
CN107348915A CN201710457118.0A CN201710457118A CN107348915A CN 107348915 A CN107348915 A CN 107348915A CN 201710457118 A CN201710457118 A CN 201710457118A CN 107348915 A CN107348915 A CN 107348915A
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CN
China
Prior art keywords
medium
height trestle
cylinder
bracket
carriage
Prior art date
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Granted
Application number
CN201710457118.0A
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Chinese (zh)
Other versions
CN107348915B (en
Inventor
徐鹏飞
张菁
尹腾飞
钱潇潇
杨勇
胡晛
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Shanghai University of Engineering Science
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Shanghai University of Engineering Science
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Priority to CN201710457118.0A priority Critical patent/CN107348915B/en
Publication of CN107348915A publication Critical patent/CN107348915A/en
Application granted granted Critical
Publication of CN107348915B publication Critical patent/CN107348915B/en
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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4036Parts or details of the surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00Working measures on existing buildings
    • E04G23/002Arrangements for cleaning building facades

Abstract

The present invention relates to a kind of cleaning machine suitable for a variety of walls, the cleaning machine includes wash cycles component, upper bracket, medium-height trestle, lower carriage, bottom tray, reciprocating mechanism, left/right movement device and control assembly, bottom tray is arranged in the middle part of medium-height trestle, upper bracket is symmetricly set on medium-height trestle both sides with lower carriage and upper bracket respectively connects described bottom tray with lower carriage by reciprocating mechanism, medium-height trestle is provided with left/right movement device, move left and right structure connection bottom tray, upper bracket, medium-height trestle and lower carriage are equipped with absorbent module, wash cycles component is arranged on medium-height trestle, control assembly connects wash cycles component, reciprocating mechanism, left/right movement device and absorbent module.Compared with prior art, the present invention realizes machine automated cleaning wall function, reduces potential safety hazard, improves operating efficiency, has saved resource, while changes traditional cleaning mode, facilitates the life of people.

Description

A kind of cleaning machine suitable for a variety of walls
Technical field
The present invention relates to a kind of cleaning machine, more particularly, to a kind of cleaning machine suitable for a variety of walls.
Background technology
With the quickening that urban modernization develops, for more scientific and reasonable utilization space, building is towards height Stratification develops.And for the beautiful and clean and preferable daylighting effect of entirety, most of high buildings and large mansions exterior walls are using glass, ceramic tile Deng material.It is outer due to being chronically exposed to, it is vulnerable to pollution, it is necessary to periodically clean.But domestic cleaning mode most of so far is still adopted With the artificial cleaning of basket-hanging.Because high altitude environment is severe, air-flow is stronger, and not only efficiency is low, the high labor intensity of cost is big, more gives Cleaning brings great danger.
Therefore, some robot for cleaning wall surfaces are also have developed both at home and abroad.But there is volume in the robot researched and developed in the past Structure is big, bad adaptability, security performance is low, resource energy consumption is more, obstacle detouring adsorbs the problems such as weak.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind is applied to a variety of walls The cleaning machine in face.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of cleaning machine suitable for a variety of walls, the cleaning machine include wash cycles component, upper bracket, middle branch Frame, lower carriage, bottom tray, reciprocating mechanism, left/right movement device and control assembly, during described bottom tray is arranged on Mid-stent, described upper bracket and lower carriage are symmetricly set on medium-height trestle both sides and upper bracket and lower carriage are respectively by upper The described bottom tray of lower travel mechanism's connection, described medium-height trestle are provided with left/right movement device, and described moves left and right knot Structure connects bottom tray, and described upper bracket, medium-height trestle and lower carriage are equipped with absorbent module, and described wash cycles component is set Put on medium-height trestle, described control assembly connection wash cycles component, reciprocating mechanism, left/right movement device and absorption group Part.
Described reciprocating mechanism includes upper vertical having bar cylinder, lower vertical having bar cylinder, vertical slide bar and vertical sliding Block, described vertical slipper set four and are distributed at bottom tray corner, and described upper bracket and lower carriage pass through respectively Two vertical slippers of two vertical sliding bars connection respective sides, described upper vertical have bar cylinder and lower vertically have bar cylinder It is each perpendicular to the setting of medium-height trestle length direction, described upper vertical have bar cylinder and lower vertically have bar cylinder one end to be fixed on bottom On pallet, the other end is connected respectively upper bracket and lower carriage, and described upper vertical have bar cylinder and lower vertically have bar cylinder It is all connected with control assembly.
Described left/right movement device, which includes level, bar cylinder, horizontal sliding bar and cross sliding clock, described cross sliding clock Set four and be separately fixed on four vertical slippers, described horizontal sliding bar sets two and be arranged in parallel in left-right direction In medium-height trestle both sides, described horizontal sliding bar is slided through described cross sliding clock and set, and described level has bar cylinder parallel It is arranged between two horizontal sliding bars, level has bar cylinder one end to be fixed in bottom tray, and the other end is fixed on medium-height trestle end Portion's side wall, described level have bar cylinder to connect control assembly.
Described wash cycles component includes upper cleaning balde, lower cleaning balde, load box, nozzle, brush cylinder, clear water Case, foul water tank, suction pump and synchronous motor, described upper cleaning balde and lower cleaning balde are symmetricly set on medium-height trestle bottom, Described brush cylinder and spray group is arranged between cleaning balde and lower cleaning balde and is fixedly connected with described medium-height trestle, Described load box is fixed on above medium-height trestle, and described filtered water tank, foul water tank, suction pump, synchronous motor are arranged at load In case, described synchronous motor connects filtered water tank, institute by Synchronous Transmission band connection brush cylinder, described spray group by conduit The lower cleaning balde stated is provided with the groove for being used for reclaiming sewage, and described groove connects foul water tank by suction pump, described Synchronous motor connects control assembly with suction pump.
Described absorbent module includes leg Rodless cylinder and sucker, described leg Rodless cylinder be arranged on upper bracket, On the rack leg of medium-height trestle and lower carriage, described sucker is fixed on leg Rodless cylinder end, described Rodless cylinder and suction Disk is all connected with control assembly.
Described medium-height trestle is rectangular parallelepiped structure, and described leg Rodless cylinder sets four and is separately mounted to medium-height trestle On rack leg at corner, described upper bracket and lower carriage are three-legged structure, and upper bracket and lower carriage are equipped with four branch Frame leg, corresponding, upper bracket and lower carriage set four leg Rodless cylinders.
Described control assembly includes sensor detection unit, pressure control unit and controller, the inspection of described sensor Survey unit and pressure control unit is all connected with described controller, described pressure control unit connection reciprocating mechanism, a left side Mechanism and absorbent module are moved right, described controller is also connected with wash cycles component.
Described sensor detection unit includes being used to detect the pressure sensor of absorbent module absorption affinity and for keeping away The infrared sensor of barrier, the setting of described infrared sensor is multiple and is distributed in upper bracket top, lower carriage bottom and middle branch At left and right sides of frame.
Described pressure control unit includes air cleaner, pneumatic-to-current converter, magnetic valve, vacuum generator and divides gas Block, described air cleaner input connection power supply, air cleaner output end connect through multiple magnetic valves and connected respectively Cylinder part in reciprocating mechanism, left/right movement device and absorbent module, air cleaner output end are also connected with vacuum Device, the sucker on upper bracket, medium-height trestle and lower carriage connect vacuum generator respectively as one group by partial pressure block.
The cleaning machine also includes safety guarantee unit, and the unit includes safety collar, steel wire rope and hoisting mechanism, described Safety collar is arranged on cleaning machine, described safety rope one end connection safety collar, other end connection hoisting mechanism, described volume Mechanism is raised to set aloft.
Under original state, the level of cleaning machine has bar cylinder to be in half cylinder length of stretching, and this cleaning machine is in reality Move left and right and (move horizontally) in the course of work, after translation signal instruction is connected to, control assembly detects all legs without bar gas After cylinder, sucker and level have bar cylinder state, the leg Rodless cylinder of medium-height trestle is contracted to minimum value and is kept, control simultaneously The sucker of medium-height trestle is in disengaged position and kept, and level has the stretching of bar cylinder, and horizontal sliding bar slides in cross sliding clock, entirely Medium-height trestle has bar cylinder to stretch out direction translation along level, and place or infrared sensor inspection are stretched until level has bar cylinder to reach maximum At the window frame measured, the leg Rodless cylinder of medium-height trestle stretches out, sucker suction wall, carries out the region wall that medium-height trestle is covered Cleaning, after cleaning, the leg Rodless cylinder of medium-height trestle is contracted to minimum value and kept, while controls the sucker of medium-height trestle In disengaged position and keep, then level has bar cylinder to be contracted to minimum value, and horizontal sliding bar slides in cross sliding clock, entirely Medium-height trestle has bar cylinder to reduce direction translation along level, and when level has bar cylinder to reach minimum value or infrared sensor detects At the window frame arrived, the leg Rodless cylinder of medium-height trestle stretches out, sucker suction wall, carries out the region wall that medium-height trestle is covered Cleaning, the leg Rodless cylinder of medium-height trestle is contracted to minimum value and kept after cleaning, while controls at the sucker of medium-height trestle In disengaged position and keep, level has bar cylinder to grow half cylinder length, and the leg Rodless cylinder of medium-height trestle stretches out, sucker suction Wall, cleaning machine restPose, and complete the motion in a side-to-side movement cycle, and moving down instruction to control assembly transmission carries Show.
This cleaning machine is in actually vertically the course of work is moved down, after being connected to and moving down signal instruction, first, control assembly Detect all leg Rodless cylinders, sucker and it is upper it is vertical have bar cylinder and it is lower it is vertical have bar cylinder state after, make on lower carriage Sucker depart from, the leg Rodless cylinder of lower carriage is contracted to minimum value and is kept, make it is lower it is vertical have the stretching of bar cylinder, instantly After vertically having bar cylinder to extend out to maximum, the leg Rodless cylinder of lower carriage extend out to rebuffed, the sucker suction of lower carriage, so Afterwards, the sucker of medium-height trestle departs from, and the leg Rodless cylinder of medium-height trestle is contracted to minimum value and kept, upper vertically to have bar cylinder to stretch Go out, because the sucker of upper bracket is in adsorbed state, in the presence of reaction force, the vertical slide bar of upper bracket connection is corresponding Vertical slipper in slide, and then the motion of bottom tray downward holder orientation is driven, because vertical slipper is fixed on bottom tray Upper and upper cross sliding clock is fixed on vertical slipper, and vertical slipper is connected to medium-height trestle, therefore medium-height trestle also follows bottom The motion of pallet downward holder orientation, under reaction force under vertically there is bar cylinder to be contracted to minimum value, then, the leg of medium-height trestle Rodless cylinder extend out to rebuffed, the sucker suction of medium-height trestle, while the sucker of upper bracket departs from, the leg Rodless cylinder of upper bracket Be contracted to minimum value and keep, so it is upper vertically there is bar cylinder to start to shrink at, it is upper it is vertical when thering is the bar cylinder to be contracted to minimum value on The leg Rodless cylinder of support extend out to rebuffed, upper bracket sucker suction, and this process completes one and vertically moves down the period of motion.
This cleaning machine is in the obstacle detouring course of work is actually moved down, and the infrared sensor of frame bottom measures thing barrier instantly When, control assembly make it is lower vertically have bar cylinder hold mode, stretch out the leg Rodless cylinder of lower carriage and be rebuffed, the suction of lower carriage Disk adsorbs, and then medium-height trestle sucker departs from, and the leg Rodless cylinder of medium-height trestle is contracted to minimum value and kept, upper vertically to have bar gas Cylinder stretches out, while vertically has bar cylinder to be contracted to minimum value down, and then medium-height trestle leg Rodless cylinder extend out to rebuffed, medium-height trestle Sucker suction, while the sucker of upper bracket departs from, upper bracket leg Rodless cylinder is contracted to minimum value and kept.Then it is upper vertical There is bar cylinder to start to shrink at, rebuffed, upper bracket sucker suction is extend out to upper bracket leg Rodless cylinder during minimum value.Then again By once vertically moving down the cycle, that is, complete obstacle crossing function.
Compared with prior art, the invention has the advantages that:
(1) present invention sets reciprocating mechanism and left/right movement device to complete the motion up and down of cleaning machine, expands Big cleaning area, improves cleaning efficiency, while can realize automatic motion, adapts to the cleaning of different size of wall;
(2) reciprocating mechanism of the present invention using it is upper it is vertical have bar cylinder and it is lower vertically have bar cylinder, pass through pushing away for cylinder Move to realize the movement of upper bracket and lower carriage, while in the slip drive of the vertical slide bar by connecting upper bracket and lower carriage Between support motion, left/right movement device has the motion of bar cylinder driving medium-height trestle using level, and the motion of both direction is logical Cylinder is crossed to complete, it is simple in construction, and drive reliable and stable;
(3) absorbent module of the present invention is be combined with each other using leg Rodless cylinder and sucker, adsorption reliability, improves cleaning machine Security;
(4) wash cycles component of the present invention sets filtered water tank and foul water tank, passes through the design energy of groove on lower cleaning balde Enough realize that sewage reclaims, realize water circulation use, saved resource, reduce cost;
(5) infrared sensor that control assembly of the present invention uses can realize effective avoidance, can by pressure sensor Sucker pressure detecting is realized, ensures the security of cleaning machine motion process;
(6) cleaning machine of the present invention is simple to operate, remote control operation, suitable for work high above the ground, reduces potential safety hazard.
Brief description of the drawings
Fig. 1 is the overall appearance structural representation of cleaning machine of the present invention;
Fig. 2 is the base section structural representation of cleaning machine of the present invention;
Fig. 3 is the load box interior section schematic diagram of cleaning machine of the present invention;
Fig. 4 is the structured flowchart of cleaning machine pressure control unit of the present invention;
Fig. 5 is that cleaning machine of the present invention moves left and right process schematic;
Fig. 6 is the vertical folding process schematic diagram of cleaning machine of the present invention;
Fig. 7 is cleaning machine obstacle detouring process schematic of the present invention.
In figure, 1 is upper bracket, and 2 be medium-height trestle, and 3 be lower carriage, and 4 be load box, and 5 be bottom tray, and 6 be that level has bar Cylinder, 7 vertically have bar cylinder to be upper, and 8 vertically have bar cylinder to be lower, and 9 be upper bracket leg Rodless cylinder, and 10 be medium-height trestle leg Rodless cylinder, 11 be lower carriage leg Rodless cylinder, and 12 be horizontal sliding bar, and 13 be vertical slide bar, and 14 be sucker, and 15 be upper cleaning Scraper plate, 16 be nozzle, and 17 be brush cylinder, and 18 be filtered water tank, and 19 be foul water tank, and 20 be suction pump, and 21 be synchronous belt, 22 It is lower cleaning balde for synchronous motor, 23,24 be steel wire rope, and 25 be pressure sensor, and 26 be infrared sensor, and 27 be circuit Case, 28 be pneumatic-to-current converter, and 29 be magnetic valve, and 30 be vacuum generator, and 31 is divide air parcel, and 32 be vertical slipper, and 33 be air Filter, 34 be cross sliding clock.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in figures 1-4, a kind of cleaning machine suitable for a variety of walls, the cleaning machine include wash cycles component, Upper bracket 1, medium-height trestle 2, lower carriage 3, bottom tray 5, reciprocating mechanism, left/right movement device and control assembly, bottom support Disk 5 is arranged on the middle part of medium-height trestle 2, upper bracket 1 and lower carriage 3 is symmetricly set on the both sides of medium-height trestle 2 and upper bracket 1 and lower carriage 3 Bottom tray 5 is respectively connected by reciprocating mechanism, medium-height trestle 2 is provided with left/right movement device, moves left and right structure company Bottom tray 5 is connect, upper bracket 1, medium-height trestle 2 and lower carriage 3 are equipped with absorbent module, and wash cycles component is arranged on medium-height trestle 2 On, control assembly connection wash cycles component, reciprocating mechanism, left/right movement device and absorbent module.
Reciprocating mechanism includes upper vertical having bar cylinder 7, lower vertically having bar cylinder 8, vertical slide bar 13 and vertical slipper 32, vertical slipper 32 sets four and is distributed at 5 four jiaos of bottom tray, and upper bracket 1 and lower carriage 3 are vertical by two respectively Slide bar 13 is slidably connected two vertical slippers 32 of respective side, and upper vertical have bar cylinder 7 and lower vertically have bar cylinder 8 to be each perpendicular to The length direction of medium-height trestle 2 is set, it is upper it is vertical have bar cylinder 7 and it is lower vertically there is the one end of bar cylinder 8 to be fixed in bottom tray 5, separately One end is connected respectively upper bracket 1 and lower carriage 3, and upper vertical have bar cylinder 7 and lower vertically have bar cylinder 8 to be all connected with control group Part.
Left/right movement device, which includes level, bar cylinder 6, horizontal sliding bar 12 and cross sliding clock 34, and cross sliding clock 34 sets four Individual and be separately fixed on four vertical slippers 32, horizontal sliding bar 12 sets two to be simultaneously set in parallel in medium-height trestle in left-right direction 2 both sides, horizontal sliding bar 12 are slided through cross sliding clock 34 and set, and level has bar cylinder 6 to be set in parallel in two horizontal sliding bars 12 Between, level has the one end of bar cylinder 6 to be fixed in bottom tray 5, and the other end is fixed on the end sidewalls of medium-height trestle 2, and level has bar Cylinder 6 connects control assembly.
Absorbent module includes leg Rodless cylinder and sucker 14, and leg Rodless cylinder is arranged on upper bracket 1, the and of medium-height trestle 2 On the rack leg of lower carriage 3, respectively upper bracket leg Rodless cylinder 9, medium-height trestle leg Rodless cylinder 10 and lower carriage leg Rodless cylinder 11, sucker 14 are fixed on each leg Rodless cylinder end, and Rodless cylinder and sucker 14 are all connected with control assembly.In Support 2 is rectangular parallelepiped structure, on the rack leg that leg Rodless cylinder sets four and is separately mounted at 2 four jiaos of medium-height trestle, on Support 1 and lower carriage 3 are three-legged structure, and upper bracket 1 and lower carriage 3 are equipped with four rack legs, corresponding, the He of upper bracket 1 Lower carriage 3 sets four leg Rodless cylinders.
Wash cycles component include upper cleaning balde 15, lower cleaning balde 23, load box 4, nozzle 16, brush cylinder 17, Filtered water tank 18, foul water tank 19, suction pump 20 and synchronous motor 22, upper cleaning balde 15 and lower cleaning balde 23 are symmetricly set on The bottom of medium-height trestle 2, brush cylinder 17 and spray group are arranged between cleaning balde 15 and lower cleaning balde 23 and consolidated with medium-height trestle 2 Fixed connection, nozzle 16 tilt installation, and load box 4 is fixed on the top of medium-height trestle 2, filtered water tank 18, foul water tank 19, suction pump 20, same Step motor 22 is arranged in load box 4, and synchronous motor 22 connects brush cylinder 17 by synchronous belt 21, and spray group is by leading Pipe connects filtered water tank 18, and lower cleaning balde 23 is provided with the groove for being used for reclaiming sewage, and groove connects sewage by suction pump 20 Case 19, synchronous motor 22 and suction pump 20 connect control assembly.After energization, drive brush cylinder 17 same by synchronous belt 21 Speed is rotated, while spray group is sprayed water, and upper cleaning balde 15 and lower cleaning balde 23 realize that sewage is assembled, and then sewage flows into lower clean In groove on scraper plate 23, foul water tank 19 is then pumped into by suction pump 20 and realizes recycling.
Control assembly includes sensor detection unit, pressure control unit and controller, sensor detection unit and air pressure Control unit is all connected with controller, pressure control unit connection reciprocating mechanism, left/right movement device and absorbent module, control Device is also connected with wash cycles component.Sensor detection unit include being used for detecting the pressure sensor 25 of absorbent module absorption affinity with And the infrared sensor 26 for avoidance, infrared sensor 26 set multiple and are distributed at the top of upper bracket 1, the bottom of lower carriage 3 And the left and right sides of medium-height trestle 2.Pressure control unit includes air cleaner 33, pneumatic-to-current converter 28, magnetic valve 29, vacuum hair Give birth to device 30 and divide air parcel 31, the input of air cleaner 33 connection power supply, the output end of air cleaner 33 connects through multiple electricity Magnet valve 29 connects the cylinder part in reciprocating mechanism, left/right movement device and absorbent module respectively, and air cleaner 33 exports Hold and be also connected with vacuum generator 30, the sucker 14 on upper bracket 1, medium-height trestle 2 and lower carriage 3 passes through partial pressure block respectively as one group Connect vacuum generator 30.The present embodiment controller uses PLC, PLC to be responsible for overall programme-control, and infrared sensor 26 is used for Barrier is detected whether.Pressure sensor 25 is used to monitor the pressure of sucker 14, and pneumatic-to-current converter 28 is by vacuum pipeline with dividing The sealing of air parcel 31 is connected, and the pressure of sucker 14 is adjusted for detecting, and sucker 14 is reached absorption with departing from purpose.From security reliability Considering, sucker 14 divides three groups of upper, middle and lower independence, totally ten two, therefore three groups of independent controls of sucker 14, therefore as set in Fig. 4 3 vacuum generators 30 and 3 points of air parcels 31, external air source flows through air cleaner 33, then is passed by three vacuum generators 30 It is defeated, assign to the sucker 14 being each responsible for through undue air parcel 31 so that negative pressure is formed in sucker 14, every group is inhaled by vacuum pipeline Disk 14 is tightly connected with respective point of air parcel 31, vacuum generator 30.On vertically have bar cylinder 7, lower vertically have bar cylinder 8, water It is flat to there is bar cylinder 6, upper bracket leg Rodless cylinder 9, medium-height trestle leg Rodless cylinder 10 and lower carriage leg Rodless cylinder 11 to divide It is controlled for independent 6 groups, upper vertical have bar cylinder 7, lower vertically have bar cylinder 8 and level to have bar cylinder 6 respectively by 1 Magnetic valve 29 is connected to air cleaner 33, upper bracket leg Rodless cylinder 9, medium-height trestle leg Rodless cylinder 10 and lower carriage leg Portion's Rodless cylinder 11 is respectively provided with 4, and every 4 are 1 group and are connected in parallel and connect air cleaner 33 by magnetic valve 29.On State pressure control unit to be arranged in load box 4, circuit box 27 is additionally provided with load box 4, circuit box 27 connects synchronous motor 22 and control assembly etc..
The cleaning machine also includes safety guarantee unit, and the unit includes safety collar, steel wire rope 24 and hoisting mechanism, safety Ring is arranged on cleaning machine, safety rope one end connection safety collar, other end connection hoisting mechanism, and hoisting mechanism is arranged on height Place.When having a power failure, it can prevent that sucker 14 from departing from and entirely machine falls, while share a part of external cable, water pipe etc. and set Standby weight.
Fig. 5 is that cleaning machine moves left and right process schematic, and under original state, the level of cleaning machine has at bar cylinder 6 In stretching out half cylinder length, such as Fig. 5 (a) states, this cleaning machine is treated in actually moving left and right and (moving horizontally) course of work After being connected to translation signal instruction, after control assembly detection all leg Rodless cylinder, sucker 14 and levels have the state of bar cylinder 6, The leg Rodless cylinder of medium-height trestle 2 is contracted to minimum value and is kept, while control the sucker 14 of medium-height trestle 2 to be in disengaged position And keep, then, level has bar cylinder 6 to stretch out, and horizontal sliding bar 12 slides in cross sliding clock 34, and whole medium-height trestle 2 is along level There is bar cylinder 6 to stretch out direction translation, until level has the window that bar cylinder 6 reaches the maximum place of stretching or infrared sensor 26 detects At frame, the leg Rodless cylinder of medium-height trestle 2 stretches out, and sucker 14 adsorbs wall, the state as shown in Fig. 5 (b);And then, in progress The cleaning for the region wall that support 2 is covered, after cleaning, the leg Rodless cylinder of medium-height trestle 2 is contracted to minimum value and protected Hold, while control the sucker 14 of medium-height trestle 2 to be in disengaged position and keep, then level has bar cylinder 6 to be contracted to minimum value, water Smooth bar 12 slides in cross sliding clock 34, and whole medium-height trestle 2 has bar cylinder 6 to reduce direction translation along level, until level has When bar cylinder 6 reaches minimum value or at the window frame that detects of infrared sensor 26, the leg Rodless cylinder of medium-height trestle 2 stretches out, and inhales Disk 14 adsorbs wall, the state as shown in Fig. 5 (c);Then the cleaning for the region wall that medium-height trestle 2 is covered is carried out, cleaning finishes The leg Rodless cylinder of medium-height trestle 2 is contracted to minimum value and kept afterwards, while controls the sucker 14 of medium-height trestle 2 to be in disengaged position And keep, level has bar cylinder 6 to grow half cylinder length, and the leg Rodless cylinder of medium-height trestle 2 stretches out, and sucker 14 adsorbs wall, Cleaning machine restPoses, and such as Fig. 5 (d) states, the motion in a side-to-side movement cycle is completed, under being sent to control assembly Command prompt is moved, Fig. 5 (d) states are identical with Fig. 5 (a) states.
Fig. 6 is the vertical folding process schematic diagram of cleaning machine of the present invention, and Fig. 6 (a) is the original state of cleaning machine, upper to hang down Straight cylinder and lower vertical cylinder handle and are contracted to minimum value position.This cleaning machine in actually vertically the course of work is moved down, After being connected to and moving down signal instruction, first, control assembly detects all leg Rodless cylinders, sucker 14 and upper vertically has bar gas Cylinder 7 and it is lower it is vertical have the state of bar cylinder 8 after, depart from the sucker 14 on lower carriage 3, receive the leg Rodless cylinder of lower carriage 3 Be reduced to minimum value and keep, make it is lower vertically there is bar cylinder 8 to stretch out, such as Fig. 6 (b) states;Instantly bar cylinder 8 vertically extend out to most After big value, the leg Rodless cylinder of lower carriage 3 extend out to rebuffed, and the sucker 14 of lower carriage 3 adsorbs, then, the sucker of medium-height trestle 2 14 depart from, and the leg Rodless cylinder of medium-height trestle 2 is contracted to minimum value and kept, upper vertically to have bar cylinder 7 to stretch out, due to upper bracket 1 sucker 14 is in adsorbed state, and in the presence of reaction force, the vertical slide bar 13 that upper bracket 1 connects is corresponding vertical Slided in sliding block 32, and then drive bottom tray 5 to be moved to the direction of lower carriage 3, because vertical slipper 32 is fixed on bottom tray 5 Upper and upper cross sliding clock 34 is fixed on vertical slipper 32, and vertical slipper 32 is connected to medium-height trestle 2, therefore medium-height trestle 2 Follow bottom tray 5 to be moved to the direction of lower carriage 3, under reaction force under vertically there is bar cylinder 8 to be contracted to minimum value, such as Fig. 6 (c) state, now medium-height trestle 2 be shifted a cylinder length relative to initial position;Then, the leg of medium-height trestle 2 without Bar cylinder extend out to rebuffed, and the sucker 14 of medium-height trestle 2 adsorbs, while the sucker 14 of upper bracket 1 departs from, the leg of upper bracket 1 without Bar cylinder is contracted to minimum value and kept, so it is upper vertically there is bar cylinder 7 to start to shrink at, it is upper vertically to there is bar cylinder 7 to be contracted to most The leg Rodless cylinder of upper bracket 1 is extend out to rebuffed during small value, and the sucker 14 of upper bracket 1 adsorbs, such as Fig. 6 (d) states, Fig. 6 (d) shapes For state compared with Fig. 6 (a) states, cleaning machine has moved down a cylinder length, and this process completes one and vertically moves down the period of motion.
As shown in fig. 7, this cleaning machine is in the obstacle detouring course of work is actually moved down, when the infrared sensing of the bottom of lower carriage 3 When device 26 measures thing barrier, control assembly makes the lower leg Rodless cylinder stretching for vertically having the hold mode of bar cylinder 8, making lower carriage 3 Be rebuffed, the sucker 14 of lower carriage 3 adsorbs, and then the sucker 14 of medium-height trestle 2 departs from, and the leg Rodless cylinder of medium-height trestle 2 is contracted to most Small value is simultaneously kept, upper vertically to have bar cylinder 7 to stretch out, while vertically has bar cylinder 8 to be contracted to minimum value down, then medium-height trestle leg Rodless cylinder 10 extend out to rebuffed, and the sucker 14 of medium-height trestle 2 adsorbs, while the sucker 14 of upper bracket 1 departs from, and upper bracket leg is without bar Cylinder 9 is contracted to minimum value and kept.Then bar cylinder 7 vertically starts to shrink on, to upper bracket leg during minimum value without bar Cylinder 9 extend out to rebuffed, and the sucker 14 of upper bracket 1 adsorbs.Then complete obstacle crossing function by once vertically moving down the cycle again.
This cleaning machine realizes machine automated cleaning wall function, reduces potential safety hazard, improves operating efficiency, section About resource, while traditional cleaning mode is changed, facilitate the life of people.
The above-mentioned description to embodiment is understood that and used for ease of those skilled in the art.It is familiar with The personnel of art technology obviously can easily make various modifications to these embodiments, and General Principle described herein It is applied in other embodiment without by performing creative labour.Therefore, the invention is not restricted to above-described embodiment, this area skill Art personnel do not depart from improvement that scope made and modification all should be in the protections of the present invention according to the announcement of the present invention Within the scope of.

Claims (10)

1. a kind of cleaning machine suitable for a variety of walls, it is characterised in that the cleaning machine includes wash cycles component, upper branch Frame (1), medium-height trestle (2), lower carriage (3), bottom tray (5), reciprocating mechanism, left/right movement device and control assembly, institute The bottom tray (5) stated is arranged in the middle part of medium-height trestle (2), and described upper bracket (1) and lower carriage (3) are symmetricly set on medium-height trestle (2) both sides and upper bracket (1) respectively connect described bottom tray (5) with lower carriage (3) by reciprocating mechanism, described Medium-height trestle (2) be provided with left/right movement device, described moves left and right structure connection bottom tray (5), described upper bracket (1), medium-height trestle (2) and lower carriage (3) are equipped with absorbent module, and described wash cycles component is arranged on medium-height trestle (2), institute Control assembly connection wash cycles component, reciprocating mechanism, left/right movement device and the absorbent module stated.
2. a kind of cleaning machine suitable for a variety of walls according to claim 1, it is characterised in that moved down on described Motivation structure include it is upper it is vertical have bar cylinder (7), it is lower vertically have bar cylinder (8), vertical slide bar (13) and vertical slipper (32), it is described Vertical slipper (32) set and four and be distributed at bottom tray (5) corner, described upper bracket (1) and lower carriage (3) divide Two vertical slippers (32) of the respective side that is not slidably connected by two vertical slide bars (13), described upper vertically have bar cylinder (7) and it is lower it is vertical there is bar cylinder (8) to be each perpendicular to the setting of medium-height trestle (2) length direction, it is described it is upper it is vertical have bar cylinder (7) and Vertically there is bar cylinder (8) one end to be fixed in bottom tray (5) down, the other end is connected respectively upper bracket (1) and lower carriage (3) it is, described upper vertical to have bar cylinder (7) and lower vertically there is bar cylinder (8) to be all connected with control assembly.
3. a kind of cleaning machine suitable for a variety of walls according to claim 2, it is characterised in that described left and right is moved Motivation structure, which includes level, bar cylinder (6), horizontal sliding bar (12) and cross sliding clock (34), and described cross sliding clock (34) sets four Individual and be separately fixed on four vertical slippers (32), described horizontal sliding bar (12) sets two and parallel in left-right direction set Put and slide and set through described cross sliding clock (34) in medium-height trestle (2) both sides, described horizontal sliding bar (12), described level There is bar cylinder (6) to be set in parallel between two horizontal sliding bars (12), level has bar cylinder (6) one end to be fixed on bottom tray (5) on, the other end is fixed on medium-height trestle (2) end sidewalls, and described level has bar cylinder (6) to connect control assembly.
A kind of 4. cleaning machine suitable for a variety of walls according to claim 1, it is characterised in that described circulation cleaning Washing component includes upper cleaning balde (15), lower cleaning balde (23), load box (4), nozzle (16), brush cylinder (17), clear water Case (18), foul water tank (19), suction pump (20) and synchronous motor (22), described upper cleaning balde (15) and lower cleaning balde (23) be symmetricly set on medium-height trestle (2) bottom, described brush cylinder (17) and spray group be arranged on cleaning balde (15) and under It is fixedly connected between cleaning balde (23) and with described medium-height trestle (2), described load box (4) is fixed on medium-height trestle (2) Side, described filtered water tank (18), foul water tank (19), suction pump (20), synchronous motor (22) are arranged in load box (4), institute The synchronous motor (22) stated connects brush cylinder (17) by synchronous belt (21), and described spray group connects clear water by conduit Case (18), described lower cleaning balde (23) are provided with the groove for being used for reclaiming sewage, and described groove passes through suction pump (20) Connect foul water tank (19), described synchronous motor (22) and suction pump (20) connection control assembly.
A kind of 5. cleaning machine suitable for a variety of walls according to claim 3, it is characterised in that described absorption group Part includes leg Rodless cylinder and sucker (14), described leg Rodless cylinder be arranged on upper bracket (1), medium-height trestle (2) and under On the rack leg of support (3), described sucker (14) is fixed on leg Rodless cylinder end, described Rodless cylinder and sucker (14) it is all connected with control assembly.
A kind of 6. cleaning machine suitable for a variety of walls according to claim 5, it is characterised in that described medium-height trestle (2) it is rectangular parallelepiped structure, the rack leg that described leg Rodless cylinder sets four and is separately mounted at medium-height trestle (2) corner On, described upper bracket (1) and lower carriage (3) they are three-legged structure, and upper bracket (1) and lower carriage (3) are equipped with four supports Leg, corresponding, upper bracket (1) and lower carriage (3) set four leg Rodless cylinders.
A kind of 7. cleaning machine suitable for a variety of walls according to claim 5, it is characterised in that described control group Part includes sensor detection unit, pressure control unit and controller, described sensor detection unit and pressure control unit Described controller is all connected with, described pressure control unit connects reciprocating mechanism, left/right movement device and absorbent module, Described controller is also connected with wash cycles component.
A kind of 8. cleaning machine suitable for a variety of walls according to claim 7, it is characterised in that described sensor Detection unit includes being used to detect the pressure sensor (25) of absorbent module absorption affinity and the infrared sensor for avoidance (26), described infrared sensor (26) setting is multiple and is distributed in upper bracket (1) top, lower carriage (3) bottom and middle branch At left and right sides of frame (2).
A kind of 9. cleaning machine suitable for a variety of walls according to claim 7, it is characterised in that described air pressure control Unit processed includes air cleaner (33), pneumatic-to-current converter (28), magnetic valve (29), vacuum generator (30) and divides air parcel (31), described air cleaner (33) input connection power supply, air cleaner (33) output end connect through multiple electromagnetism Valve (29) connects the cylinder part in reciprocating mechanism, left/right movement device and absorbent module respectively, and air cleaner (33) is defeated Go out end and be also connected with vacuum generator (30), the sucker (14) on upper bracket (1), medium-height trestle (2) and lower carriage (3) is respectively as one Group connects vacuum generator (30) by partial pressure block, and described pneumatic-to-current converter (28) is connected to vacuum generator (30) output End, pneumatic pressure converter are additionally coupled to described controller.
A kind of 10. cleaning machine suitable for a variety of walls according to claim 1, it is characterised in that the cleaning machine Also include safety guarantee unit, the unit includes safety collar, steel wire rope (24) and hoisting mechanism, described safety collar and is arranged on clearly On clean machine, described safety rope one end connection safety collar, the other end connects hoisting mechanism, and described hoisting mechanism is arranged on height Place.
CN201710457118.0A 2017-06-16 2017-06-16 A kind of cleaning machine suitable for a variety of wall surfaces Active CN107348915B (en)

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CN108324197A (en) * 2017-12-29 2018-07-27 陈玉玲 A kind of high-rise building residence exterior wall scouring spray robot
CN108968787A (en) * 2018-08-08 2018-12-11 冯瑞新 A kind of glass door and window clean robot
CN109008763A (en) * 2018-07-12 2018-12-18 上海医修哥网络科技股份有限公司 A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder
CN110051262A (en) * 2019-05-13 2019-07-26 内蒙古农业大学 A kind of the obstacle detouring system and its robot of active obstacle formula glass-cleaning robot
CN110409787A (en) * 2019-07-26 2019-11-05 广东博智林机器人有限公司 Hanging basket
CN110731733A (en) * 2019-10-08 2020-01-31 达英科(南京)设备有限公司 Complete set of equipment of outer wall cleaning robot and cleaning method thereof
CN110934529A (en) * 2019-12-24 2020-03-31 蒋益平 Intelligent curtain wall glass cleaning device for intelligent building
CN111150322A (en) * 2019-12-30 2020-05-15 邓冰冰 Glass cleaning machine
CN111270843A (en) * 2020-03-03 2020-06-12 温州大学瓯江学院 Intelligent tripod for exterior decoration
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CN108324197A (en) * 2017-12-29 2018-07-27 陈玉玲 A kind of high-rise building residence exterior wall scouring spray robot
CN109008763A (en) * 2018-07-12 2018-12-18 上海医修哥网络科技股份有限公司 A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder
CN108968787A (en) * 2018-08-08 2018-12-11 冯瑞新 A kind of glass door and window clean robot
CN111535607A (en) * 2018-08-09 2020-08-14 河南畅慷环保科技有限公司 Cleaning device for building outer wall
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CN110409787A (en) * 2019-07-26 2019-11-05 广东博智林机器人有限公司 Hanging basket
CN110731733A (en) * 2019-10-08 2020-01-31 达英科(南京)设备有限公司 Complete set of equipment of outer wall cleaning robot and cleaning method thereof
CN110934529A (en) * 2019-12-24 2020-03-31 蒋益平 Intelligent curtain wall glass cleaning device for intelligent building
CN111150322A (en) * 2019-12-30 2020-05-15 邓冰冰 Glass cleaning machine
CN111270843A (en) * 2020-03-03 2020-06-12 温州大学瓯江学院 Intelligent tripod for exterior decoration

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