CN107468178A - It is a kind of can clean again can be traversing glass curtain wall cleaning systems - Google Patents
It is a kind of can clean again can be traversing glass curtain wall cleaning systems Download PDFInfo
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- CN107468178A CN107468178A CN201710902207.1A CN201710902207A CN107468178A CN 107468178 A CN107468178 A CN 107468178A CN 201710902207 A CN201710902207 A CN 201710902207A CN 107468178 A CN107468178 A CN 107468178A
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- curtain wall
- glass curtain
- traversing
- clean robot
- motor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
- E04G23/004—Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to it is a kind of can clean again can be traversing glass curtain wall cleaning systems, including rail set, clean robot group and safety device, rail set adsorbed on glass curtain wall, clean robot group（100）Rail set it is up walk, safety device prevents clean robot group and rail set from dropping；The clean robot group（100）Can be with traversing, clean robot group（100）Including two clean robots（1）, the both ends of rail set are connected to clean robot（1）Folding and unfolding of the upper realization to rail set.The clean robot group of the present invention can arbitrarily be walked in former and later two directions, after a cleaning route has cleaned, be turned around without turning, and clean robot group is directly traversing, and reversely walking, convenient and swift, greatly improves cleaning efficiency.
Description
Technical field
The invention belongs to cleaning applications, more particularly to it is a kind of can clean again can be traversing glass curtain wall cleaning systems.
Background technology
With the progress and expanding economy of society, high buildings and large mansions are rised sheer from level ground in city, and present it is higher and higher become
Gesture.Glass is widely used in office building because light, transparent, attractive in appearance, but by institute in the dust in air, rainwater
The dust of entrainment, excreta of birds etc. can gradually deposit to the curtain wall surface of building, so as to influence the attractive in appearance of curtain wall, because
This, the cleaning to glass curtain wall has had been to be concerned by more and more people and has gradually formed huge curtain cleaning market.
However, the cleaning to the curtain wall of glass is mainly still completed using manual type at present, i.e.,：By cleanup crew from
Roof is suspended in midair to Architectural Services Department, manually curtain wall surface is cleared up by cleanup crew, such a mode not only has whole process
The problems such as cleaning efficiency is not high, danger coefficient is big, and cleaning cost is higher, also thus have impact on the attractive in appearance, clear of glass curtain wall
Space that is clean and further developing.
For this problem, the robot of automated cleaning can be carried out to glass curtain wall by occurring some in the market, this
A little robots can adsorb to be cleared up glass curtain wall surface on the wall of glass curtain wall, however, because existing cleaner
Device people's adsorbing mechanism is mounted in tire or robot, and adsorbing mechanism quantity is few, and adsorption area is small, if there is somewhere on glass
Substantial amounts of booty, the absorption affinity of adsorbing mechanism will be influenceed, so as to influence the stress of whole robot, easily dropped, it is dangerous；
Existing clean robot can only straight line moving, it is impossible to turns, cleaning route is dumb；Existing robot adsorbing mechanism is by true
Empty pumping falls the air in adsorbing mechanism, and adsorbing mechanism is kept vacuum suction, vavuum pump can increase entirely on glass curtain wall
The deadweight of equipment and vavuum pump is when extracting the air in adsorbing mechanism, can consume a large amount of power, influence whole equipment battery
Endurance.
The content of the invention
The goal of the invention of the present invention is：
1. solving existing clean robot cleaning arrives glass curtain wall edge, when changing cleaning route, turn the problem of troublesome；
2. also to solve the problems, such as that clean robot easily drops on this basis；
3. also to solve clean robot on this basis easily to drop from glass curtain wall, the problem of damaging pedestrian.
The technical solution adopted by the present invention is as follows：
It is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that：Including rail set, clean robot group
And safety device, rail set can be adsorbed on glass curtain wall, clean robot group rail set it is up walk, safety device is prevented
Only clean robot group and rail set drop；The clean robot group can be with traversing, and clean robot group includes two clearly
Clean robot, the both ends of rail set are connected to the folding and unfolding realized on clean robot to rail set.
One clean robot is in preceding laying rail set, and a clean robot is in after-contraction rail set, using one
Arrangement clean robot after previous, when clean robot group cleaning to glass curtain wall edge needs to adjust route, without rotation
Direction, it will directly be now become to originally in the clean robot of preceding laying track in after-contraction rail set, originally in rear folding and unfolding
The clean robot of rail set is now become in preceding laying rail set, and the commutation of clean robot group is convenient and swift, can be significantly
Improve cleaning efficiency；Using clean robot is one in front and one in back arranged, rail set can be increased and adsorb the length on glass curtain wall,
So as to increase absorption affinity, reduce the probability that whole equipment drops.
Further, rail set includes track and adsorbing mechanism, is equably disposed with the length direction of track some
Adsorbing mechanism, adsorbing mechanism can adsorb track on glass curtain wall；The adsorbing mechanism includes sucker and seal, works as sealing
When part moves inward relative to sucker, sucker is in adsorbed state, and when seal is displaced outwardly relative to sucker, sucker is in
Non-adsorbed state.
When rail set is squeezed, sucker stress squeezes out the air of inside, and sucker mouth is fitted on glass, seals
Part is forced through seal to be goed deep into sucker, and so as to hermetic seal mouth, whole suction cup interior forms vacuum, because suction cup interior
With the pressure difference of air, the absorption of sucker tightly is on glass curtain wall, to bear the power of whole device；When seal is from sucker
During interior extraction, air enters in sucker from seal, and pressure difference disappears inside and outside sucker, and sucker loses absorption affinity, and sucker is from glass
Come off on curtain wall；Using the insertion and extraction of seal, the adsorbed state of sucker is controlled, uses vavuum pump than traditional, more
Power, and the reduction of vavuum pump are saved, the weight of whole device can be mitigated, make whole device lighter.
Further, clean robot includes transversely movable base apparatus, the radio and tape player on base apparatus
Structure, wheel mechanism, battery one, controlling organization one, cleaning mechanism and propeller, jack can carry out folding and unfolding, wheel to rail set
Mechanism can be traversing with respect to base apparatus, and propeller can increase normal pressure of the clean robot to track, and cleaning mechanism can be to glass
Curtain wall is cleaned.
Battery one provides the energy to clean robot, and controlling organization one controls the operation of whole clean robot, radio and tape player
Structure is responsible for the folding and unfolding to track, and wheel mechanism drives the movement of clean robot, and propeller can increase clean robot and track is filled
It the normal pressure put, on the one hand can increase wheel group and the frictional force of track, beneficial to the walking of clean robot, on the other hand increase
Clean robot, so as to increase pressure of the track to adsorbing mechanism, is advantageous to adsorbing mechanism and preferably adsorbed to the pressure of track
On glass curtain wall.
Further, base apparatus includes chassis and transverse-moving mechanism two, and transverse-moving mechanism two can drive chassis is relative to take turns mechanism
Transverse shifting, chassis are provided with guide part, can allow rail set it is smooth be transitioned into wheel mechanism from jack.
The drive of transverse-moving mechanism two chassis is traversing, and so as to realize that clean robot is traversing, guide part can allow rail set smooth
Be transitioned into wheel mechanism from jack, reduce the abrasion of rail set, the usage time of advancing the track device.
Further, transverse-moving mechanism two includes movable block two, guide spiro rod two, motor two and telescoping mechanism three, telescopic machine
Structure three is arranged in wheel mechanism, and motor two is arranged on telescoping mechanism three, and the one of the output end connection guide spiro rod two of motor two
End, the other end connection mobile two of guide spiro rod two, the connecting portion two of movable block two are arranged on chassis, and motor two can drive and lead
Pass through the mobile chassis of movable block two to the rotation of screw rod two, telescoping mechanism three can with wheel group it is traversing when, elongate or shorten.
Motor two drives guide spiro rod two to rotate, and guide spiro rod two drives chassis to move by movable block two, and motor two is
Revolution and the servomotor of direction of rotation can be controlled, telescoping mechanism three is electric expansion bar, when wheel group moves, is stretched
Mechanism three elongates or shortens, and with the movement of match wheel group, transverse-moving mechanism two drives bottom to press wheel group in orbit as the strong point
Disk transverse shifting, what realizes the transverse shifting of clean robot group, the change of robot group cleaning route convenient for cleaning, cleaning from
Route is more flexible.
Further, wheel mechanism includes wheel group, telescoping mechanism one and transverse-moving mechanism one, and the energy driven wheel group of telescoping mechanism one is erected
Translation is moved, and the energy driven wheel group transverse shifting of transverse-moving mechanism one, the transverse-moving mechanism one includes guide rail and move portion, and guide rail is arranged on
On base apparatus, move portion can drive guide rail traversing on base apparatus；Move portion include be located on guide rail movable block one, lead
To screw rod one, motor one and telescoping mechanism four, the connecting portion one of telescoping mechanism four is arranged on base apparatus, and motor one is arranged on
On telescoping mechanism four, the output end of one end connection motor one of guide spiro rod one, other end connection movable block one, when the band of motor one
Action-oriented screw rod one rotates, and guide rail moves on chassis；Wheel group includes driving wheel and driven pulley, and telescoping mechanism one includes expansion bend
One and expansion bend two, expansion bend one can drive driving wheel vertical shift, expansion bend two can drive driven pulley vertical shift, motor four
Output end connection connection rotating shaft one, rotating shaft one under the driving of motor four, drive driving wheel rotation.
Telescoping mechanism one can be moved up and down vertically with driven wheel group, because wheel group is built-in in track, be had on track
Adsorbing mechanism, when the driven wheel group of telescoping mechanism one is moved, track can move together, so as to pull up or compress adsorption machine
Structure, when the adsorbing mechanism of whole piece track is all in unadsorbed state, transverse-moving mechanism one can laterally adjust the position of wheel group, horizontal
Telephone-moving structure two adjusts the position on chassis, so as to realize the traversing of whole machine people group；Motor one drives guide spiro rod one to rotate,
Guide spiro rod one drives guide rail to move by movable block one, and so as to which driven wheel group moves, motor one is that can control revolution and rotation
Turn the servomotor in direction, telescoping mechanism four is electric expansion bar, and when movement on chassis, telescoping mechanism four extends or contracted
It is short, to coordinate the movement on chassis.
Further, cleaning mechanism includes water tank, connects the flusher and swab of water tank, water tank and swab
On base apparatus.
Further, the front and rear of flusher is fitted with swab, using the direction of clean robot group walking before,
Swab after flusher works, and the swab before flusher leaves unused.
The front and rear of flusher is fitted with swab, using the direction of clean robot group walking before, flusher
Swab afterwards works, and the swab before flusher leaves unused；When one route of clean robot group has been cleaned, it is necessary to anti-
To when, now become to originally in the clean robot of preceding laying track in after-contraction track, originally in rear folding and unfolding track
Clean robot is now become in preceding laying track, and the swab after flusher was changed into before flusher originally, not busy
Put；Originally now became to after flusher, ran before flusher；The front and rear of flusher is fitted with cleaning dress
Put, using the direction of clean robot group walking before, the swab after flusher works, the swab before flusher
It is idle, after can guarantee that clean robot group is reverse, cleaning mechanism normal operation；Camera is housed on clean robot, checked
Whether clean totally in preceding clean robot, if not cleaning clean, can be cleaned again in rear clean robot, with up to
To clean, preceding clean robot is clear in preceding clean robot somewhere when check in preceding cleaning, posterior clean robot
When clean unclean, cleaned again for sordid place, do not have to clean back and forth in preceding clean robot, greatly improve cleaning
Efficiency.
Further, water tank is divided into cleaning agent case and Sewage treatment case, and cleaning agent case is connected with flusher, and waste water returns
Receive case with swab to be connected, be provided with waste water recovery pipe in swab, the pump in Sewage treatment case can be by swab
Waste water recovery pipe the Sewage treatment on swab into waste water tank；Swab includes support one, telescoping mechanism five, turned over
Rotary device one and scrubber, the one end of support one are arranged on base apparatus, and one end connection telescoping mechanism five, turning device one is installed
On telescoping mechanism five, during cleaning, telescoping mechanism five ceaselessly extends shortening, is driven and cleaned by turning device one
Device is back moved, and glass curtain wall is cleared up back and forth, and turning device one includes expansion bend three and motor six, and expansion bend three passes through
The output shaft of motor six is hinged on telescoping mechanism five；During cleaning, controlling organization is for a moment according to the slope of glass curtain wall
Spend the length of automatic regulation telescopic unit three and expansion bend three is controlled with respect to the angle of glass curtain wall by motor six.
Water tank is divided into cleaning agent case and waste water tank, realizes the recovery to waste water, can avoid water stain staying in glass curtain wall
On；During clean robot is walked, scrubber ceaselessly extends shortening, and glass curtain wall is cleaned, and can allow clear
Face cleaning product is wider, and cleans cleaner；Controlling organization one can be according to the gradient of glass curtain wall, the length of automatic regulation telescopic unit three
Degree and expansion bend three realize the cleaning to acclive glass curtain wall with respect to the angle of glass curtain wall.
Further, safety device includes suspension apparatus, and suspension apparatus is slidably connected on track two, it is characterised in that
Hoisting mechanism and power set with safety rope are installed with suspension apparatus, power set are hoisting mechanism and entirely hanged
Device for hoisting provides power, and the free-end of the safety rope on hoist engine stretches out the bottom of suspension apparatus, and consolidates with cleaning robot group
The junction of fixed connection, safety rope and suspension apparatus bottom is provided with from device of bursting, and from bursting, device is fixedly mounted on suspension apparatus
Bottom, locked portion being fixedly connected with from device of bursting, locked portion is provided with perforation, and safety rope passes through the perforation in locked portion, when
When safety rope exceedes setting value to the pressure of perforation, from bursting, device holds locked safety rope tightly by locked portion.
Suspension apparatus is slidably connected in orbit, it is characterised in that is installed with suspension apparatus with safety rope
Hoisting mechanism and power set, power set provide power for hoisting mechanism and whole suspension apparatus, the safety rope on hoist engine
Free-end stretch out the bottom of suspension apparatus, and be fixedly connected with cleaning robot, safety rope and the handing-over of suspension apparatus bottom
Place is provided with from device of bursting, and the bottom of suspension apparatus is fixedly mounted on from device of bursting, and is fixedly connected with locked portion from device of bursting, is locked
Dead portion is provided with perforation, and safety rope, when safety rope exceedes setting value to the pressure of perforation, is burst certainly through the perforation in locked portion
Device holds locked safety rope tightly by locked portion.Due to the setting of said structure, when the lowering velocity of safety rope exceedes regulation speed
When i.e. cleaning robot group drops downwards when spending, safety rope increases the pressure of perforation, when what pressure reached design bears pressure
When, from bursting, device holds locked safety rope tightly by locked portion, and then prevents the further decentralization of safety rope, thus, successfully prevents
Cleaning robot group drops.
In summary, the beneficial effects of the invention are as follows：
1. the clean robot group of the present invention can arbitrarily be walked in former and later two directions, after a cleaning route has cleaned, no
Turned around with turning, clean robot group is directly traversing, and then reversely walking, convenient and swift, greatly improves cleaning efficiency；
2. track can recycle, track length is not limited by glass curtain wall height, allows glass curtain wall cleaning systems to use
Face is wider；
3. cleaning mechanism can automatically adjust length and angle, acclive glass curtain wall can be cleaned；
4. preceding clean robot is clear in preceding clean robot somewhere when checking in preceding cleaning, posterior clean robot
When clean unclean, cleaned again for sordid place, do not have to clean back and forth in preceding clean robot, greatly improve cleaning
Efficiency.
Brief description of the drawings
Fig. 1 is cleaning systems overall schematic；
Fig. 2 is the schematic diagram of clean robot；
Fig. 3 is the schematic bottom view of clean robot；
Fig. 4 is the schematic diagram of wheel mechanism；
Fig. 5 is the schematic diagram of rail set；
Fig. 6 is the schematic diagram that driving wheel and track turn are matched somebody with somebody；
Fig. 7 is draw off gear schematic diagram；
Fig. 8 is safety device use-schematic diagram；
Fig. 9 is from apparatus structure schematic diagram of bursting；
Figure 10 is the traversing schematic diagram of clean robot.
Marked in figure：100- clean robot groups, 1- clean robots, 3- chassis, 3001- guide pads, 3002- are oriented to
Portion, 30021- guide parts one, 30022- guide parts two, 3003- movable blocks two, 30031- connecting portions two, 4 tracks, 5- guide rails,
51- guide grooves, 52- movable blocks one, 6- guide spiro rods one, 7- motors one, 8- motors two, 9- rotating shafts one, 10- guide spiro rods two,
11- motors three, 12- telescoping mechanisms one, 121- constrictors one, 122- constrictors two, 13- driven pulleys, 14- driving wheels, 15- rotating disks
One, 16- adsorbing mechanism, 161- suckers, 162- seals, 17- motors four, 18- telescoping mechanisms four, 181- connecting portions one, 19- stretches
Contracting mechanism three, 20- batteries one, 21- controlling organizations one, 24 support meanss, 241 right supports, 241- left socles, 25- rotating shafts two,
26- motors five, 27- baffle plates, 28- propellers, 30- wiper mechanisms, 301- water tanks, 302- flushers, 303- swabs,
3031- telescoping mechanisms five, 3032- turning devices one, 30321- expansion bends three, 30322- motors six, 3033 scrubbers, 3034-
Support one, 3035- motors seven, 35- suspension apparatus, 36- tracks two, 37- safety ropes, the locked portions of 38-.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
Embodiment
The invention discloses it is a kind of can clean again can be traversing glass curtain wall cleaning systems, including rail set, cleaner
Device people group and safety device, rail set can be adsorbed on glass curtain wall D, clean robot group 100 rail set it is up walk,
Safety device prevents clean robot group and rail set from dropping；The clean robot group 100 can be with traversing, clean robot
Group 100 includes two clean robots 1, and the both ends of rail set, which are connected on clean robot 1, to be realized to rail set
Folding and unfolding.
Rail set includes track 4 and adsorbing mechanism 16, and some adsorption machines are equably disposed with the length direction of track 4
Structure 16, adsorbing mechanism 16 can adsorb track 4 on glass curtain wall；The adsorbing mechanism 16 includes sucker 161 and seal
162, when seal 162 moves inward relative to sucker 161, sucker 161 is in adsorbed state, when seal 162 relative to
When sucker 161 is displaced outwardly, sucker 161 is in non-adsorbed state.
Clean robot includes transversely movable base apparatus, jack on base apparatus, wheel mechanism,
Battery 1, controlling organization 1, cleaning mechanism 30 and propeller 28, jack can carry out folding and unfolding to track, and wheel mechanism can
Traversing with respect to base apparatus, propeller 28 can increase normal pressure of the clean robot to track, and cleaning mechanism 30 can be to glass curtain
Wall is cleaned, and two in clean robot group cleaner people communicates connection, the controlling organization of two clean robots one
According to the signal transmitted each other, coordinate the operation of clean robot group.
Base apparatus includes chassis 3 and transverse-moving mechanism two, and transverse-moving mechanism two can drive the relative wheel mechanism in chassis 3 laterally to move
Dynamic, chassis 3 is provided with guide part 3002, can allow rail set smoothly be transitioned into wheel mechanism, guide part 3002 from jack
Including guide part 1 and guide part 2 30022, the transverse-moving mechanism two include movable block 2 3003, guide spiro rod 2 10,
Motor 28 and telescoping mechanism 3 19, telescoping mechanism 3 19 are arranged in wheel mechanism, and motor 28 is arranged on telescoping mechanism 3 19,
One end of the output end connection guide spiro rod 2 10 of motor 28, the other end connection mobile 2 33 of guide spiro rod 2 10, movable block
2 3003 connecting portion 2 331 is arranged on chassis, and motor 28 can drive the rotation of guide spiro rod 2 10 to pass through movable block 2 3003
Mobile chassis, telescoping mechanism 3 19 can with wheel group it is traversing when, elongate or shorten.
Wheel mechanism includes wheel group, telescoping mechanism 1 and transverse-moving mechanism one, and the energy driven wheel group of telescoping mechanism 1 is moved vertically
Dynamic, the energy driven wheel group transverse shifting of transverse-moving mechanism one, the transverse-moving mechanism one includes guide rail 5 and move portion, and guide rail 5 is provided with and led
To groove 51, guide groove 51 can coordinate installation with the guide pad 3001 on chassis, and move portion can drive guide rail 5 on guide pad 3001
Slide, and do not fall out；Move portion includes movable block 1, guide spiro rod 1, motor 1 and the telescopic machine being located on guide rail 5
Structure 4 18, the connecting portion 1 of telescoping mechanism 4 18 are arranged on base apparatus, and motor 1 is arranged on telescoping mechanism 4 18,
The output end of one end connection motor 1 of guide spiro rod 1, other end connection movable block 1, when the band action-oriented spiral shell of motor 1
Bar 1 rotates, and guide rail 5 moves on chassis；Wheel group includes driving wheel 14 and driven pulley 13, and telescoping mechanism 1 includes expansion bend
1 and expansion bend 2 122, expansion bend 1 can drive driving wheel vertical shift, expansion bend 2 122 can drive driven pulley to erect
Translation is moved, and the output end connection connection rotating shaft 1 of motor 4 17, rotating shaft 1 drives driving wheel 14 to revolve under the driving of motor four
Turn, driving wheel 14 be provided with adjustment wheel prescription to rotating mechanism, rotating mechanism includes motor 3 11 and rotating disk 1, motor 3 11
On telescoping mechanism, the output end connection rotating disk 1 of motor 3 11, motor 4 17 is arranged on rotating disk.Rotating mechanism can
To adjust the direction of driving wheel according to the instruction of controlling organization one, because wheel group is built-in in track, driving wheel is rotating
Adjustment is put to track can also follow adjustment direction together, so as to realize that clean robot group commutates in the presence of mechanism.
Jack includes support meanss and rotating device one, and rotating device one is arranged in support meanss, rotating device
One energy rotating, realizes the folding and unfolding of track；Rotating device one includes driving motor 5 26 and rotating shaft 2 25, the output end of motor 5 26
Connection rotating shaft；The support meanss 24 include left socle 242 and right support 241, and rotating shaft is arranged on left socle 242 and right support
On 241, provided with the baffle plate 27 that track 5 is crispaturaed neat is made, rotating shaft 2 25 is provided with detection and turned for left socle 242 and right support 241
The how many sensor of the upper rail of axle 2 25, sensor can be pressure sensor.
Cleaning mechanism includes water tank 301, connects the flusher 302 and swab 303 of water tank, water tank 301 and scouring
Device 303 is arranged on base apparatus；The front and rear of flusher 302 is fitted with swab 303, with clean robot group
Before the direction of 100 walkings is, the swab 303 after flusher 302 works, and the swab 303 before flusher 302 is not busy
Put；Water tank 301 is divided into cleaning agent case and Sewage treatment case, and cleaning agent case is connected with flusher 302, Sewage treatment case and wiping
Cleaning device 303 is connected, and is provided with waste water recovery pipe in swab 303, and the pump in Sewage treatment case can be by swab 303
Waste water recovery pipe the Sewage treatment on swab 303 into waste water tank；Swab 303 includes support 1, stretched
Contracting mechanism 5 3031, turning device 1 and scrubber 3033, the one end of support 1 are arranged on chassis 3, one end connection
Telescoping mechanism 5 3031, turning device 1 is arranged on telescoping mechanism 5 3031, during cleaning, telescoping mechanism five
3031 ceaselessly elongation shortenings, drive scrubber 3033 back to move, glass curtain wall are come by turning device 1
Return cleaning；Turning device 1 includes expansion bend 3 30321 and motor 6 30322, and expansion bend 3 30321 passes through motor six
30322 output shaft is hinged on telescoping mechanism 5 3031；During cleaning, controlling organization is for a moment according to glass curtain wall
The length of gradient automatic regulation telescopic unit three and pass through what motor 6 30322 controlled expansion bend 3 30321 with respect to glass curtain wall
Angle；One end connection motor seven 3035 of the expansion bend 3 30321 away from telescoping mechanism 5 3031, the output shaft of motor 7 3035 connect
Scrubber 3033 is connect, the liquid level sensor of detection liquid level is installed, water tank 301 and flusher 302 lean on magnetic valve in water tank 301
Control break-make.
Safety device includes suspension apparatus 35, and suspension apparatus is slidably connected on track 2 36, it is characterised in that suspention dress
Put and hoisting mechanism and power set with safety rope 37 are installed with 35, power set are hoisting mechanism and whole suspention
Device provides power, and the free-end of the safety rope 37 on hoist engine stretches out the bottom of suspension apparatus 35, and with cleaning robot group
It is fixedly connected, the junction of safety rope 37 and the bottom of suspension apparatus 35 is provided with from device of bursting, and from bursting, device is fixedly mounted on suspention
The bottom of device 35, locked portion 38 is fixedly connected with from device of bursting, locked portion is provided with perforation, and safety rope 37 passes through locked portion
Perforation on 38, when safety rope 37 exceedes setting value to the pressure of perforation, from bursting, device holds locked peace tightly by locked portion 38
Full rope 37.
When being that cleaning robot group 100 drops downwards when the lowering velocity of safety rope 37 exceedes fixing speed, safety rope
The pressure increase of 37 pairs of perforation, when pressure reaches when bearing pressure of design, from bursting, device holds locked peace tightly by locked portion 38
Full rope 37, and then the further decentralization of safety rope 37 is prevented, thus, successfully prevent dropping for cleaning robot group 100.
Clean robot group has the wheel mechanism that three row are set up in parallel, and each column wheel group corresponds to a track 4, at work, extremely
Rare two row wheel group is pressed on glass curtain wall by track 4.Position corresponding to three tracks of clean robot group be respectively A, B,
C, when track 4 needs to crispatura corresponding to B location, the expansion bend 1 and expansion bend of the wheel group corresponding to the track 4 of B location
2 122 synchronous shortenings, because wheel group is built-in in track 4, track is together lifted, the under tension of adsorbing mechanism 16, from
Depart from glass curtain wall, during clean robot group 100 is advanced, the adsorbing mechanism of track 4 is constantly pulled up, when whole
When the adsorbing mechanism of bar track 4 is all in unadsorbed state, the motor 5 26 of jack is inverted, and track 4 is turned again to preceding
In the rotating shaft 2 25 for laying the clean robot of track 4, to meet that next step track 4 continues to lay.
If clean robot group is traversing to the right, controlling organization one first controls the wheel group corresponding to the track 4 of location A
Expansion bend 1 and the synchronous shortening of expansion bend 2 122, because wheel group is built-in in track 4, track is together lifted, and is inhaled
Random structure under tension, departs from from glass curtain wall, during clean robot group is advanced, the adsorbing mechanism quilt of track 4
Constantly pull up, when the adsorbing mechanism of whole piece track 4 is all in unadsorbed state, controlling organization one controls the track 4 of location A
The forward or reverse of motor 1 of corresponding wheel group, the output end connection guide spiro rod 1 of motor 1 rotate, moved so as to pass through
Motion block 1 controls guide rail 5 to move right, and telescoping mechanism 3 19 can elongate or shorten, to coordinate the movement of guide rail 5；Work as turbine
After structure is laterally moved to A1 positions, telescoping mechanism 1, which can extend, makes wheel group pressure in orbit, the rotation of the controlled motor 28 of controlling organization one
Turn, so as to drive guide spiro rod 2 10 to rotate, guide spiro rod drives chassis 3 to move by movable block two, so as to realize cleaner
Device people's is traversing to the right, and during this period, telescoping mechanism 4 18 elongates or shortens, whole so as to realize to coordinate the movement on chassis 3
Clean robot group it is traversing.
When glass curtain wall edge is arrived in the cleaning of clean robot group, clean robot group is first traversing and then commutates, Ran Hourang
Originally now become in the clean robot of preceding laying track in after-contraction rail set, originally in the clear of rear folding and unfolding rail set
Clean robot is now become in preceding laying rail set, and the commutation of clean robot group is convenient and swift, can greatly improve cleaning efficiency
It can be carried out carrying out the change of cleaning route.
Camera is housed on clean robot, checked whether preceding clean robot is cleaned totally, if do not cleaned
Totally, can be cleaned again in rear clean robot, to reach clean, preceding clean robot is posterior in preceding cleaning
Clean robot is cleaned again when checking unclean in the cleaning of preceding clean robot somewhere for sordid place,
Do not have to clean back and forth in preceding clean robot, greatly improve cleaning efficiency.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that：Including rail set, cleaning machine
People's group and safety device, rail set can be adsorbed on glass curtain wall, clean robot group（100）Rail set it is up walk,
Safety device prevents clean robot group and rail set from dropping；The clean robot group（100）Can be with traversing, cleaning machine
People's group（100）Including two clean robots（1）, the both ends of rail set are connected to clean robot（1）Upper realization pair
The folding and unfolding of rail set.
2. it is as claimed in claim 1 it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that it is described
Rail set includes track（4）And adsorbing mechanism（16）, track（4）Length direction on be equably disposed with some adsorbing mechanisms
（16）, adsorbing mechanism（16）Can be track（4）Absorption is on glass curtain wall；The adsorbing mechanism（16）Including sucker（161）With
Seal（162）, work as seal（162）Relative to sucker（161）When moving inward, sucker（161）In adsorbed state, when close
Sealing（162）Relative to sucker（161）When being displaced outwardly, sucker（161）In non-adsorbed state.
3. it is as claimed in claim 1 it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that it is described
Clean robot includes transversely movable base apparatus, jack, wheel mechanism, battery one on base apparatus
（20）, controlling organization one（21）, cleaning mechanism（30）And propeller（28）, jack can be to rail set progress folding and unfolding, wheel
Mechanism can be traversing with respect to base apparatus, propeller（28）Normal pressure of the clean robot to track, cleaning mechanism can be increased（30）
Glass curtain wall can be cleaned.
4. it is as claimed in claim 3 it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that it is described
Base apparatus includes chassis（3）With transverse-moving mechanism two, transverse-moving mechanism two can drive chassis（3）Relative wheel mechanism transverse shifting, bottom
Disk（3）It is provided with guide part（3002）, can allow rail set it is smooth be transitioned into wheel mechanism from jack.
5. it is as claimed in claim 4 it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that it is described
Transverse-moving mechanism two includes movable block two（3003）, guide spiro rod two（10）, motor two（8）With telescoping mechanism three（19）, telescopic machine
Structure three（19）In wheel mechanism, motor two（8）Installed in telescoping mechanism three（19）On, motor two（8）Output end connection
Guide spiro rod two（10）One end, guide spiro rod two（10）Other end connection mobile two（33）, movable block two（3003）Company
Socket part two（331）On chassis, motor two（8）Guide spiro rod two can be driven（10）Rotation passes through movable block two（3003）Move
Dynamic chassis, telescoping mechanism three（19）Can with wheel group it is traversing when, elongate or shorten.
6. it is as claimed in claim 3 it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that it is described
Taking turns mechanism includes wheel group, telescoping mechanism one（12）With transverse-moving mechanism one, telescoping mechanism one（12）Energy driven wheel group vertical shift, it is horizontal
The energy driven wheel group transverse shifting of telephone-moving structure one, the transverse-moving mechanism one include guide rail（5）And move portion, guide rail（5）The bottom of installed in
On disk device, move portion can drive guide rail（5）It is traversing on base apparatus；Move portion includes being located at guide rail（5）On movable block
One（52）, guide spiro rod one（6）, motor one（7）With telescoping mechanism four（18）, telescoping mechanism four（18）Connecting portion one（181）
On base apparatus, motor one（7）Installed in telescoping mechanism four（18）On, guide spiro rod one（6）One end connection motor
One（7）Output end, the other end connection movable block one（52）, when motor one（7）Drive guide spiro rod one（6）Rotation, guide rail（5）
Moved on chassis；Wheel group includes driving wheel（14）And driven pulley（13）, telescoping mechanism one（12）Including expansion bend one（121）With
Expansion bend two（122）, expansion bend one（121）Driving wheel vertical shift, expansion bend two can be driven（122）Driven pulley can be driven vertical
It is mobile, motor four（17）Output end connection connection rotating shaft one（9）, rotating shaft one（9）In motor four（17）Driving under, drive master
Driving wheel（14）Rotation.
7. it is as claimed in claim 3 it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that it is described
Cleaning mechanism includes water tank（301）, connection water tank flusher（302）And swab（303）, water tank（301）And scouring
Device（303）On base apparatus.
8. it is as claimed in claim 7 it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that it is described
Flusher（302）Front and rear be fitted with swab（303）, with clean robot group（100）Before the direction of walking is, spray
Spill device（302）Swab afterwards（303）Work, flusher（302）Preceding swab（303）It is idle.
9. it is as claimed in claim 7 it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that it is described
Water tank（301）It is divided into cleaning agent case and Sewage treatment case, cleaning agent case and flusher（302）Be connected, Sewage treatment case and
Swab（303）It is connected, swab（303）In be provided with waste water recovery pipe, the pump in Sewage treatment case, which can pass through, cleans dress
Put（303）In waste water recovery pipe swab（303）On Sewage treatment into waste water tank；Swab（303）Including
Support one（3034）, telescoping mechanism five（3031）, turning device one（3032）And scrubber（3033）, support one（3034）One end
On base apparatus, one end connection telescoping mechanism five（3031）, turning device one（3032）Installed in telescoping mechanism five
（3031）On, during cleaning, telescoping mechanism five（3031）Ceaselessly elongation is shortened, and passes through turning device one（3032）Band
Dynamic scrubber（3033）Back move, glass curtain wall is cleared up back and forth, turning device one（3032）Including expansion bend three
（30321）With motor six（30322）, expansion bend three（30321）Pass through motor six（30322）Output shaft be hinged on telescoping mechanism
Five（3031）On；During cleaning, controlling organization is for a moment according to the length of the gradient automatic regulation telescopic unit three of glass curtain wall
It is short and pass through motor six（30322）Control expansion bend three（30321）With respect to the angle of glass curtain wall.
10. it is as claimed in claim 1 it is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that it is described
Safety device includes suspension apparatus（35）, suspension apparatus is slidably connected at track two（36）On, it is characterised in that suspension apparatus
（35）Inside it is installed with safety rope（37）Hoisting mechanism and power set, power set are hoisting mechanism and whole outstanding
Device for hoisting provides power, the safety rope on hoist engine（37）Free-end stretch out suspension apparatus（35）Bottom, and and cleaning machine
Device people's group is fixedly connected, safety rope（37）With suspension apparatus（35）The junction of bottom is provided with from device of bursting, and from bursting, device is fixed
Installed in suspension apparatus（35）Bottom, from burst device on be fixedly connected with locked portion（38）, locked portion is provided with perforation, safety
Rope（37）Through locked portion（38）On perforation, work as safety rope（37）When exceeding setting value to the pressure of perforation, from bursting, device leads to
Cross locked portion（38）Hold locked safety rope tightly（37）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710902207.1A CN107468178A (en) | 2017-09-29 | 2017-09-29 | It is a kind of can clean again can be traversing glass curtain wall cleaning systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710902207.1A CN107468178A (en) | 2017-09-29 | 2017-09-29 | It is a kind of can clean again can be traversing glass curtain wall cleaning systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107468178A true CN107468178A (en) | 2017-12-15 |
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ID=60604711
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710902207.1A Withdrawn CN107468178A (en) | 2017-09-29 | 2017-09-29 | It is a kind of can clean again can be traversing glass curtain wall cleaning systems |
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| CN (1) | CN107468178A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199214A (en) * | 2018-11-07 | 2019-01-15 | 邯郸市肥乡春厂电子科技有限公司 | A kind of glass curtain wall cleaning device |
| CN110775177A (en) * | 2018-07-25 | 2020-02-11 | 波音公司 | Gravity compensation for self-propelled robotic vehicles that crawl on non-horizontal surfaces |
-
2017
- 2017-09-29 CN CN201710902207.1A patent/CN107468178A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775177A (en) * | 2018-07-25 | 2020-02-11 | 波音公司 | Gravity compensation for self-propelled robotic vehicles that crawl on non-horizontal surfaces |
| CN110775177B (en) * | 2018-07-25 | 2023-08-25 | 波音公司 | Gravity compensation of self-propelled robotic vehicles crawling on non-horizontal surfaces |
| CN109199214A (en) * | 2018-11-07 | 2019-01-15 | 邯郸市肥乡春厂电子科技有限公司 | A kind of glass curtain wall cleaning device |
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Application publication date: 20171215 |
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