CN107440629B - Building automatic cleaning machine and building cleaning system - Google Patents

Building automatic cleaning machine and building cleaning system Download PDF

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Publication number
CN107440629B
CN107440629B CN201710830159.XA CN201710830159A CN107440629B CN 107440629 B CN107440629 B CN 107440629B CN 201710830159 A CN201710830159 A CN 201710830159A CN 107440629 B CN107440629 B CN 107440629B
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China
Prior art keywords
unit
walking
walking unit
driving
cleaning
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CN201710830159.XA
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Chinese (zh)
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CN107440629A (en
Inventor
谢永智
甘远雁
张烈平
曹卫华
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Guilin University of Technology
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Guilin University of Technology
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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
    • 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • 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
    • A47L11/408Means for supplying cleaning or surface treating agents

Abstract

The utility model provides a building automatic cleaning machine and building cleaning system, belongs to the clean technical field of building, includes: the device comprises a first walking unit, a second walking unit, a vacuum pump unit, a first driving unit, a blowing unit and a cleaning unit. The first walking unit and the second walking unit are respectively provided with a sucker. The vacuum pump unit is connected with the first sucker and the second sucker in a control mode. The first driving unit comprises a first driving piece and a second driving piece, the first driving piece is connected with the second driving piece in a sliding mode, the first driving piece is installed on the first walking unit, and the second driving piece is installed on the second walking unit. The air blowing unit is used for air-drying the curtain wall. The cleaning unit comprises a liquid storage tank, a liquid spraying head and a rolling brush, and the rolling brush is installed on the first walking unit. This building automatic cleaning machine can walk on the curtain in the cleaning process, accomplishes the washing to the curtain when walking, and degree of automation is high, has saved a large amount of labours during the washing, and safe and reliable.

Description

Building automatic cleaning machine and building cleaning system
Technical Field
The invention relates to the technical field of building cleaning, in particular to an automatic building cleaning machine and a building cleaning system.
Background
With the rapid development of urban modernization, particularly the rise of many high-rise buildings, curtain wall structures represented by glass curtain walls are gradually deducted into luxurious 'urban coats', so that heavy glass curtain wall cleaning tasks are generated, and a plurality of countries make some clear regulations on the cleaning requirements of the glass curtain walls. On the other hand, in order to highlight the characteristics of a city, more and more peculiar building structures are presented in front of our eyes, so that the difficulty of cleaning is multiplied, and some cleaning methods even adopt the traditional cleaning method.
The inventor finds in research that the traditional curtain wall cleaning method has at least the following disadvantages:
at present, the research of the glass curtain wall cleaning robot mainly focuses on problems of model machine construction, mechanism design, control system construction and the like, various model machines have appeared at home and abroad, research results are distinctive, but the research work is still in the research and experiment stage of the model machines in general, and the key technology and theory of the glass curtain wall cleaning robot are to be further deeply researched. Some adopt traditional cleaning methods, need the manual work to utilize the hoist cable to clean on the curtain, this kind of cleaning methods intensity of labour is high, and the security is poor.
Disclosure of Invention
The invention aims to provide an automatic building cleaning machine, which aims to solve the problems of high labor intensity and poor safety in the traditional curtain wall cleaning process.
The invention aims to provide a building cleaning system to solve the problems of high labor intensity and poor safety in traditional curtain wall cleaning.
The embodiment of the invention is realized by the following steps:
in view of the first object, the present invention provides an automatic building cleaning machine, comprising:
a first walking unit, a first sucker is arranged at the walking end of the first walking unit,
a second walking unit, wherein a second sucker is arranged at the walking end of the second walking unit,
a vacuum pump unit for selectively generating negative pressure at the first suction cup or negative pressure at the second suction cup,
a first driving unit including a first driving member and a second driving member, the first driving member being slidably connected to the second driving member, the first driving member being mounted on the first traveling unit, the second driving member being mounted on the second traveling unit,
the air supply unit comprises an air blower and an air supply pipeline, the air blower is installed on the first walking unit, the air inlet end of the air supply channel is communicated with the air blower, the air outlet end of the air supply pipeline is provided with an air equalizing box with a plurality of air vents, and
the cleaning unit comprises a liquid storage box, a liquid spraying head and a rolling brush, the rolling brush is installed on the first walking unit, the liquid spraying head is communicated with the liquid storage box and is located along the rolling brush in front of the advancing direction of the second walking unit, and the air outlet end is located along the rolling brush behind the advancing direction of the second walking unit.
In a preferred embodiment of the present invention, the first driving unit includes a screw transmission assembly, the first driving member includes a first screw body having a first motor, the second driving member includes a sliding nut screwed to the first screw body, the first motor is mounted on the first traveling unit, the sliding nut is mounted on the second traveling unit, and the first motor rotates to slide the sliding nut back and forth along the first screw body, so as to drive the first traveling unit to move back and forth relative to the second traveling unit.
In a preferred embodiment of the present invention, the first driving unit further includes a transmission mechanism, the transmission mechanism includes a first conical tooth and a second conical tooth which are engaged with each other, a crank, and a connecting rod, the first conical tooth is mounted on the first lead screw body, the second conical tooth is rotatably connected to the first traveling unit through an overrunning clutch, a rotating shaft is disposed on the second conical tooth, the crank is mounted on an end portion of the rotating shaft far away from the second conical tooth, one end of the connecting rod is rotatably mounted on the crank, and the rolling brush is mounted on the other end of the connecting rod.
In a preferred embodiment of the present invention, the automatic building washing machine further includes a second driving unit, the plane on which the suction surface of the first suction cup is located is a first reference plane, the plane on which the suction surface of the second suction cup is located is a second reference plane, and the second driving unit moves the second traveling unit relative to the first traveling unit so that the second reference plane is higher than the second reference plane.
In a preferred embodiment of the present invention, the second driving unit includes a second motor, a second lead screw body, and a scissors mechanism, the second motor is mounted on the second traveling unit, the second lead screw body is mounted on an output shaft of the second motor, the scissors mechanism includes two sets of hinges and a connecting member connecting two sets of hinge rods, each set of hinges includes a first hinge arm and a second hinge arm, the first hinge arm and the second hinge arm are hinged at a crossing point, first ends of two first hinge arms of the same set of hinges are connected by a first connecting member, first ends of two second hinge arms are connected by a second connecting member, first ends of two first hinge arms are slidably disposed on the second traveling unit, second ends of two first hinge arms are slidably disposed on the first traveling unit, the first ends of the two second hinge arms are arranged on the second walking unit, and the second ends of the two second hinge arms are arranged on the first walking unit; the second screw rod main body is in threaded connection with the first connecting piece and the second connecting piece, and the first connecting piece and the second connecting piece are close to or far away from each other through rotation of the second screw rod main body, so that the distance between the first reference plane and the second reference plane is changed.
In a preferred embodiment of the present invention, the first walking unit includes a first support frame and a plurality of first support legs, the plurality of first support legs are all mounted on the first support frame, and each first support leg is mounted with one first suction cup.
In a preferred embodiment of the present invention, the first support frame includes two opposite guide rails and two connecting rods located between the two guide rails, the two connecting rods are arranged at intervals along the length direction of the guide rails, and the second traveling unit travels along the two guide rails;
the first supporting legs are four, and the four first supporting legs are located at four corners of the same rectangle.
In a preferred embodiment of the present invention, the second walking unit includes a second supporting frame and a plurality of second supporting legs, the plurality of second supporting legs are all mounted on the second supporting frame, and each of the second supporting legs is mounted with one of the second suckers; the second support frame runs on the guide rail.
In a preferred embodiment of the present invention, the second support frame includes a rectangular connection frame, four second support legs are provided, four second support legs are located at four corners of the connection frame, and the four second support legs are located on the same side of the connection frame and are perpendicular to the connection frame.
Based on the second purpose, the invention provides a building cleaning system, which comprises the automatic building cleaning machine.
The embodiment of the invention has the beneficial effects that:
in summary, the embodiment of the invention provides an automatic building cleaning machine, which is simple and reasonable in structure, convenient to manufacture and use, and safe and reliable, and can walk on a curtain wall in a cleaning process to clean the curtain wall when the automatic building cleaning machine walks, so that the automatic building cleaning machine is high in automation degree, saves a large amount of labor force in cleaning, and is convenient to install and use. The method comprises the following specific steps:
the building automatic cleaning machine provided by the embodiment comprises a first walking unit, a second walking unit, a first driving unit, a vacuum pump unit and a cleaning unit, wherein the first walking unit and the second walking unit are connected through the first driving unit, and the function of walking on a curtain wall can be realized. The liquid spraying head of the cleaning unit is arranged on a second walking unit, a vacuum pump unit works, a first suction disc is firstly adsorbed on a curtain wall, at the moment, the second suction disc stops adsorbing, the second walking unit moves relative to the first walking unit under the action of a first driving unit, the liquid spraying head works simultaneously, cleaning liquid is sprayed on the position to be cleaned of the curtain wall in the moving process of the second walking unit, after the second walking unit moves to a certain distance, the adsorption of the second suction disc is realized by operating the vacuum pump unit, at the moment, the first suction disc stops adsorbing, the first walking unit moves relative to the second walking unit under the action of the first driving unit, in the process, a rolling brush is used for washing the curtain wall with the cleaning liquid, as the cleaning liquid is firstly sprayed on the curtain wall, the cleaning liquid stays on the curtain wall for a certain time, the contact time with stains on the curtain wall is long, the stain can be effectively dissolved, the subsequent washing work of the rolling brush is convenient, and the washing is cleaner. After the cleaning is finished, the air drying function can be realized under the action of the air blower, the drying of the curtain wall is realized to be short, and the secondary pollution is not easy to cause.
The building cleaning system provided by the embodiment comprises the building automatic cleaning machine, and has all the advantages of the building automatic cleaning machine.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of an automatic building washing machine according to embodiment 1 of the present invention;
FIG. 2 is a schematic side view of an automatic building washing machine according to embodiment 1 of the present invention;
fig. 3 is a side view schematically showing a first view of the automatic construction washing machine according to embodiment 1 of the present invention (the second driving unit is not shown);
fig. 4 is a side view schematically showing a second perspective of the automatic building washing machine according to embodiment 1 of the present invention;
fig. 5 is a schematic view of a scissor mechanism of an automatic building washing machine according to embodiment 1 of the present invention;
fig. 6 is a schematic view of an air supply unit of the automatic building washing machine according to embodiment 1 of the present invention;
fig. 7 is a schematic view showing a modified structure of a wind equalizing box of the automatic cleaning machine for buildings according to embodiment 1 of the present invention.
Icon: 100-a first walking unit; 110-a first support frame; 111-a guide rail; 112-a guide slot; 120-a first support leg; 130-a first suction cup; 200-a second walking unit; 210-a second support; 220-a second support leg; 230-a second suction cup; 300-a vacuum pump assembly; 400-a drive assembly; 410-a motor; 420-a screw rod; 430-a slip nut; 440-a guide rod; 450-a first conical tooth; 460-second tapered teeth; 470-crank; 480-a connecting rod; 500-a cleaning unit; 510-a liquid jet head; 520-rolling brush; 600-a second drive unit; 610-a second motor; 620-a second lead screw body; 630-scissor mechanism; 640-a first articulating arm; 650-a second articulated arm; 660 — a first connection; 670-a second connector; 700-an air supply unit; 710-a blower; 720-air supply pipeline; 730-air homogenizing box; 731-vent.
Detailed Description
At present, the research of the glass curtain wall cleaning robot mainly focuses on problems of model machine construction, mechanism design, control system construction and the like, various model machines have appeared at home and abroad, research results are distinctive, but the research work is still in the research and experiment stage of the model machines in general, and the key technology and theory of the glass curtain wall cleaning robot are to be further deeply researched. Some adopt traditional cleaning methods, need the manual work to utilize the hoist cable to clean on the curtain, this kind of cleaning methods intensity of labour is high, and the security is poor.
In view of this, the inventor designs a building automatic cleaning machine and a building cleaning system, the building automatic cleaning machine can walk on the curtain wall, and finish the washing to the curtain wall in the walking process, and degree of automation is high, realizes the fixed of first walking unit 100 and second walking unit 200 and curtain wall through the mode of vacuum adsorption, and is more reliable and more reliable, safer.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The elements of an embodiment of the invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Example 1
Referring to fig. 1, the present embodiment provides an automatic building cleaning machine, including:
a first traveling unit 100, a first suction pad 130 is installed at a traveling end of the first traveling unit 100,
a second walking unit 200, a second suction cup 230 is installed at the walking end of the second walking unit 200,
a vacuum pump unit 300, the vacuum pump unit 300 being used for selectively generating a negative pressure at the first suction cup 130 or a negative pressure at the second suction cup 230,
a first driving unit 400, the first driving unit 400 comprising a first driving member and a second driving member, the first driving member and the second driving member being slidably connected, the first driving member being installed on the first traveling unit 100, the second driving member being installed on the second traveling unit 200,
the air supply unit 700, the air supply unit 700 includes a blower 710 and an air supply duct 720, the blower 710 is installed on the first traveling unit 100, an air inlet end of the air supply channel 720 is communicated with the blower, an air equalizing box 730 provided with a plurality of vent holes 731 is installed at an air outlet end of the air supply duct 720, and
the cleaning unit 500, the cleaning unit 500 includes a liquid storage tank, a liquid spray head 510 and a roller brush 520, the roller brush 520 is installed on the first walking unit 100, the liquid spray head 510 is communicated with the liquid storage tank, the liquid spray head 510 is located in front of the roller brush 520 along the advancing direction of the second walking unit 200, and the air outlet end is located behind the roller brush along the advancing direction of the second walking unit 200.
The automatic building cleaning machine provided by the embodiment comprises a first walking unit 100, a second walking unit 200, a first driving unit 400, a vacuum pump unit 300 and a cleaning unit 500, wherein the first walking unit 100 and the second walking unit 200 are connected through the first driving unit 400, and the function of walking on a curtain wall can be realized. The liquid spraying head 510 of the cleaning unit 500 is installed on the second traveling unit 200, the vacuum pump unit 300 operates to first adsorb the first suction cup 130 on the curtain wall, at this time, the second suction cup 230 stops adsorbing, the second traveling unit 200 moves relative to the first traveling unit 100 under the action of the first driving unit 400, and simultaneously the liquid spraying head 510 operates, the cleaning liquid is sprayed on the position to be cleaned of the curtain wall in the moving process of the second traveling unit 200, the adsorption of the second suction cup 230 is realized by operating the vacuum pump unit 300 after the second traveling unit 200 moves to a certain distance, at this time, the first suction cup 130 stops adsorbing, the first traveling unit 100 moves relative to the second traveling unit 200 under the action of the first driving unit 400, in this process, the rolling brush 520 brushes the curtain wall with the cleaning liquid, the cleaning liquid stays on the curtain wall for a certain time as the cleaning liquid is sprayed on the curtain wall first, the contact time with the stain on the curtain wall is long, the stain can be effectively dissolved, the subsequent washing work of the rolling brush 520 is facilitated, and the washing is cleaner. After the cleaning is finished, the air supply unit 700 is utilized to quickly air-dry the curtain wall, so that the secondary pollution of the curtain wall is avoided.
Referring to fig. 1 to 4, optionally, the first driving unit 400 includes a screw transmission assembly, the first driving unit includes a first screw body 420 having a first motor 410, the second driving unit includes a sliding nut 430 screwed on the first screw body 420, the first motor 410 is mounted on the first traveling unit 100, the sliding nut 430 is mounted on the second traveling unit 200, and the first motor 410 rotates to make the sliding nut 430 slide along the first screw body 420 in a reciprocating manner, so as to drive the first traveling unit 100 to move in a reciprocating manner relative to the second traveling unit 200. The first driving unit 400 further comprises a transmission mechanism, the transmission mechanism comprises a first conical tooth 450 and a second conical tooth 460 which are meshed with each other, a crank 470 and a connecting rod 480, the first conical tooth 450 is mounted on the first screw body 420, the second conical tooth 460 is rotatably connected to the first walking unit 100 through an overrunning clutch, a rotating shaft is arranged on the second conical tooth 460, the crank 470 is mounted at the end of the rotating shaft far away from the second conical tooth 460, one end of the connecting rod 480 is rotatably mounted on the crank 470, and a rolling brush 520 is mounted at the other end of the connecting rod 480. During the movement of the first driving unit 400, the first lead screw body 420 rotates to drive the sliding nut 430 to move along the axial direction of the first lead screw body 420, and further drive the second traveling unit 200 to move relative to the first traveling unit 100. When the first screw main body 420 rotates forward, the second traveling unit 200 moves along the axis of the first screw main body 420 away from the position where the first motor 410 is located, and it can be understood that the second traveling unit 200 advances in the traveling direction. In the process, under the matching action of the first conical teeth 450, the second conical teeth 460, the crank 470 and the connecting rod 480, the rolling brush 520 does reciprocating motion, curtain walls in a certain area can be washed, meanwhile, the rolling brush 520 is provided with a rotatable roller, the roller rotates in the reciprocating motion process, and the cleaning effect is good. When the first lead screw body 420 is controlled to be reversely rotated, the second tapered teeth 460 not provided with the first tapered teeth 450 are rotated by the function of the overrunning clutch, and the process is that the first traveling unit 100 is moved relative to the second traveling unit 200.
In order to improve the overall stability, in this embodiment, optionally, the first walking unit 100 includes a first support frame 110 and a plurality of first support legs 120, the plurality of first support legs 120 are all installed on the first support frame 110, the plurality of first support legs 120 are used for supporting the first support frame 110, each first support leg 120 is installed with one first suction cup 130, during actual installation, the first support legs 120 are provided with four, the four first support legs 120 are located at four corners of the same rectangle, when the structure of the four first support legs 120 is supporting, the support is stable, and the inclination or the side falling is not easy to occur.
It should be further noted that the first support frame 110 includes two guide rails 111 that are arranged oppositely and a connecting rod that is located between the two guide rails 111, the guide rail 111 is a rectangular rod, that is, the cross section of the guide rail 111 perpendicular to the length direction thereof is a rectangle, the two connecting rods are arranged at intervals along the length direction of the guide rail 111, the two guide rails 111 and the two connecting rods form a rectangular frame structure, the connection positions of the two guide rails 111 and the two connecting rods are fixed by screwing, the installation mode is simple and reliable, and the disassembly is convenient. The second traveling unit 200 travels on the two guide rails 111.
Referring to fig. 1, optionally, the side surfaces of the two guide rails 111 that are opposite to each other are set as inner side surfaces, a guide groove 112 is formed in the inner side surface of each guide rail 111, the guide groove 112 is a rectangular groove, the depth direction of the guide groove 112 is inward in the direction perpendicular to the inner side surfaces, and the length direction of the guide groove 112 extends in the direction parallel to the length direction of the guide rail 111. The guide rail 111 is provided with the guide groove 112, which has a guiding function, so that the second traveling unit 200 can slide relative to the first traveling unit 100 more flexibly, and is not easy to be clamped.
In practice, the first motor 410 is mounted on the first support frame 110, and optionally, the first motor 410 is screwed on the connecting rod.
Referring to fig. 1, in the present embodiment, optionally, the second walking unit 200 includes a second supporting frame 210, a plurality of second supporting legs 220, and two guiding rods 440, wherein the plurality of second supporting legs 220 are all mounted on the second supporting frame 210, and each second supporting leg 220 is mounted with a second suction cup 230; the sliding nut 430 is installed on the second support frame 210, and the sliding nut 430 runs on the guide rail 111. The second travel unit 200 is located within the first travel unit 100. The second support frame 210 includes a rectangular connection frame, the second support legs 220 are four, the four second support legs 220 are located at four corners of the connection frame, and the four second support legs 220 are located at the same side of the connection frame and perpendicular to the connection frame. The connecting frame is supported by the four second supporting legs 220 together, so that the support is stable and reliable, and the side falling or cleaning is not easy to occur. The two guide rods 440 are respectively installed on the sliding nuts 430, and the two guide rods 440 correspondingly travel in the two guide grooves 112 one to one. Through the arrangement of the two guide rods 440 and the two guide grooves 112, the first walking unit 100 and the second walking unit 200 can be conveniently matched, and meanwhile, the positions of the first walking unit 100 and the second walking unit 200 are more stable, and the walking is more flexible.
Optionally, the second walking unit 200 further includes walking wheels, a walking wheel is installed at an end of each guide rod 440, the walking wheels walk in the guide grooves 112, friction is small in the walking process, and walking is more flexible.
In actual installation, the liquid ejecting head 510 is installed on the second supporting frame 210, and the liquid outlet of the liquid ejecting head 510 faces the second suction cup 230. The second traveling unit 200 reciprocally slides along the guide rail 111 of the first traveling unit 100, and after sliding to a certain distance, the first traveling unit 100 is moved relative to the second traveling unit 200 by operating the first driving unit 400 and the vacuum pump unit 300, and the first traveling unit 100 and the second traveling unit 200 alternately operate to travel.
Referring to fig. 1-2, in the present embodiment, optionally, the automatic building cleaning machine further includes a second driving unit 600, the plane of the suction surface of the first suction cup 130 is set as a first reference plane, the plane of the suction surface of the second suction cup 230 is set as a second reference plane, and the second driving unit 600 makes the second walking unit 200 move relative to the first walking unit 100 to make the second reference plane higher than the second reference plane. Due to the structural design, after the first walking unit 100 is adsorbed on the curtain wall by the first suction cup 130, the second walking unit 200 moves relative to the first walking unit 100 by operating the second driving unit 600, the second suction cup 230 of the second walking unit 200 leaves the curtain wall or is spaced from the curtain wall by a certain distance, and at the moment, in the process of driving the second walking unit 200 to move by the first driving unit 400, the resistance of the second walking unit 200 is small, and the second walking unit 200 can walk more flexibly.
Referring to fig. 1, 2 and 5, optionally, the second driving unit 600 includes a second motor 610, a second lead screw main body 620 and a scissors mechanism 630, the second motor 610 is mounted on the second traveling unit 200, the second lead screw main body 620 is mounted on an output shaft of the second motor 610, the scissors mechanism 630 includes two sets of hinges and a connecting member connecting two sets of hinge rods, each set of hinges includes a first hinge arm 640 and a second hinge arm 650, the first hinge arm 640 and the second hinge arm 650 are hinged at a crossing position, first ends of the two first hinge arms 640 of the same set of hinges are connected by a first connecting member 660, first ends of the two second hinge arms 650 are connected by a second connecting member 670, first ends of the two first hinge arms 640 are slidably disposed on the second traveling unit 200, second ends of the two first hinge arms 640 are slidably disposed on the first traveling unit 100, first ends of the two second hinge arms 650 are disposed on the second traveling unit 200, second ends of the two second hinge arms 650 are provided to the first traveling unit 100; the second lead screw body 620 is screwed to the first connecting member 660 and the second connecting member 670, and the second lead screw body 620 rotates to make the first connecting member 660 and the second connecting member 670 approach each other or move away from each other, thereby changing the distance between the first reference plane and the second reference plane.
In actual operation, when the second walking unit 200 needs to be moved, the first suction cup 130 is adsorbed on the curtain wall through the vacuum pump unit 300, the first reference surface is located on the curtain wall, the second suction cup 230 stops adsorbing, then the second driving unit 600 is operated, the second driving unit 600 drives the second lead screw main body 620 to rotate forward, the opposite first connecting piece 660 and the second connecting piece 670 are far away from each other, the distance between the end of the first hinge arm 640 and the end of the same side of the second hinge arm 650 is reduced, that is, the second reference surface moves in the direction far away from the curtain wall, the second reference leaves the curtain wall, that is, the second suction cup 230 leaves the curtain wall, at this time, the second walking unit 200 moves relative to the first walking unit 100 through the first driving unit 400, and the movement is more flexible. Similarly, when the first walking unit 100 needs to be moved, the second driving unit 600 is operated to drive the second lead screw main body 620 to rotate reversely, the corresponding first connecting piece 660 and the second connecting piece 670 approach each other, so that the first reference surface is attached to the curtain wall, the second suction cup 230 is sucked to the curtain wall through the vacuum pump unit 300, the first suction cup 130 stops sucking, the first walking unit 100 is lifted by operating the second driving unit 600, namely, the first suction cup 130 leaves the curtain wall, then the first driving unit 400 is started to rotate the first lead screw main body 420 reversely, and the first walking unit 100 moves relative to the second walking unit 200, so that the walking and cleaning work can be realized alternately.
Obviously, in order to lift the first traveling unit 100 to a certain height, the sliding nut 430 is in clearance fit with the second traveling unit 200, that is, when the first traveling unit 100 is lifted by the scissors mechanism, the first lead screw body is lifted by a certain distance, and at this time, in order to ensure the tight fit of the sliding nut with the first lead screw body, the sliding nut is lifted by the same distance with the first lead screw body relative to the second traveling unit 200.
Referring to fig. 6, a schematic connection diagram of the air supply duct 720 and the air equalizing box 730 is shown, in this embodiment, the air supply duct 720 is designed as a corrugated pipe, which facilitates angle and position adjustment and flexible and convenient operation. Equal bellows 730 is the cuboid case, and one side and the supply air duct intercommunication of equal bellows 730 can adopt the mode of spiro union to connect, and simultaneously, be provided with a plurality of ventilation holes 731 on the curb plate relative with supply air duct 720 of equal bellows 730, ventilation hole 731 can be the bell mouth, has the effect of direction, is convenient for concentrate on the region by the washing with wind, shortens drying time. The design is the structure of homowind case 730, and the wind that air-blower 710 blew off gets into homowind case 730 from blast pipe 720, can enlarge the area of air-out, enlarges dry area, and does not increase blast pipe 720's diameter, can not increase whole volume, the cost is reduced. Referring to fig. 7, it should be noted that the electric energy required for the operation of the blower 710 may be provided by a battery, and the battery is mounted on the first traveling unit 100 or the second traveling unit 200. In other embodiments, the wind equalizing box 730 can be designed into a horn shape, which has the function of guiding and expanding the wind supply area.
It should be noted that the first hinge arm 640 and the second hinge arm 650 are slidably mounted on the first support frame 110 and the second support frame 210, respectively, and the first hinge arm 640 and the second hinge arm 650 are connected to the first support frame 110 and the second support frame 210 in a T-shaped slot structure, respectively. In addition, the scissors mechanism 630 is provided with two or more groups, the two or more groups of scissors mechanisms 630 are arranged at intervals along the axis direction of the second lead screw main body 620, and after the first walking unit 100 and the second walking unit 200 are lifted, the stress is more balanced.
It should be noted that the second motor 610 may be connected to the second support frame 210 through a telescopic spring, and in the movement process of the scissors mechanism 630, the height of the second motor 610 may be changed, so as to ensure that the second lead screw main body 620 can always maintain a horizontal state, that is, the connection position between the second lead screw main body 620 and the second motor 610 is not easy to generate an oblique separation, and the second driving unit 600 has a long service life.
Example 2
The embodiment provides a building cleaning system, including the building automatic cleaning machine that above-mentioned embodiment provided, still include supervisory equipment, supervisory equipment's signal acquisition end sets up on first walking unit or second walking unit, and supervisory equipment's terminal can show the signal that signal acquisition end gathered, and the real time monitoring of being convenient for improves the security.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. An automatic building cleaning machine, comprising:
a first walking unit, a first sucker is arranged at the walking end of the first walking unit,
a second walking unit, wherein a second sucker is arranged at the walking end of the second walking unit,
a vacuum pump unit for selectively generating negative pressure at the first suction cup or negative pressure at the second suction cup,
the first driving unit comprises a first driving piece and a second driving piece, the first driving piece is connected with the second driving piece in a sliding mode, the first driving piece is installed on the first walking unit, the second driving piece is installed on the second walking unit, the first driving piece comprises a first lead screw main body with a first motor, the second driving piece comprises a sliding nut in threaded connection with the first lead screw main body, the first motor is installed on the first walking unit, the sliding nut is installed on the second walking unit, the first motor rotates to enable the sliding nut to slide in a reciprocating mode along the first lead screw main body, and then the first walking unit is driven to move in a reciprocating mode relative to the second walking unit; the first driving unit further comprises a transmission mechanism, the transmission mechanism comprises a first conical tooth and a second conical tooth which are meshed with each other, a crank and a connecting rod, the first conical tooth is mounted on the first lead screw main body, the second conical tooth is rotatably connected to the first traveling unit through an overrunning clutch, a rotating shaft is arranged on the second conical tooth, the crank is mounted at the end part, far away from the second conical tooth, of the rotating shaft, and one end of the connecting rod is rotatably mounted on the crank;
the air supply unit comprises an air blower and an air supply pipeline, the air blower is installed on the first walking unit, the air inlet end of the air supply pipeline is communicated with the air blower, the air outlet end of the air supply pipeline is provided with an air equalizing box with a plurality of air vents, and
the cleaning unit comprises a liquid storage box, a liquid spraying head and a rolling brush, the rolling brush is installed at the other end of the connecting rod, the liquid spraying head is communicated with the liquid storage box and is located along the rolling brush in the front of the advancing direction of the second walking unit, and the air outlet end is located along the rolling brush behind the advancing direction of the second walking unit.
2. The automatic building washing machine according to claim 1, further comprising a second driving unit, wherein a plane on which the suction surface of the first suction cup is located is a first reference plane, and a plane on which the suction surface of the second suction cup is located is a second reference plane, and the second driving unit moves the second traveling unit relative to the first traveling unit such that the second reference plane is higher than the second reference plane.
3. The automatic building cleaning machine according to claim 2, wherein the second driving unit comprises a second motor, a second lead screw body and a scissors mechanism, the second motor is mounted on the second traveling unit, the second lead screw body is mounted on an output shaft of the second motor, the scissors mechanism comprises two sets of hinges and a connecting member connecting the two sets of hinges, each set of hinges comprises a first hinge arm and a second hinge arm, the first hinge arm and the second hinge arm are hinged at a cross point, first ends of the two first hinge arms of the same set of hinges are connected by a first connecting member, first ends of the two second hinge arms are connected by a second connecting member, first ends of the two first hinge arms are slidably disposed on the second traveling unit, second ends of the two first hinge arms are slidably disposed on the first traveling unit, the first ends of the two second hinge arms are arranged on the second walking unit, and the second ends of the two second hinge arms are arranged on the first walking unit; the second screw rod main body is in threaded connection with the first connecting piece and the second connecting piece, and the first connecting piece and the second connecting piece are close to each other or far away from each other through rotation of the second screw rod main body, so that the distance between the first datum plane and the second datum plane is changed.
4. The automatic building cleaning machine according to claim 1, wherein the first traveling unit includes a first support frame and a plurality of first support legs, the plurality of first support legs being mounted on the first support frame, one first suction cup being mounted on each of the first support legs.
5. The automatic building cleaning machine according to claim 4, wherein the first support frame comprises two guide rails arranged oppositely and a connecting rod positioned between the two guide rails, the two connecting rods are arranged at intervals along the length direction of the guide rails, and the second walking unit walks on the two guide rails;
the first supporting legs are four, and the four first supporting legs are located at four corners of the same rectangle.
6. The automatic building cleaning machine according to claim 5, wherein the second walking unit comprises a second support frame and a plurality of second support legs, the plurality of second support legs are mounted on the second support frame, and each second support leg is provided with one second suction cup; the second support frame runs on the guide rail.
7. The automatic building cleaning machine according to claim 6, wherein the second support frame comprises a rectangular connecting frame, four second support legs are arranged at four corners of the connecting frame, and the four second support legs are arranged on the same side of the connecting frame and perpendicular to the connecting frame.
8. A building washing system, characterized in that it comprises an automatic building washing machine according to any one of claims 1-7.
CN201710830159.XA 2017-09-14 2017-09-14 Building automatic cleaning machine and building cleaning system Active CN107440629B (en)

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CN109322269B (en) * 2018-11-20 2020-11-20 惠安麦田圈里科技有限公司 Working method of road cleaning equipment
CN109322268B (en) * 2018-11-20 2020-11-24 义乌市富顺箱包有限公司 Road cleaning equipment
CN111456301B (en) * 2020-04-17 2021-08-13 江苏鑫宇装饰有限公司 Heat-insulation sound-insulation building curtain wall system

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