CN107495891A

CN107495891A - A kind of clean robot that can be traversing for glass curtain wall cleaning systems

Info

Publication number: CN107495891A
Application number: CN201710902229.8A
Authority: CN
Inventors: 丁伟
Original assignee: Chengdu Iding Industry Product Design Co Ltd
Current assignee: Chengdu Iding Industry Product Design Co Ltd
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2017-12-22

Abstract

The present invention relates to a kind of clean robot that can be traversing for glass curtain wall cleaning systems, including transversely movable base apparatus, jack, wheel mechanism, battery one, controlling organization one, cleaning mechanism and propeller on base apparatus, wheel mechanism includes wheel group, telescoping mechanism one and transverse-moving mechanism one, the energy driven wheel group vertical shift of telescoping mechanism one, transverse-moving mechanism one can driven wheel group transverse shifting；Base apparatus includes chassis and transverse-moving mechanism two, and transverse-moving mechanism two can drive the relative wheel mechanism transverse shifting in chassis；The jack includes support meanss and rotating device one, the energy rotating of rotating device one, realizes the folding and unfolding of track.Clean robot group 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 then reversely walking, convenient and swift, greatly improves cleaning efficiency.

Description

A kind of clean robot that can be traversing for glass curtain wall cleaning systems

Technical field

The invention belongs to cleaning applications, more particularly to a kind of cleaning machine that can be traversing for glass curtain wall cleaning systems People.

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. present invention mainly solves how on smooth glass curtain wall lay track the problem of；

2. also to figure out how to allow laying track length not limited by glass curtain wall height on this basis, clean robot is allowed Group can be used flexibly；

3. also to figure out how to realize the traversing of clean robot group on this basis.

The technical solution adopted by the present invention is as follows：

A kind of clean robot that can be traversing for glass curtain wall cleaning systems, it is characterised in that：Including transversely movable Base apparatus, jack, wheel mechanism, battery one, controlling organization one, cleaning mechanism and spiral on base apparatus Oar, jack can carry out folding and unfolding to track, and wheel mechanism can be traversing with respect to base apparatus, and propeller can increase clean robot pair The normal pressure of track, cleaning mechanism can be cleaned to glass curtain wall.

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 to track There is normal pressure, 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 clear Clean robot is to the pressure of track, and so as to increase pressure of the track to adsorbing mechanism, being advantageous to adsorbing mechanism, preferably absorption exists On glass curtain wall.

Further, clean robot former and later two arrangements on track length direction, form clean robot group, front and rear The jack of two clean robots connects the both ends of track respectively, realizes the folding and unfolding to track；There are adsorbing mechanism, energy on track By track absorption on glass curtain wall, clean robot group is walked in orbit, and glass curtain wall is cleaned, and takes turns mechanism and receipts It is installed above on base apparatus for three to put device.

Clean robot group includes two clean robots, and a clean robot is in preceding laying track and cleans, one Clean robot is in after-contraction track and to being cleaned again in the place that preceding clean robot does not clean up, the length of track Equably be disposed with some adsorbing mechanisms on direction, track is more than three and is arranged in juxtaposition, be equipped with clean robot and Wheel mechanism corresponding to track, wheel group are embedded in orbit, and the corresponding Lie Lun mechanisms of every track, telescoping mechanism one can driven wheel group Vertical shift, the energy driven wheel group transverse shifting of travel mechanism one, when robot group works, at least ensures that two row wheel groups are pressed in track On body, it is preferred that press the maximum center line of two row wheel groups of spacing in orbit and the center of gravity line of clean robot group to intersect, In order to avoid clean robot group is turned on one's side, when certain track needs to crispatura or shift, the wheel group corresponding to track passes through telescoping mechanism One to being moved up, because wheel group is embedded in track, track is together taken up, and adsorbing mechanism is pulled up, and clean robot group is expert at During entering, adsorbing mechanism is ceaselessly pulled up, when the adsorbing mechanism of whole piece track is all in unadsorbed state, in Qian Pu If the clean robot of track body can invert, track body is inverted again and crispaturaed on preceding clean robot, with satisfaction One step track continues to lay；Transverse-moving mechanism one can be with transverse shifting wheel group, after transverse-moving mechanism one completes traversing, transverse-moving mechanism Two transverse shifting chassis, realize clean robot transverse shifting.When needing to be switched to idle trackwork, leave unused track pair By telescoping mechanism one to moving down, track is under pressure the wheel group answered, and adsorbing mechanism is adsorbed on glass curtain wall.

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 transverse-moving mechanism one can driven wheel group transverse shifting.

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.

Further, transverse-moving mechanism one includes guide rail and move portion, and guide rail is arranged on base apparatus, and move portion can drive Guide rail is traversing on base apparatus；Move portion includes movable block one, guide spiro rod one, motor one and the telescopic machine being located on guide rail Structure four, the connecting portion one of telescoping mechanism four are arranged on base apparatus, and motor one is arranged on telescoping mechanism four, guide spiro rod one One end connection motor one output end, the other end connection movable block one, when motor one drive guide spiro rod one rotate, guide rail exists Moved on chassis；Wheel group includes driving wheel and driven pulley, and telescoping mechanism one includes expansion bend one and expansion bend two, the energy of expansion bend one Driving wheel vertical shift is driven, expansion bend two can drive driven pulley vertical shift, and the output end of motor four connects connection rotating shaft one, Rotating shaft one drives driving wheel rotation under the driving of motor four.

Motor one drives guide spiro rod one to rotate, and guide spiro rod one drives guide rail to move by movable block one, so as to drive Wheel group moves, and motor one is can control revolution and the servomotor of direction of rotation, and telescoping mechanism four is electric expansion bar, the bottom of at When disk moves, telescoping mechanism four elongates or shortens, to coordinate the movement on chassis.

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, and can allow Satellite Orbit Smoothing is transitioned into wheel mechanism from jack.

The track of clean robot jack laying by the guide part on chassis, can be smooth from jack transition To wheel group, it is possible to reduce the abrasion of track and track firm adsorbing mechanism, can also allow track more smoothly to lay；Transverse-moving mechanism Two to press wheel group in orbit as the strong point, drive chassis transverse shifting, and what is realized the transverse shifting of clean robot group from, The change of robot group cleaning route convenient for cleaning, cleaning route are more flexible.

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, with the movement of match wheel group.

Further, jack includes support meanss and rotating device one, and rotating device one is arranged in support meanss, The energy rotating of rotating device one, realizes the folding and unfolding of track.

Rotating device one realized the laying to track or crispaturaed, realized and track is recycled by forward or reverse, The use of clean robot group is allowed not limited by glass curtain wall height.

Further, rotating device one includes driving motor five and rotating shaft two, the output connection rotating shaft of motor five；The branch Support arrangement includes left socle and right support, and rotating shaft is arranged on left socle and right support, and left socle and right support, which are provided with, makes rail Road is crispaturaed neat baffle plate, and rotating shaft two is provided with detection rotating shaft two and got on the right track how many sensors.

Track is during folding and unfolding, and controlling organization needs to know the amount that rotating shaft two is got on the right track, when sensor detects paving If the track in the rotating shaft two of the clean robot of track will have been laid, the wheel group corresponding to track moves up, and drives track Move up together, adsorbing mechanism is pulled up, and during clean robot group is carried out, track adsorbing mechanism is constantly pulled out Rise, when the adsorbing mechanism of whole piece track is all in unadsorbed state, motor five inverts, and track turns again to the clear of laying track In clean robot, used for continuing laying.The sensor can be pressure sensing.Track Shang You adsorbing mechanisms mechanism, track Be not easy it is neat crispatura, baffle plate can allow track more neatly smoothly to be crispaturaed in rotating shaft.

Further, cleaning mechanism includes water tank, connects the flusher and swab of water tank, water tank and swab On base apparatus, 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.

Cleaning agent is housed in water tank, flusher and water tank UNICOM, flusher are sprayed onto cleaning agent on glass curtain wall, Then swab is cleaned；The front and rear direction for being fitted with swab, being walked with clean robot group of flusher To be preceding, the swab after flusher works, and the swab before flusher leaves unused；When one route of clean robot group Clean, it is necessary to when reverse, now become to, in after-contraction track, originally exist in the clean robot of preceding laying track originally The clean robot of folding and unfolding track is now become in preceding laying track afterwards, and the swab after flusher was changed into spraying originally Before spilling device, leave unused；Originally now became to after flusher, ran before flusher；The front and rear of flusher is all pacified Equipped with swab, using the direction of clean robot group walking before, the swab after flusher works, before flusher Swab leave unused, after can guarantee that clean robot group is reverse, cleaning mechanism normal operation；It is equipped with and takes the photograph on clean robot As head, check whether preceding clean robot cleans totally, if do not cleaned totally, can be carried out again in rear clean robot Cleaning, to reach clean, in preceding cleaning, posterior clean robot is worked as to be checked in preceding cleaning machine preceding clean robot When the cleaning of people somewhere is not clean, cleaned again for sordid place, do not have to clean back and forth in preceding clean robot, significantly Improve cleaning efficiency.

Further, swab includes support one, telescoping mechanism five, turning device one and scrubber, the one end of support one Installed in base apparatus, one end connection telescoping mechanism five, turning device one is arranged on telescoping mechanism five, in the process of cleaning In, telescoping mechanism five ceaselessly extends shortening, drives scrubber back to move by turning device one, glass curtain wall is come Cleaning is returned, turning device one includes expansion bend three and motor six, and expansion bend three is hinged on telescopic machine by the output shaft of motor six On structure five；During cleaning, controlling organization for a moment according to the length of the gradient automatic regulation telescopic unit three of glass curtain wall with And expansion bend three is controlled with respect to the angle of glass curtain wall by motor six.

During clean robot is walked, scrubber ceaselessly extends shortening, and glass curtain wall is cleaned, can be with Make cleaning area wider, and clean cleaner；Controlling organization one can be according to the gradient of glass curtain wall, automatic regulation telescopic unit three Length and expansion bend three with respect to glass curtain wall angle, realize the cleaning to acclive glass curtain wall.

In summary, the beneficial effects of the invention are as follows：

1. the present invention can lay track travel on smooth glass curtain wall；

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. clean robot group can arbitrarily be walked in former and later two directions, after a cleaning route has cleaned, without turning Head, clean robot group is directly traversing, and then reversely walking, convenient and swift, greatly improves cleaning efficiency；

4. cleaning mechanism can automatically adjust length and angle, acclive glass curtain wall can be cleaned.

Brief description of the drawings

Fig. 1 is glass curtain wall 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 jack；

Fig. 6 is the traversing process schematic of robot group；

Fig. 7 is the schematic diagram of rail set；

Fig. 8 is the schematic diagram that driving wheel and track turn are matched somebody with somebody.

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- Telescoping 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, 53034- Support one, 3035- motors seven.

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 a kind of clean robot that can be traversing for glass curtain wall cleaning systems, including can laterally move Dynamic base apparatus, jack, wheel mechanism, battery 1, controlling organization 1, cleaning mechanism on base apparatus 30 and propeller 28, jack can carry out folding and unfolding to track, and wheel mechanism can be traversing with respect to base apparatus, and propeller 28 can increase Clean robot can be cleaned to the normal pressure of track, cleaning mechanism 30 to glass curtain wall.

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.

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 3003 of guide spiro rod 2 10 are mobile The connecting portion 2 30031 of block 2 3003 is arranged on chassis, and motor 28 can drive the rotation of guide spiro rod 2 10 to pass through movable block two 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, because wheel group is built-in in track, driving wheel is in whirler Adjustment is put to track can also follow adjustment direction together, so as to realize that clean robot group commutates in the presence of structure.

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 chassis 3；The front and rear of flusher 302 is fitted with swab 303, with the row of clean robot group 100 Before the direction walked is, the swab 303 after flusher 302 works, and the swab 303 before flusher 302 is idle；Water Case 301 is divided into cleaning agent case and Sewage treatment case, and cleaning agent case is connected with flusher 302, and Sewage treatment case and scouring fill Put 303 to be connected, be provided with waste water recovery pipe in swab 303, the pump in Sewage treatment case can pass through giving up in swab 303 Water Sproading pipe is the Sewage treatment on swab 303 into waste water tank；Swab 303 includes support 1, telescopic machine Structure 5 3031, turning device 1 and scrubber 3033, the one end of support 1 are arranged on chassis 3, and one end connection is flexible Mechanism 5 3031, turning device 1 is arranged on telescoping mechanism 5 3031, during cleaning, telescoping mechanism 5 3031 Ceaselessly elongation is shortened, and drives scrubber 3033 back to move by turning device 1, glass curtain wall is carried out clear back and forth Reason；Turning device 1 includes expansion bend 3 30321 and motor 6 30322, and expansion bend 3 30321 passes through motor 6 30322 Output shaft be hinged on telescoping mechanism 5 3031；During cleaning, controlling organization is for a moment according to the gradient of glass curtain wall The length of automatic regulation telescopic unit three and the angle that the relative glass curtain wall of expansion bend 3 30321 is controlled by motor 6 30322； One end connection motor seven 3035 of the expansion bend 3 30321 away from telescoping mechanism 5 3031, the output axis connection of motor 7 3035 are wiped Device 3033 is washed, the liquid level sensor of detection liquid level is installed, water tank 301 and flusher 302 lean on solenoid valve control in water tank 301 Break-make.

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 first controls stretching for the wheel group corresponding to the track 4 of location A Contracting device 1 and the synchronous shortening of expansion bend 2 122, because wheel group is built-in in track 4, track is together lifted, absorption Mechanism under tension, departs from from glass curtain wall, and during clean robot group is advanced, the adsorbing mechanism of track 4 is not by Disconnected pulls up, when the adsorbing mechanism of whole piece track 4 is all in unadsorbed state, controlling organization control location A track 4 pair The forward or reverse of motor 1 for the wheel group answered, the output end connection guide spiro rod 1 of motor 1 rotates, so as to pass through movable block One 52 control guide rails 5 move right, and telescoping mechanism 3 19 can elongate or shorten, to coordinate the movement of guide rail 5；When wheel, mechanism is horizontal After moving on to A1 positions, telescoping mechanism 1, which can extend, makes wheel group pressure in orbit, the rotation of controlling organization controlled motor 28, from And driving guide spiro rod 2 10 to rotate, guide spiro rod drives chassis 3 to move by movable block two, from clean robot group to the right Traversing, during this period, telescoping mechanism 4 18 elongates or shortens, to coordinate the movement on chassis 3, so as to realize whole clean robot That organizes 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

A kind of 1. clean robot that can be traversing for glass curtain wall cleaning systems, it is characterised in that：Including can transverse shifting Base apparatus, jack on base apparatus, wheel mechanism, battery one（20）, controlling organization one（21）, cleaner Structure（30）And propeller（28）, jack can be to track progress folding and unfolding, and 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.
2. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 1, its feature exist In the clean robot（1）In track（4）Former and later two are arranged on length direction, form clean robot group（100）, it is preceding Two clean robot afterwards（1）Jack connect track respectively（4）Both ends, realize the folding and unfolding to track；There is suction on track Random structure, track can be adsorbed on glass curtain wall, clean robot group is walked in orbit, and glass curtain wall is cleaned, It is three installed above on base apparatus to take turns mechanism and draw off gear.
3. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 1, its feature exist In the wheel mechanism includes wheel group, telescoping mechanism one（12）With transverse-moving mechanism one, telescoping mechanism one（12）Energy driven wheel group is vertical Mobile, transverse-moving mechanism one can driven wheel group transverse shifting.
4. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 3, its feature exist In the transverse-moving mechanism one includes guide rail（5）And move portion, guide rail（5）On base apparatus, 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 move Motion block one（52）, when motor one（7）Drive guide spiro rod one（6）Rotation, guide rail（5）Moved on chassis；Wheel group is included actively 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 vertical shift, motor four can be driven（17）Output End connection connection rotating shaft one（9）, rotating shaft one（9）In motor four（17）Driving under, drive driving wheel rotation.
5. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 1, its feature exist In the base apparatus includes chassis（3）With transverse-moving mechanism two, transverse-moving mechanism two can drive chassis（3）Relative wheel mechanism is horizontal It is mobile, chassis（3）It is provided with guide part（3002）, can allow Satellite Orbit Smoothing is transitioned into wheel mechanism from jack.
6. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 5, its feature exist In the transverse-moving mechanism two includes movable block two（3003）, guide spiro rod two（10）, motor two（8）With telescoping mechanism three（19）, Telescoping mechanism 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（3003）, movable block two （3003）Connecting portion two（30031）On chassis, motor two（8）Guide spiro rod two can be driven（10）Rotation passes through movement Block two（3003）Mobile chassis, telescoping mechanism three（19）Can with wheel group it is traversing when, elongate or shorten.
7. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 1, its feature exist In the 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.
8. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 7, its feature exist In the rotating device one includes driving motor five（26）With rotating shaft two（25）, motor five（26）Output connection rotating shaft；It is described Support meanss（24）Including left socle（242）And right support（241）, rotating shaft is arranged on left socle（242）And right support（241） On, left socle（242）And right support（241）Being provided with makes track（5）Crispatura neat baffle plate（27）, rotating shaft two（25）It is provided with Detect rotating shaft two（25）Get on the right track how many sensors.
9. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 1, its feature exist In the cleaning mechanism includes water tank（301）, connection water tank flusher（302）And swab（303）, water tank（301） And swab（303）On base apparatus, flusher（302）Front and rear be fitted with swab（303）, with clear Clean robot group（100）Before the direction of walking is, flusher（302）Swab afterwards（303）Work, flusher （302）Preceding swab（303）It is idle.
10. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 9, its feature exist In the swab（303）Including support one（3034）, telescoping mechanism five（3031）, turning device one（3032）And scouring Device（3033）, support one（3034）One end is arranged 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, Pass through turning device one（3032）Drive 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）'s Output shaft is hinged on telescoping mechanism five（3031）On；During cleaning, controlling organization is for a moment according to the gradient of glass curtain wall The length of automatic regulation telescopic unit three and pass through motor six（30322）Control expansion bend three（30321）With respect to glass curtain wall Angle.