CN107773145A - A kind of glass curtain wall cleaning machine device people - Google Patents
A kind of glass curtain wall cleaning machine device people Download PDFInfo
- Publication number
- CN107773145A CN107773145A CN201711099078.3A CN201711099078A CN107773145A CN 107773145 A CN107773145 A CN 107773145A CN 201711099078 A CN201711099078 A CN 201711099078A CN 107773145 A CN107773145 A CN 107773145A
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- CN
- China
- Prior art keywords
- curtain wall
- main frame
- glass curtain
- cleaning
- cleaning machine
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- Cleaning By Liquid Or Steam (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of glass curtain wall cleaning machine device people, main frame including being built-in with drive device and controller, drive device is electrically connected with the controller, and the main frame is provided with a plurality of pedipulator driven by drive device towards the side of glass curtain wall, and pedipulator end is equipped with sucker；The a plurality of mechanical arm driven by drive device is additionally provided with the main frame, hairbrush, perching knife, colloid scraper and camera are installed in the mechanical arm end respectively, and the camera signals are connected to controller；The main frame is additionally provided with multiple propellers backwards to the side of glass curtain wall.Pass through sucker and pedipulator, robot can on glass curtain wall vertically and horizontally walking, across the vertical and horizontal stop barrier on glass, to complete the cleaning of glass curtain wall, robot can be attached on glass curtain wall by propeller when sucker loosens or inhales not tight by carrying on the back thrust, improve security performance；And it can effectively improve cleaning quality by triple cleanings of hairbrush, perching knife and rubber scraper.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot for glass curtain wall cleaning.
Background technology
At present, the cleaning of glass curtain wall is careless slightly that safety just occurs mainly by being accomplished manually on skyscraper
Accident, then people increasingly tend to carry out the washing and cleaning operation of high-altitude glass curtain wall using high-altitude cleaning machine people, but show
Some cleaning robots tend not to reach preferable effect in cleaning, clear the shortcomings of not washing clean be present, and in power not
Easily dropped when Ji or failure, bring potential safety hazard；Therefore, it is necessary to existing cleaning robot is improved with it is excellent
Change.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of robot for glass curtain wall cleaning, clear to improve
Detergent degree and security.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of glass curtain wall cleaning machine device people, including the main frame of drive device and controller is built-in with, drive device and control
Device electrical connection processed, the main frame are provided with a plurality of pedipulator driven by drive device, pedipulator end towards the side of glass curtain wall
End is equipped with sucker；The a plurality of mechanical arm driven by drive device is additionally provided with the main frame, the mechanical arm end is installed respectively
Hairbrush, perching knife, colloid scraper and camera, the camera signals are connected to controller；The main frame is backwards to glass curtain wall
Side is additionally provided with multiple propellers.
Also include winch truck, the main frame is connected on winch truck by least two hawsers, and the winch truck is provided with
Winding plant, the hawser pass through winding plant folding and unfolding；It is also associated with receiving by winding plant between the main frame and winch truck
The service cable and signal cable put.
The main frame is built with water tank and water pump, and water pump is connected to hairbrush or perching knife along mechanical arm by water pipe or colloid is scraped
Knife.
The winch truck is provided with the water-supply-pipe by winding plant synchronization folding and unfolding, and the water-supply-pipe is connected in main frame
Water tank.
The main frame built with cleaning agent case and cleaning pump, cleaning pump by cleaning agent pipe along mechanical arm be connected to hairbrush or
Perching knife or colloid scraper.
The winch truck is provided with the cleaning fluid conveying pipeline by winding plant synchronization folding and unfolding, and the cleaning fluid conveying pipeline connects
The cleaning agent case being connected in main frame.
The main frame is built with the remote control signal receiver being connected with controller signals.
Beneficial effects of the present invention：By sucker and pedipulator, robot can on glass curtain wall vertically and horizontally walking, across glass
Vertical and horizontal stop barrier on glass, to complete the cleaning of glass curtain wall, propeller provides a back of the body thrust cooperating, it is ensured that
Its security walked, so as to which robot is attached on glass curtain wall by carrying on the back thrust when sucker loosens or inhales not tight；And lead to
Cross hairbrush and carry out that general cleaning and wiping is removed, perching knife removes obstinate stain and rubber scraper and scrapes the water mark after cleaning, it is such triple
Cleaning can effectively improve cleaning quality；In addition, camera can return positioning and wash course in good time, while cleaning is examined to imitate
Fruit, cleaned again in order to judge whether to clean up, whether need, farthest ensure the effect and cleanliness factor of cleaning.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, wherein：
Fig. 1 is the structural representation of the present invention.
Embodiment
Reference picture 1, a kind of glass curtain wall cleaning machine device people of the invention, including it is built-in with the master of drive device and controller
Machine 1, drive device is electrically connected with the controller, and the side of main frame 1 towards glass curtain wall is surrounded by eight and driven by drive device
Pedipulator 11, i.e., per side be provided with two, the end of pedipulator 11 is equipped with sucker 12, is also equipped with cleaning device on main frame 1, passes through
Sucker 12 can inhale main frame 1 on glass curtain wall, and so that cleaning device cleans glass curtain wall, pedipulator 11 can be in vertical glass
Vertical and horizontal are walked on glass curtain wall, be may span across the vertical and horizontal stop barrier on glass curtain wall, are moved integrally, so as to clear
Continue to clean other regions after washing at one, in addition, cleaning path can be inputted in controller in advance, so that robot is according to clear
Wash path movement and cleaning.
Specifically, built with vavuum pump, vavuum pump could be arranged to eight and corresponded with sucker 12 main frame 1, and
Respectively by connect tracheae be connected to corresponding to sucker 12 carry out independent air-breathing, it can also be provided that one, and pass through eight companies
Trachea is connected to all suckers 12 and carries out unified air-breathing control, and magnetic valve, the vavuum pump are equipped with each connection tracheae
Controller is connected to solenoid signal.Vavuum pump and magnetic valve is controlled easily to realize that main frame 1 is each by controller
The inner side of sucker 12 of side vacuumizes so that it is firmly sucked on glass curtain wall, so as to carry out the cleaning of glass curtain wall and
Reposition after movement；Pressure sensor is equipped with each sucker 12, pressure sensor is connected with controller signals,
Vavuum pump or magnetic valve are just closed after the negative pressure as little as arranges value that pressure sensor detects when inhaling vacuum, to ensure that sucker 12 has
Enough negative-pressure suckings, tight curtain wall of inhaling ensure robot security's operation, avoid suction deficiency and come off.
Preferably, the main frame 1 is provided with four propellers 3 backwards to the side of glass curtain wall, the propeller 3 by mounted in
Four motors in main frame 1 are driven respectively, and the motor is electrically connected with the controller, and three-axis gyroscope is additionally provided with the main frame 1,
Three-axis gyroscope is connected with controller signals.Effect and the cooperating of sucker 12 are pushed away by the back of the body of propeller 3, robot integrally obtains
To be firmly attached on glass curtain wall, be convenient for cleaning, effectively prevent from dropping, improve robot security and
Reliability；Three-axis gyroscope is used for perceiving the balanced degree of robot and signal is sent into controller, then by controller
The computing of portion's program produces the rotating speed that control signal carrys out four propellers in control main frame 1, to maintain the balance of whole robot.
Further, it is also possible to which three-axis gyroscope is replaced by into six axle gyroscopes, to realize unmanned plane function, robot is transformed into nobody
Machine, to carry out high-altitude flight and clean in place.The remote control signal receiver dress being connected with controller signals is also equipped with main frame 1
Put, it is convenient and swift to carry out the switching of procedure auto-control and manual control at any time.
As the further improvement of above-mentioned technical proposal, also a winch truck 2 can be fixed in top of building, main frame 1 is logical
Two hawsers 21 to be crossed to be connected on winch truck 2, winch truck 2 is provided with winding plant, and hawser 21 carries out folding and unfolding by winding plant,
Rise synchronous with main frame 1 reduces, and plays safety effect, it is ensured that the safety of robot and the safety of lower section pedestrian；Main frame 1 and winch truck
It is also associated with being connected to driving dress by the service cable 22 and signal cable 23 of winding plant folding and unfolding, service cable 22 between 2
Put and motor, signal cable 23 are connected to controller, can make up what the battery-powered operation time was not grown by service cable 22
Shortcoming, lengthen working hours, improve operating efficiency, and signal is transmitted by signal cable 23, having can avoid being wirelessly connected on
Away from it is too far away when poor signal the problem of, effective anti-stop operation error, safety when ensureing manual control in moving process.
Preferably, the cleaning device includes hairbrush 14, perching knife 15, colloid scraper 16, and four are additionally provided with by driving on main frame 1
The mechanical arm 13 of dynamic device driving, wherein hairbrush 14, perching knife 15, colloid scraper 16 are installed in the end of three mechanical arms 13 respectively,
The cleaning of glass curtain wall is realized by the action of mechanical arm 13, wherein, hairbrush 14 is used to typically clean, wiped, and perching knife 15 is used for
Obstinate stain is removed, rubber scraper 16 is used to scrape the water mark after cleaning；The end of another mechanical arm 13 is provided with camera
17, the signal of camera 17 is connected to controller, passback positioning in good time and wash course, while examines cleaning performance, so as to
In judging whether to clean up, whether need to clean again, farthest ensure the effect and cleanliness factor of cleaning.
Further, the main frame 1 is connected to hairbrush 14 by water pipe built with water tank and water pump, water pump along mechanical arm 13
Or perching knife 15 or colloid scraper 16, so as to the water spray softening stain in cleaning, it is easy to clean, avoids xerotripsis from being not easy to clean up
The problem of, meanwhile, winch truck 2 is provided with the water-supply-pipe 24 by winding plant synchronization folding and unfolding, and water-supply-pipe 24 is connected in main frame 1
Water tank, the distance synchronous folding and unfolding by winding plant according to main frame 1 supplements water into water tank, extends cleaning duration, keep away in time
Exempt from water tank water deficiency and frequently stop；In addition, being also equipped with cleaning agent case and cleaning pump in main frame 1, cleaning pump passes through cleaning agent
Pipe is connected to hairbrush 14 or perching knife 15 or colloid scraper 16 along mechanical arm 13, for cleaning obstinate stain, by adding cleaning agent,
It is to be more prone to make cleaning stubbornness stain, and cleaning speed faster, cleans cleaner, more efficient, time-consuming shorter, meanwhile,
Winch truck 2 is provided with the cleaning fluid conveying pipeline 25 by winding plant synchronization folding and unfolding, and the cleaning fluid conveying pipeline 25 is connected to master
Cleaning agent case in machine 1, so as to the additional clean agent into cleaning agent case in time, extend cleaning duration, avoid because in cleaning agent case
Cleaning agent deficiency and frequently stop or make cleaning performance bad.
The present invention by sucker 12, pedipulator 11 and the cooperating of propeller 3, can on glass curtain wall vertically and horizontally walking, across
Vertical and horizontal stop barrier more on glass, the pressure sensor on sucker 12 can monitor the pressure of sucker 12 in real time, it is ensured that walking
Security；Propeller 3 further ensures its security, can when sucker 12 loosens or inhales not tight automatic start, by the back of the body push away
Robot is attached on glass curtain wall by power；And pass through a variety of cleaning means on multiple mechanical arms 13, the reality of cooperation camera 17
When monitor, can dispose the various spots on glass curtain wall, improve the quality of robot cleaning；In addition hawser 21 further ensures
The security performance of robot, fundamentally effectively prevents it from dropping.
The above embodiments are merely illustrative of the technical solutions of the present invention and is not limited, all without departing from the present invention
Any modification of spirit and scope or equivalent substitution, it all should cover in the range of technical solution of the present invention.
Claims (7)
1. a kind of glass curtain wall cleaning machine device people, including the main frame of drive device and controller is built-in with, drive device and control
Device electrically connects, it is characterised in that：The main frame is provided with a plurality of pedipulator driven by drive device towards the side of glass curtain wall,
Pedipulator end is equipped with sucker；The a plurality of mechanical arm driven by drive device, the mechanical arm end are additionally provided with the main frame
Hairbrush, perching knife, colloid scraper and camera, the camera signals are installed respectively and are connected to controller；The main frame is backwards to glass
The side of glass curtain wall is additionally provided with multiple propellers.
A kind of 2. glass curtain wall cleaning machine device people according to claim 1, it is characterised in that：Also include winch truck, it is described
Main frame is connected on winch truck by least two hawsers, and the winch truck is provided with winding plant, and the hawser passes through elevator
Device folding and unfolding；The service cable and signal cable by winding plant folding and unfolding are also associated between the main frame and winch truck.
A kind of 3. glass curtain wall cleaning machine device people according to claim 2, it is characterised in that：The main frame is built with water tank
And water pump, water pump are connected to hairbrush or perching knife or colloid scraper by water pipe along mechanical arm.
A kind of 4. glass curtain wall cleaning machine device people according to claim 3, it is characterised in that：The winch truck is provided with logical
The water-supply-pipe of winding plant synchronization folding and unfolding is crossed, the water-supply-pipe is connected to the water tank in main frame.
A kind of 5. glass curtain wall cleaning machine device people according to claim 2, it is characterised in that：The main frame is built with cleaning
Agent case and cleaning pump, cleaning pump are connected to hairbrush or perching knife or colloid scraper by cleaning agent pipe along mechanical arm.
A kind of 6. glass curtain wall cleaning machine device people according to claim 5, it is characterised in that：The winch truck is provided with logical
The cleaning fluid conveying pipeline of winding plant synchronization folding and unfolding is crossed, the cleaning fluid conveying pipeline is connected to the cleaning agent case in main frame.
A kind of 7. glass curtain wall cleaning machine device people according to claim 1, it is characterised in that：The main frame built with control
The remote control signal receiver of device signal connection processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711099078.3A CN107773145A (en) | 2017-11-09 | 2017-11-09 | A kind of glass curtain wall cleaning machine device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711099078.3A CN107773145A (en) | 2017-11-09 | 2017-11-09 | A kind of glass curtain wall cleaning machine device people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107773145A true CN107773145A (en) | 2018-03-09 |
Family
ID=61432585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711099078.3A Pending CN107773145A (en) | 2017-11-09 | 2017-11-09 | A kind of glass curtain wall cleaning machine device people |
Country Status (1)
| Country | Link |
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| CN (1) | CN107773145A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108894527A (en) * | 2018-09-03 | 2018-11-27 | 延安大学 | A kind of cleaning device of high-altitude metope |
| CN108894528A (en) * | 2018-09-03 | 2018-11-27 | 延安大学 | A kind of high-altitude glass cleaning machine |
| CN109008768A (en) * | 2018-09-03 | 2018-12-18 | 延安大学 | A kind of cleaning device with sewage recycling |
| CN110074712A (en) * | 2019-05-10 | 2019-08-02 | 浦江县力顶环保设备有限公司 | A kind of Efficient intelligent glass cleaning equipment and its working method |
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| CN208610742U (en) * | 2017-11-09 | 2019-03-19 | 广东豪信激光装备制造有限公司 | A kind of glass curtain wall cleaning machine device people |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108894527A (en) * | 2018-09-03 | 2018-11-27 | 延安大学 | A kind of cleaning device of high-altitude metope |
| CN108894528A (en) * | 2018-09-03 | 2018-11-27 | 延安大学 | A kind of high-altitude glass cleaning machine |
| CN109008768A (en) * | 2018-09-03 | 2018-12-18 | 延安大学 | A kind of cleaning device with sewage recycling |
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| CN110074712A (en) * | 2019-05-10 | 2019-08-02 | 浦江县力顶环保设备有限公司 | A kind of Efficient intelligent glass cleaning equipment and its working method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180309 |
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| RJ01 | Rejection of invention patent application after publication |