CN108500999B - Automatic handrail area cleaning machines people of elevator - Google Patents
Automatic handrail area cleaning machines people of elevator Download PDFInfo
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- CN108500999B CN108500999B CN201810631253.7A CN201810631253A CN108500999B CN 108500999 B CN108500999 B CN 108500999B CN 201810631253 A CN201810631253 A CN 201810631253A CN 108500999 B CN108500999 B CN 108500999B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 53
- 239000004744 fabric Substances 0.000 claims description 13
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B31/00—Accessories for escalators, or moving walkways, e.g. for sterilising or cleaning
- B66B31/02—Accessories for escalators, or moving walkways, e.g. for sterilising or cleaning for handrails
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Escalators And Moving Walkways (AREA)
- Cleaning In General (AREA)
Abstract
本发明提供一种电梯自动扶手带清洗机器人，包括控制箱、整机外壳、提升导轨、提升丝杆、上下活动块、平移丝杆等。夹紧部分包括夹紧丝杆、夹紧块、夹紧导轨、夹紧电机等，清洗部分包括平移活动块、上下摆动臂、电缸圆盘、电缸、缓冲弹簧、正刷架、侧刷架、刷头底座、刷架轴、侧刷架连接件、刷头电机、旋转电机等。其采用一个整机外壳作为整个装置的外壳，整个装置安装有一个夹紧装置，两个清洗装置，清洗装置可以沿着提升丝杆和水平丝杆上下移动，待夹紧装置把整机夹紧在扶梯上后，通过清洗装置对扶手带进行清洗。
The invention provides an elevator automatic handrail cleaning robot, which includes a control box, a complete machine casing, a lifting guide rail, a lifting screw, an upper and lower movable block, a translation screw and the like. The clamping part includes clamping screw, clamping block, clamping guide, clamping motor, etc. The cleaning part includes translation movable block, up and down swing arm, electric cylinder disc, electric cylinder, buffer spring, positive brush holder, side brush Frame, brush head base, brush frame shaft, side brush frame connector, brush head motor, rotating motor, etc. It adopts a whole machine shell as the shell of the whole device. The whole device is equipped with a clamping device and two cleaning devices. The cleaning device can move up and down along the lifting screw and the horizontal screw, and the whole machine is clamped by the clamping device. After being on the escalator, the handrail is cleaned by the cleaning device.
Description
Technical Field
The invention relates to the technical field of elevators, in particular to an automatic handrail belt cleaning robot for an elevator.
Background
With the increase of the number of escalators worldwide and China, nowadays, the cleaning of the handrail belt is mainly completed manually, a large amount of manpower is needed for cleaning the handrail belt, and in order to liberate the manpower and accelerate the cleaning speed of the handrail belt, an automatic handrail belt cleaning robot for an elevator is urgently needed to be designed. Currently, in relation to the design of a handrail belt cleaning device for an escalator, for example, patent application No. CN201620062550.0 discloses a handrail belt cleaning device, which is designed to clean a handrail belt, but only passively arranged on the handrail belt, is a passive machine, cannot clean the handrail belt in all directions, and lacks of sufficient freedom of movement; for example, patent No. CN201320895049.9 discloses a handrail belt cleaning device for an escalator, which uses a cleaning wheel to clean the handrail belt, and also has the problem of incomplete cleaning.
Disclosure of Invention
The invention provides an automatic handrail belt cleaning robot for an elevator, which adopts a whole machine shell as a shell of the whole device, the whole device is provided with a clamping device and two cleaning devices, the cleaning devices can move up and down along a lifting screw rod and a horizontal screw rod, and after the clamping devices clamp the whole machine on an escalator, the handrail belt is cleaned through the cleaning devices.
The technical scheme adopted by the invention is as follows: an automatic handrail belt cleaning robot for an elevator comprises a control box, a whole machine shell, a lifting motor, a lifting lead screw frame, a lifting guide rail, a lifting lead screw, an upper movable block, a lower movable block, a translation lead screw, a translation motor, a clamping part and a cleaning part; the clamping part comprises a clamping motor, a clamping screw rod, a clamping block, a clamping guide rail, a clamping motor frame and a clamping coupling, the cleaning part comprises a translational movable block, an upper swing arm, a lower swing arm, a rotating motor, a bevel gear a, a bevel gear b, a rotating gear a, a rotating gear b, a gear shaft, a rotating shaft, an electric cylinder disc, an electric cylinder, a buffer spring and a spring bearing seat, the brush head comprises a positive brush cloth, a positive brush frame, a side brush cloth, a brush head base, a bearing cover, a brush frame shaft, a side brush frame connecting piece, a brush frame gear, a motor gear, a brush head motor, a first gear shaft, a second gear shaft, a rotating gear, a rotating bevel gear, a rotating motor and a rotating motor frame, wherein a lifting motor is connected with a lifting lead screw frame; the washing part is characterized in that a translation movable block of the washing part is connected with an upper movable block and a lower movable block, a rotating motor frame is fixedly connected on the translation movable block, a rotating motor is arranged on the rotating motor frame, one rotating bevel gear is arranged on the rotating motor, the other rotating bevel gear is arranged on a second gear shaft, the other rotating bevel gear is arranged on a first gear shaft, the first gear shaft and the second gear shaft are respectively connected on the translation movable block through bearings, a bearing cover is fixedly connected on the translation movable block, the upper swinging arm and the lower swinging arm are fixedly connected with a first gear shaft, a rotating motor is fixedly connected with the upper swinging arm and the lower swinging arm, the rotating motor is connected with a bevel gear a, the bevel gear b is fixedly connected with a rotating gear b; the rotating gear a is meshed with the rotating gear b; the brush head motor is fixedly connected to the brush head base, a motor gear is fixedly connected with the brush head motor, a brush holder gear is fixedly connected with a brush holder shaft, a brush holder gear is meshed with the motor gear, a side brush holder connecting piece is fixedly connected with the brush holder shaft, a side brush holder connecting piece is fixedly connected with a side brush holder, a front brush holder is fixedly connected with the brush holder shaft, side brush cloth is installed on the side brush holder, and the front brush cloth is installed on the front brush holder; a clamping motor of the clamping part is connected with a clamping screw rod through a coupler, the clamping motor is fixedly connected with the whole machine shell through a clamping motor frame, one end of a clamping guide rail is fixedly connected with the clamping motor frame, a clamping block is slidably arranged on the clamping guide rail, and the clamping block is connected with the clamping screw rod through threads; the cleaning part is arranged on the upper movable block and the lower movable block, the two cleaning parts are symmetrically distributed about the handrail belt, and the cleaning part can move up and down along the lifting guide rail and can also move back and forth along the grooves of the upper movable block and the lower movable block.
Furthermore, a lifting motor, a clamping motor, a translation motor, a rotation motor, an electric cylinder, a brush head motor and a rotation motor are controlled by a control box.
The working principle of the invention is as follows: the device is clamped on the escalator by using the clamping block, and the cleaning part can realize the operations of rotation, translation, up-down movement and the like to clean all directions of the handrail belt by all motors and electric cylinders which are controlled by the control box.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the clamping device adopts a screw rod and nut mechanism, so that the device can be sufficiently clamped on the escalator.
2. The upper and lower movable blocks and the left and right movable blocks enable the cleaning part to be capable of moving horizontally to meet the requirement of cleaning each position of the handrail belt.
3. The upper and lower swing arms can rotate left and right relative to the horizontal movable block, and the electric cylinder disc can swing up and down relative to the upper and lower swing arms.
4. The electric cylinder makes the brush head part stretch out and draw back a distance from front to back, and the buffer spring makes the stretching out and drawing back more steady, plays the cushioning effect.
5. The whole brush head part adopts a structure that the front side surface and the side surface are cleaned in a rotating mode, so that the cleaning angle is more comprehensive.
Drawings
Fig. 1 is a schematic view of the overall assembly structure of the present invention.
Fig. 2 is a schematic view of the structure of the clamping portion of the present invention.
FIG. 3 is a schematic view of the cleaning part of the present invention.
Fig. 4 is a partial schematic view of a rotating portion of the cleaning section of the present invention.
FIG. 5 is a schematic cross-sectional view of a cleaning portion of the present invention.
FIG. 6 is a partial cross-sectional view of a rotating portion of the cleaning section of the present invention.
Reference numerals: 1-a control box; 2-the whole machine shell; 3-lifting the motor; 4-lifting the lead screw frame; 5-lifting the guide rail; 6-upper and lower movable blocks; 7-lifting the screw rod; 8-translation screw rod; 9-a translation motor; 10-a translational movable block; 11-up and down swing arms; 12-a rotating electric machine; 13-bevel gear a; 14-rotating gear a; 15-gear shaft; 16-a rotating shaft; 17-electric cylinder disc; 18-an electric cylinder; 19-a buffer spring; 20-spring bearing seats; 21-brushing cloth; 22-positive brush holder; 23-side brush holder; 24-side brushing; 25-a clamping block; 26-a clamping rail; 27-clamping the screw rod; 28-a clamping motor; 29-clamping the motor mount; 30-clamping the coupling; 31-a brush head base; 32-a bearing cap; 33-a brush holder shaft; 34-side brush holder attachment; 35-brush holder gear; 36-motor gear; 37-a brush head motor; 38-a first gear shaft; 39-second gear shaft; 40-a rotating gear; 41-rotating bevel gear; 42-a rotating electrical machine; 43-rotating motor frame; 44-handrail belt; 45-staircase.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
As shown in fig. 1, 2, 3, 4, 5, 6, an elevator automatic handrail belt cleaning robot comprises a control box 1, a complete machine shell 2, a lifting motor 3, a lifting lead screw frame 4, a lifting guide rail 5, a lifting lead screw 7, an upper and lower movable block 6, a translation lead screw 8, a translation motor 9, a clamping part and a cleaning part; the clamping part comprises a clamping motor 28, a clamping screw 27, a clamping block 25, a clamping guide rail 26, a clamping motor frame 29 and a clamping coupler 30, the cleaning part comprises a translational movable block 10, an upper swing arm and a lower swing arm 11, a rotating motor 12, a bevel gear a13, a bevel gear b, a rotating gear a14, a rotating gear b, a gear shaft 15, a rotating shaft 16, an electric cylinder disc 17, an electric cylinder 18, a buffer spring 19, a spring bearing seat 20, a front brush cloth 21, a front brush frame 22, a side brush frame 23, a side brush cloth 24, a brush head base 31, a bearing cover 32, a brush frame shaft 33, a side brush frame connecting piece 34, a brush frame gear 35, a motor gear 36, a brush head motor 37, a first gear shaft 38, a second gear shaft 39, a rotating gear 40, a rotating bevel gear 41, a rotating motor 42 and a rotating motor frame 43, the lifting motor 3 is connected with the lifting screw frame 4, the lifting screw frame 4 is fixedly connected with, one end of the lifting guide rail 5 is fixedly connected with the lifting screw rod frame 4, the other end of the lifting guide rail is fixedly connected with the whole machine shell 2, and the upper and lower movable blocks 6 are in threaded connection with the lifting screw rod 7; the horizontal moving block 10 of the cleaning part is connected with the upper and lower moving blocks 6, the rotating motor frame 43 is fixedly connected on the horizontal moving block 10, the rotating motor 42 is arranged on the rotating motor frame 43, one rotating bevel gear 41 is arranged on the rotating motor 42, the other rotating bevel gear is arranged on the second gear shaft 39, one rotating gear 40 is arranged on the second gear shaft 39, the other rotating bevel gear is arranged on the first gear shaft 38, the first gear shaft 38 and the second gear shaft 39 are respectively connected on the horizontal moving block 10 through bearings, the bearing cover 32 is fixedly connected on the horizontal moving block 10, the upper and lower swinging arms 11 are fixedly connected with the first gear shaft 38, the rotating motor 12 is fixedly connected with the upper and lower swinging arms 11, the rotating motor 12 is connected with a bevel gear a13, the bevel gear b is fixedly connected on the gear shaft 15, and the bevel gear a13 is; the rotating gear a14 is meshed with the rotating gear b; the rotating gear a14 is fixedly installed on the rotating shaft 16, the rotating shaft 16 is fixedly connected on the electric cylinder disk 17, one ends of four electric cylinders 18 are fixedly connected with the electric cylinder disk 17 respectively, the other ends of the four electric cylinders are connected with the brush head base 31, one end of the buffer spring 19 is fixedly connected with the electric cylinder disk 17, the other end of the buffer spring is fixedly connected with the spring bearing seat 20, the spring bearing seat 20 is fixedly connected with the brush head base 31, the brush head motor 37 is fixedly connected on the brush head base 31, the motor gear 36 is fixedly connected with the brush head motor 37, the brush holder gear 35 is fixedly connected with the brush holder shaft 33, the brush holder gear 35 is meshed with the motor gear 36, the side brush holder connecting piece 34 is fixedly connected with the brush holder shaft 33, the side brush holder connecting piece 34 is fixedly connected with the side brush holder 23, the front brush holder 22 is fixedly connected with the brush holder shaft 33; a clamping motor 28 of the clamping part is connected with a clamping screw rod 27 through a coupler, the clamping motor 28 is fixedly connected with the whole machine shell 2 through a clamping motor frame 29, one end of a clamping guide rail 26 is fixedly connected with the clamping motor frame 29, a clamping block 25 is slidably installed on the clamping guide rail 26, and the clamping block 25 is connected with the clamping screw rod 27 through threads; the cleaning part is arranged on the upper and lower movable blocks 6, the two cleaning parts are symmetrically distributed about the handrail belt, and the cleaning part can move up and down along the lifting guide rail 5 and can also move back and forth along the grooves of the upper and lower movable blocks 6.
Further, the lift motor 3, the grip motor 28, the translation motor 9, the rotation motor 12, the electric cylinder 18, the brush head motor 37, and the rotation motor 42 are controlled by the control box 1.
The working principle of the invention is as follows: when the automatic cleaning machine is used, the clamping motor 28 controls the clamping block 25 to clamp the robot on the escalator 45 below the handrail belt 44, the cleaning part mechanical arm is moved to a reasonable position through the lifting motor 3 and the translation motor 9, and the rotating motor 12, the electric cylinder 18, the brush head motor 37 and the rotating motor 42 control the front brush holder 22 and the side brush holder 23 to rotate, so that the front brush cloth 21 and the side brush cloth 24 are driven to rotate, and the effect of cleaning the handrail belt is achieved.
Claims (2)
1. An automatic handrail belt cleaning robot for an elevator comprises a control box (1), a complete machine shell (2), a lifting motor (3), a lifting lead screw frame (4), a lifting guide rail (5), a lifting lead screw (7), an upper movable block and a lower movable block (6), a translation lead screw (8), a translation motor (9), a clamping part and a cleaning part; the clamping part comprises a clamping motor (28), a clamping screw rod (27), a clamping block (25), a clamping guide rail (26), a clamping motor frame (29) and a clamping coupler (30), and the cleaning part comprises a translational movable block (10), an upper swing arm and a lower swing arm (11), a rotating motor (12), a bevel gear a (13), a bevel gear b, a rotating gear a (14), a rotating gear b, a gear shaft (15), a rotating shaft (16), an electric cylinder disc (17), an electric cylinder (18), a buffer spring (19), a spring bearing seat (20), a positive brush cloth (21), a positive brush frame (22), a side brush frame (23), a side brush cloth (24), a brush head base (31), a bearing cover (32), a brush frame shaft (33), a side brush frame connecting piece (34), a brush frame gear (35), a motor gear (36), a brush head motor (37), a first gear shaft (38), a second gear shaft (39), Rotating gear (40), rotatory bevel gear (41), rotating electrical machines (42), rotating electrical machines frame (43), its characterized in that: the lifting motor (3) is connected with a lifting screw rod frame (4), the lifting screw rod frame (4) is fixedly connected to the whole machine shell (2), one end of a lifting guide rail (5) is fixedly connected with the lifting screw rod frame (4), the other end of the lifting guide rail is fixedly connected with the whole machine shell (2), and an upper movable block (6) and a lower movable block (6) are in threaded connection with a lifting screw rod (7); the cleaning part is characterized in that a translational movable block (10) of the cleaning part is connected with an upper movable block and a lower movable block (6), a rotating motor frame (43) is fixedly connected on the translational movable block (10), a rotating motor (42) is arranged on the rotating motor frame (43), one rotating bevel gear (41) is arranged on the rotating motor (42), the other rotating bevel gear is arranged on a second gear shaft (39), one rotating gear (40) is arranged on the second gear shaft (39), the other rotating bevel gear is arranged on a first gear shaft (38), the first gear shaft (38) and the second gear shaft (39) are respectively connected on the translational movable block (10) through bearings, a bearing cover (32) is fixedly connected on the translational movable block (10), the upper and lower swinging arms (11) are fixedly connected with the first gear shaft (38), a rotating motor (12) is fixedly connected with the upper and lower swinging arms (11), the rotating motor (12) is connected with a bevel gear a (, the bevel gear b and the rotating gear b are fixedly connected on a gear shaft (15), and the bevel gear a (13) is meshed with the bevel gear b; the rotating gear a (14) is meshed with the rotating gear b; a rotating gear a (14) is fixedly arranged on a rotating shaft (16), the rotating shaft (16) is fixedly connected on an electric cylinder disc (17), one ends of four electric cylinders (18) are respectively fixedly connected with the electric cylinder disc (17), the other ends of the four electric cylinders are connected with a brush head base (31), one end of a buffer spring (19) is fixedly connected with the electric cylinder disc (17), the other end of the buffer spring is fixedly connected with a spring bearing seat (20), the spring bearing seat (20) is fixedly connected with the brush head base (31), a brush head motor (37) is fixedly connected on the brush head base (31), a motor gear (36) is fixedly connected with a brush head motor (37), a brush frame gear (35) is fixedly connected with a brush frame shaft (33), a brush frame gear (35) is meshed with the motor gear (36), a side brush frame connecting piece (34) is fixedly connected with a brush frame shaft (33), the side brush frame connecting piece (34) is fixedly connected with a side brush frame (23), a positive brush frame (22) is fixedly connected with the brush frame shaft (33), and side cloth (, the positive brush cloth (21) is arranged on the positive brush holder (22); a clamping motor (28) of the clamping part is connected with a clamping screw rod (27) through a coupler, the clamping motor (28) is fixedly connected with the whole machine shell (2) through a clamping motor frame (29), one end of a clamping guide rail (26) is fixedly connected with the clamping motor frame (29), a clamping block (25) is slidably mounted on the clamping guide rail (26), and the clamping block (25) is connected with the clamping screw rod (27) through threads; the cleaning part is arranged on the upper and lower movable blocks (6) and is symmetrically distributed about the handrail belt, and the cleaning part can move up and down along the lifting guide rail (5) and also can move back and forth along the grooves of the upper and lower movable blocks (6).
2. The automatic handrail belt cleaning robot of an elevator according to claim 1, characterized in that: the lifting motor (3), the clamping motor (28), the translation motor (9), the rotating motor (12), the electric cylinder (18), the brush head motor (37) and the rotating motor (42) are controlled by the control box (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810631253.7A CN108500999B (en) | 2018-06-19 | 2018-06-19 | Automatic handrail area cleaning machines people of elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810631253.7A CN108500999B (en) | 2018-06-19 | 2018-06-19 | Automatic handrail area cleaning machines people of elevator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108500999A CN108500999A (en) | 2018-09-07 |
| CN108500999B true CN108500999B (en) | 2021-04-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810631253.7A Active CN108500999B (en) | 2018-06-19 | 2018-06-19 | Automatic handrail area cleaning machines people of elevator |
Country Status (1)
| Country | Link |
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| CN (1) | CN108500999B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111528731B (en) * | 2020-06-04 | 2023-11-14 | 上海机器人产业技术研究院有限公司 | Subway interior cleaning robot system and method |
| CN112938733B (en) * | 2021-02-28 | 2022-09-16 | 蔚蓝计划(北京)科技有限公司 | Cleaning and sterilizing device for escalator |
| CN115818403B (en) * | 2022-12-29 | 2024-05-31 | 重庆迈高电梯有限公司 | Elevator track replacement system and replacement method |
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| CN103159126A (en) * | 2011-12-15 | 2013-06-19 | 康力电梯股份有限公司 | Hand strap cleaner |
| CN203767827U (en) * | 2013-12-31 | 2014-08-13 | 杭州斯沃德电梯有限公司 | Hand strap cleaning device for automatic escalator |
| CN104825098A (en) * | 2015-05-17 | 2015-08-12 | 郑祥模 | Stair armrest robot cleaner |
| CN105818154A (en) * | 2016-06-08 | 2016-08-03 | 皖西学院 | Automatic cleaning robot for guardrail handrail |
| CN108002203A (en) * | 2018-01-29 | 2018-05-08 | 陈爱珍 | A kind of application method of handrail cleaning device |
| CN108046107A (en) * | 2018-01-29 | 2018-05-18 | 陈爱珍 | A kind of handrail cleaning device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59128185A (en) * | 1983-01-14 | 1984-07-24 | 株式会社東芝 | Cleaner for belt of handrail of escalator |
| JPH09110358A (en) * | 1995-10-20 | 1997-04-28 | Mitsubishi Denki Bill Techno Service Kk | Traveling handrail scavenger |
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2018
- 2018-06-19 CN CN201810631253.7A patent/CN108500999B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103159126A (en) * | 2011-12-15 | 2013-06-19 | 康力电梯股份有限公司 | Hand strap cleaner |
| CN203767827U (en) * | 2013-12-31 | 2014-08-13 | 杭州斯沃德电梯有限公司 | Hand strap cleaning device for automatic escalator |
| CN104825098A (en) * | 2015-05-17 | 2015-08-12 | 郑祥模 | Stair armrest robot cleaner |
| CN105818154A (en) * | 2016-06-08 | 2016-08-03 | 皖西学院 | Automatic cleaning robot for guardrail handrail |
| CN108002203A (en) * | 2018-01-29 | 2018-05-08 | 陈爱珍 | A kind of application method of handrail cleaning device |
| CN108046107A (en) * | 2018-01-29 | 2018-05-18 | 陈爱珍 | A kind of handrail cleaning device |
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| CN108500999A (en) | 2018-09-07 |
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