CN108577654A - A kind of wall climbing mechanism and its working method of glass curtain wall cleaning machine device people - Google Patents
A kind of wall climbing mechanism and its working method of glass curtain wall cleaning machine device people Download PDFInfo
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- CN108577654A CN108577654A CN201810333344.2A CN201810333344A CN108577654A CN 108577654 A CN108577654 A CN 108577654A CN 201810333344 A CN201810333344 A CN 201810333344A CN 108577654 A CN108577654 A CN 108577654A
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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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- 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
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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
- A47L11/40—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
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- 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
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Chemical Kinetics & Catalysis (AREA)
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of wall climbing mechanisms and its working method of glass curtain wall cleaning machine device people, belong to climbing robot technical field.The wall climbing mechanism of the present invention, it is controlled by cylinder completely climbs wall action to realize, without complicated servo motor driving mechanism and simplify program control, walking mechanism is formed by connecting by four groups of walking assemblies by four groups of walking cylinder head and the tail, coordinate absorption and the release action of sucker on walking assembly by the stretching motion of two groups of opposite walking cylinders, glass curtain wall cleaning machine device people is realized horizontal and vertical stable mobile, the structure of walking mechanism is simpler compact, flexible and convenient operation has higher working efficiency；And, walking assembly generates negative pressure of vacuum using suction cylinder to sucker, it is narrow-minded needed for each suction cylinder, requirement to air pump is low, actual operation and practicability are more preferable, and sucker and the one-to-one connection of suction cylinder, some sucker gas leakage will not impact entire walking mechanism, more securely and reliably.
Description
Technical field
The present invention relates to a kind of glass curtain wall cleaning machine device people, more specifically to a kind of glass curtain wall cleaning machine device
The wall climbing mechanism and its working method of people.
Background technology
It is constantly progressive with the continuous development of society with scientific and technological, glass curtain wall is with its beautiful appearance, the open visual field
Etc. advantages become the world today building mainstream.China begins attempt to a glass curtain wall this skill in the eighties of eighties of last century
Art is applied in building, and the developed countries such as America and Europe began to use glass curtain wall under construction early in 1917.Although I
It is later that the development of state's glass curtain wall is compared to the western developed countries such as America and Europe, but the speed of development is but very surprising.Currently,
China has become maximum glass curtain wall producing country in the world and uses state.
It is reported that the mainly artificial cleaning of the cleaning way of glass curtain wall at present, the range of glass curtain wall is generally large, and
And be in than relatively hazardous eminence, the holder that surrounding can not be used for supporting, so cleaning worker need to generally take hanging basket or
Person's waist tether rope could carry out cleaning to the curtain wall of eminence, once misoperation or chance bad weather will lead to a disaster,
It causes casualties, property loss.In addition this artificial scouring mode labor intensity is big, and danger coefficient is high, inefficiency, price
It is high, belong to high-risk occupation.Therefore, it is dangerous to be badly in need of a kind of artificial progress of intelligent cleaning robot replacement of high degree of automation
Glass curtain wall cleaning.
It is increasing with the demand of curtain cleaning, the curtain wall climbing robot of many types has also been emerged both at home and abroad,
These curtain wall climbing robots, which will mostly move, and adsorb, clean three great institutions combines realization, and adsorbing mechanism generally may be used
It is divided into two major classes：One kind is the magnet adsorption mode for being suitable for moving on the wall surface of the iron works such as fuel cartridge, ship；Separately
One kind is to be suitable for that the negative-pressure adsorption mode moved on the smooth surface of magnetic suck cannot be being used.For the clear of glass curtain wall
It washes, generally by the way of second of negative-pressure adsorption.Such as Chinese Patent Application No. 201610788867.7, data of publication of application is
On December 7th, 2016, invention and created name are：A kind of intelligent travel in high sky robot, this application are related to a kind of intelligent
Travel in high sky robot, including rack and the controller, wiper mechanism, first walking mechanism and the second vehicle with walking machine that are arranged on
Structure；Second walking mechanism is adsorbed on curtain wall, and first walking mechanism is detached from curtain wall, is carried out to curtain wall in rack relative movement thereof
Cleaning；After rack is moved to corresponding position, first walking mechanism is adsorbed onto on curtain wall, and then the second walking mechanism is detached from curtain wall
And it is mobile.The walking structure of this application is relatively simple, but it is only capable of moving in one direction, and the movement in other directions relies on
In the suspention lifting device of roof.
In order to overcome defect existing for the walking mechanism of existing glass curtain wall cleaning machine device people, applicant was in September 4 in 2017
It is 201710787378.4 to propose number of patent application day, entitled：A kind of high building curtain wall cleaning robot and its cleaning
The patent application case of method, the high building curtain wall cleaning robot and its cleaning method of this application utilize outer absorption walking mechanism
The horizontal and vertical movement of entire cleaning robot is realized on curtain wall with interior absorption walking mechanism alternating sorbent, and is utilized
The rotary motion of interior absorption walking mechanism can be such that curtain cleaning robot turns to freely, 360 ° omni-directional movement be realized, for spy
The curtain wall of different shape can also realize no dead angle cleaning；Meanwhile the sucker in outer absorption walking mechanism and interior absorption walking mechanism
Telescopic is all had, makes curtain cleaning robot that there is good obstacle crossing function, frame-free glass curtain on the middle and senior level can be suitable for
Wall and the cleaning for having frame glass curtain wall；And wiper mechanism can be lifted or be depressed, and can be preferably bonded curtain wall surface, be reached
More preferably cleaning performance, after wiper mechanism lifts, curtain cleaning robot can walk and get on curtain wall more flexiblely
Barrier.
However, in practice process, it is found by the applicant that cleaning robot walking motion is executed using sucker suction structure,
Traditional mode is to carry out vacuumizing generation negative-pressure sucking to sucker using high-pressure pump, and design is for high-pressure pump in this way
It is more demanding, to make sucker generate vacuum environment always, the pressure requirements of the work that air pump will be always, high-pressure pump it is high and
Continuous work is needed, small air pump cannot be satisfied requirement, and large-scale air pump is not easy to carry, and practical application is in curtain cleaning operation
In less be applicable in.It finds during the experiment, common piston air pump can be damaged because working long hours machine head heating；Vacuum pump
Also it cannot be satisfied, one the reason is that when polypody sucker has gas leakage, vacuum degree does not reach requirement, and the adsorption capacity of sucker is smaller,
Another reason is that vacuum pump works always, and machine fever is serious, is easily damaged.Also, the walking of existing cleaning robot
Mechanism structure design is complex, it usually needs servo motor and microcontroller are controlled, and need to connect longer gas path pipe
With power supply electric wire, manufacturing cost is higher, is not easy to promote；And that there are walking motions is cumbersome, operation is difficult to grasp, working efficiency is low
The defects of lower.
Invention content
1. technical problems to be solved by the inivention
It is an object of the invention to overcome the walking mechanism of existing glass curtain wall cleaning machine device people more demanding to air pump, real
With the deficiencies such as property is poor and complicated, operating difficulties, working efficiency are low, a kind of climbing for glass curtain wall cleaning machine device people is provided
Wall mechanism and its working method, technical solution using the present invention are controlled by cylinder climb wall action, vehicle with walking machine to realize completely
Structure is formed by connecting by four groups of walking assemblies by four groups of walking cylinder head and the tail, and the stretching motion of two groups of opposite walking cylinders is passed through
Absorption and the release action for coordinating sucker on walking assembly realize glass curtain wall cleaning machine device people in horizontal and vertical stable shifting
Dynamic, the structure of walking mechanism is simpler compact, flexible and convenient operation, has higher working efficiency；Also, walking assembly profit
Negative pressure of vacuum is generated to sucker with suction cylinder, narrow-minded needed for each suction cylinder, the requirement to air pump is low, actual operation
It is more preferable with practicability, and sucker and the one-to-one connection of suction cylinder, some sucker gas leakage will not cause shadow to entire walking mechanism
It rings, more securely and reliably.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention is：
The wall climbing mechanism of glass curtain wall cleaning machine device people of the present invention a kind of, including four groups of walking assemblies, four groups of walkings are total
Closing structure is connected at by four groups of walking cylinder head and the tail, and synchronization telescope is dynamic in the same direction for two groups of opposite walking cylinders
Make, the telescopic direction of adjacent two groups of walking cylinders is mutually perpendicular to；The walking assembly include walking frame, telescopic cylinder,
Cylinder and suction cylinder occur for sucker, vacuum, and the telescopic cylinder is fixedly installed on walking frame, and the drive of telescopic cylinder
Moved end is connected with the mounting base of sucker, for driving sucker stretching motion to be adsorbed on cladding glass；The vacuum hair
Angry cylinder and suction cylinder are installed on walking frame, and the driving end at the driving end and suction cylinder of cylinder occurs for the vacuum
It is connected, the driving end synchronization telescope movement for driving suction cylinder, a pipe interface and the suction of the suction cylinder
The air entry of disk is connected, for making sucker generate negative pressure of vacuum.
Further, the structure of four groups of walking assemblies is identical, and the walking frame of every group of walking assembly is " L " shape,
Four groups of walking assembly head and the tail connect into rectangular configuration.
Further, the walking frame is formed by connecting by two vertically disposed little frameworks, and in two small frames
One group of telescopic cylinder is respectively provided on frame, the driving end of every group of telescopic cylinder is respectively mounted two suckers.
Further, the sucker and the one-to-one connection of suction cylinder.
Further, cylinder occurs for one group of vacuum and two groups of suction cylinders connect into an air cylinder group side by side, described
Vacuum occurs cylinder and is located between two groups of suction cylinders, and cylinder occurs for vacuum and the driving end of suction cylinder passes through connecting plate phase
Connection.
Further, the walking cylinder, telescopic cylinder and vacuum occur cylinder and pass through reversal valve and high pressure respectively
Air pump connects.
Further, the walking cylinder and telescopic cylinder are all made of double-rod cylinder.
A kind of working method of the wall climbing mechanism of glass curtain wall cleaning machine device people of the present invention, motion process are as follows：
When being adsorbed in curtain wall, the telescopic cylinder on four groups of walking assemblies drives sucker protruding, and sucker is made to be adjacent in curtain
On wall glass surface, start high-pressure pump, cylinder, which occurs, by vacuum drives suction cylinder stretching motion, will connect with suction cylinder
The suction disc vacuum pumping connect makes entire wall climbing mechanism pass through sucker suction on cladding glass；
When wall movement is climbed in longitudinal direction, controls corresponding vacuum and cylinder and telescopic cylinder action occurs, make wall climbing mechanism or more two
Sucker on two groups of walking assemblies of side respectively with cladding glass alternating sorbent and disengaging, while two groups of longitudinally disposed walking gas
Cylinder, which synchronizes, to be extended and retracted, to make wall climbing mechanism climb wall movement down in the longitudinal direction；
When laterally climbing wall movement, controls corresponding vacuum and cylinder and telescopic cylinder action occurs, make wall climbing mechanism or so two
Sucker on two groups of walking assemblies of side respectively with cladding glass alternating sorbent and disengaging, while two groups of walking gas being laterally arranged
Cylinder, which synchronizes, to be extended and retracted, to make wall climbing mechanism climb wall movement in laterally left and right.
3. advantageous effect
Using technical solution provided by the invention, compared with existing known technology, there is following remarkable result：
(1) wall climbing mechanism of a kind of glass curtain cleaning robot of the invention, is controlled by cylinder climbs wall to realize completely
Action without complicated servo motor driving mechanism and simplifies program control, and walking mechanism passes through four by four groups of walking assemblies
Group walking cylinder head and the tail are formed by connecting, and the suction of sucker on walking assembly is coordinated by the stretching motion of two groups of opposite walking cylinders
Release action is echoed, realizes glass curtain wall cleaning machine device people in horizontal and vertical stable movement, the structure of walking mechanism is more
Simple and compact, flexible and convenient operation have higher working efficiency；Also, walking assembly generates sucker using suction cylinder
Negative pressure of vacuum, narrow-minded needed for each suction cylinder, the requirement to air pump is low, and actual operation and practicability are more preferable；
(2) wall climbing mechanism of a kind of glass curtain cleaning robot of the invention, the structure of four groups of walking assemblies is identical, and
The walking frame of every group of walking assembly is " L " shape, and four groups of walking assembly head and the tail connect into rectangular configuration, the shape of wall climbing mechanism
Rule has better adaptability for glass curtain wall, and cleaning performance is good, and cleaning efficiency is high；Also, the knot of four groups of walking assemblies
Structure is identical, is simple to manufacture conveniently, cost is relatively low；
(3) wall climbing mechanism of a kind of glass curtain cleaning robot of the invention, walking frame are vertically disposed by two
Little framework is formed by connecting, and one group of telescopic cylinder is respectively provided in two little frameworks, and the driving end of every group of telescopic cylinder is respectively mounted
Two suckers are more secured to the absorption of cladding glass；And sucker and the one-to-one connection of suction cylinder, some sucker gas leakage is to whole
A walking mechanism will not impact, more securely and reliably；
(4) cylinder and two groups of pumpings occur for the wall climbing mechanism of a kind of glass curtain cleaning robot of the invention, one group vacuum
Gas cylinder connects into an air cylinder group side by side, and vacuum occurs cylinder and is located between two groups of suction cylinders, and vacuum occur cylinder and
The driving end of suction cylinder is connected by connecting plate, and vacuum occurs cylinder and drives two groups of suction cylinder synchronization actions, action steady
It is fixed reliable, response quickly；
(5) wall climbing mechanism of a kind of glass curtain cleaning robot of the invention, walking cylinder, telescopic cylinder and vacuum hair
Angry cylinder is connect by reversal valve with high-pressure pump respectively, and phase is executed by being controlled i.e. controllable wall climbing mechanism to reversal valve
The action answered, it is easy to control；Walking cylinder and telescopic cylinder are all made of double-rod cylinder, have better stability and higher pressure
Power, improve robot climbs wall stability；
(6) working method of the wall climbing mechanism of a kind of glass curtain cleaning robot of the invention, it is reliable to climb wall motion stability,
It is flexible and efficient to climb wall, it is easy to control, it is highly practical.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the wall climbing mechanism of glass curtain cleaning robot of the present invention；
Fig. 2 is the structural schematic diagram of one group of walking assembly in the present invention.
Label declaration in schematic diagram：
1, walking assembly；1-1, walking frame；1-2, telescopic cylinder；1-3, sucker；Cylinder occurs for 1-4, vacuum；1-5, pumping
Gas cylinder；2, walking cylinder.
Specific implementation mode
To further appreciate that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment
In conjunction with shown in Fig. 1 and Fig. 2, the wall climbing mechanism of glass curtain wall cleaning machine device people of the present embodiment a kind of, including four groups
Walking assembly 1, four groups of walking assemblies 1 connect into closing structure, and two groups of opposite walking gas by four groups of 2 head and the tail of walking cylinder
Synchronization telescope acts cylinder 2 in the same direction, and the telescopic direction of adjacent two groups of walking cylinders 2 is mutually perpendicular to；In this way, opposite two
It can move to a direction when group walking 2 synchronization telescope of cylinder action, exist so as to meet glass curtain wall cleaning machine device people
Horizontal and vertical mobile needs, design in this way it is simpler compact, climb wall walking motion more stablize and it is easily controllable, be not necessarily to
Servo motor drive, climb wall action it is sensitiveer, have higher working efficiency.Walking assembly 1 includes walking frame 1-1, stretches
Cylinder 1-4 and suction cylinder 1-5 occurs for contracting cylinder 1-2, sucker 1-3, vacuum, and telescopic cylinder 1-2 is fixedly installed in walking frame
On 1-1, and the driving end of telescopic cylinder 1-2 is connected with the mounting base of sucker 1-3, for drive sucker 1-3 stretching motions with
It is adsorbed on cladding glass；Vacuum occurs cylinder 1-4 and suction cylinder 1-5 and is installed on walking frame 1-1, and cylinder occurs for vacuum
The driving end of 1-4 is connected with the driving end of suction cylinder 1-5, the driving end synchronization telescope fortune for driving suction cylinder 1-5
Dynamic, a pipe interface of suction cylinder 1-5 is connected with the air entry of sucker 1-3, negative for making sucker 1-3 generate vacuum
Pressure.In this way, the vacuum state of sucker 1-3 is kept without high-pressure pump continue working, cylinder 1-4, which occurs, by vacuum drives pumping
The piston motion of gas cylinder 1-5 can carry out air-breathing to sucker 1-3, and sucker 1-3 is made to reach vacuum state, each suction cylinder 1-
Narrow-minded needed for 5, the requirement to air pump is low, and actual operation and practicability are more preferable.
Shown in hookup 1 and Fig. 2, in the present embodiment, the structure of four groups of walking assemblies 1 is identical, and every group of walking assembly 1
Walking frame 1-1 be " L " shape, four groups of 1 head and the tail of walking assembly connect into rectangular configuration, and the regular shape of wall climbing mechanism is right
There is better adaptability in glass curtain wall, cleaning performance is good, and cleaning efficiency is high；Also, the structure phase of four groups of walking assemblies 1
Together, it is simple to manufacture conveniently, cost is relatively low.Specifically, walking frame 1-1 is formed by connecting by two vertically disposed little frameworks, and
The driving end that one group of telescopic cylinder 1-2, every group of telescopic cylinder 1-2 are respectively provided in two little frameworks is respectively mounted two sucker 1-3,
The two suckers 1-3 can be fixed on the driving end of telescopic cylinder 1-2 by connecting plate, more firm to the absorption of cladding glass
Gu.And, it is preferable that sucker 1-3 and the one-to-one connections of suction cylinder 1-5, some sucker 1-3 gas leakage to entire walking mechanism not
It can impact, more securely and reliably.In addition, in the present embodiment, cylinder 1-4 and two groups of suction cylinder 1- occurs for one group of vacuum
5 connect into an air cylinder group side by side, and vacuum generation cylinder 1-4 and two groups of suction cylinder 1-5 can be used two pressing plates up and down and pass through
Split bolt is fixedly connected, easier for installation as air cylinder group；Vacuum occur cylinder 1-4 be located at two groups of suction cylinder 1-5 it
Between, and vacuum occurs cylinder 1-4 and is connected by connecting plate with the driving end of suction cylinder 1-5, vacuum occurs cylinder 1-4 and drives
Two groups of suction cylinder 1-5 synchronization actions, motion stability is reliable, response quickly.Experiment, which shows high-pressure pump only, needs generation 8~10
Kilogram high pressure drive 8~10 suction cylinder 1-5 flexible, due to the fact that end vacuum also only has 1 kilogram of negative pressure,
Therefore end vacuum can be generated to control 8~10 suction cylinder 1-5 by 8~10 kilograms of high-pressure pump, be fully able to
Ensure that sucker 1-3 is firmly adsorbed on cladding glass.In the present embodiment, cylinder 2, telescopic cylinder 1-2 and the vacuum of walking occur
Cylinder 1-4 is connect by reversal valve with high-pressure pump respectively, is executed by being controlled i.e. controllable wall climbing mechanism to reversal valve
Corresponding action, it is easy to control；In addition, above-mentioned walking cylinder 2 and telescopic cylinder 1-2 is all made of double-rod cylinder, have more preferable
Stability and higher pressure, improve robot climbs wall stability.
A kind of wall climbing mechanism of glass curtain cleaning robot of the present embodiment, glass can be carried out by installing cleaning device on it
The cleaning of glass curtain wall, in use, robot power plant (such as high-pressure pump) and roof boom hoisting are set up on roof,
Then all kinds of pipelines of curtain cleaning robot are connect with robot power plant, by the hoist cable of roof boom hoisting by curtain
Wall cleaning robot is hung on high building curtain wall, prevents curtain cleaning robot from falling.When operation, operating personnel can pass through wireless controlled
Zhi Qi remote controls robot such as cleans on curtain wall surface, walks at the actions.It is as follows specifically to climb wall motion process：
When being adsorbed in curtain wall, the telescopic cylinder 1-2 on four groups of walking assemblies 1 drives sucker 1-3 protruding, makes sucker 1-
3 are adjacent on cladding glass surface, start high-pressure pump, and cylinder 1-4, which occurs, by vacuum drives the flexible fortune of suction cylinder 1-5
It is dynamic, the sucker 1-3 being connect with suction cylinder 1-5 is vacuumized, so that entire wall climbing mechanism is passed through sucker 1-3 and is adsorbed on cladding glass
On.
When wall movement is climbed in longitudinal direction, controls corresponding vacuum and cylinder 1-4 and telescopic cylinder 1-2 actions occurs, make wall climbing mechanism
Sucker 1-3 on two groups of walking assemblies 1 of upper and lower both sides is while longitudinally disposed respectively with cladding glass alternating sorbent and disengaging
Two groups of walking cylinders 2 are synchronized and are extended and retracted, to make wall climbing mechanism climb wall movement down in the longitudinal direction；Specifically, sucker 1-3 with
The reversal valve that cylinder 1-4 is occurred by control vacuum for the action that cladding glass is detached from controls realization, and is driven and inhaled by telescopic cylinder 1-2
Disk 1-3 is withdrawn, while longitudinal two groups of walking cylinders 2 synchronization is stretched out, and is driven and is detached from two groups of 1 longitudinal directions of walking assemblies with cladding glass
It is mobile, then two groups of walking assemblies 1 are detached from cladding glass be adsorbed on cladding glass again, and other two groups of walking assemblies 1
It is detached from cladding glass, while two groups of longitudinal walking cylinders 2 are synchronized and retracted, and are driven and are detached from two groups of walking assemblies with cladding glass
1 longitudinal movement.
When laterally climbing wall movement, controls corresponding vacuum and cylinder 1-4 and telescopic cylinder 1-2 actions occurs, make wall climbing mechanism
Sucker 1-3 on two groups of walking assemblies 1 of the left and right sides with cladding glass alternating sorbent and disengaging, while being laterally arranged respectively
Two groups of walking cylinders 2 are synchronized and are extended and retracted, to make wall climbing mechanism climb wall movement in laterally left and right；Specifically, wall climbing mechanism
Sucker 1-3 on two groups of walking assemblies 1 of left or right side is detached from cladding glass, while two groups of lateral walking cylinders 2 are same
Step is stretched out, and is driven and is detached from two groups of 1 transverse shiftings of walking assembly with cladding glass, is then detached from two groups of walking assemblies with cladding glass
1 is adsorbed on cladding glass again, and other two groups of walking assemblies 1 are detached from cladding glass, while two groups of lateral walking gas
Cylinder 2, which synchronizes, retracts, and drives and is detached from two groups of 1 transverse shiftings of walking assembly with cladding glass.
The present invention a kind of glass curtain wall cleaning machine device people wall climbing mechanism and its working method, wall climbing mechanism completely by
Cylinder control climbs wall action to realize, walking mechanism is formed by connecting by four groups of walking assemblies by four groups of walking cylinder head and the tail, is led to
The absorption and release action for crossing sucker on the stretching motion cooperation walking assembly of two groups of opposite walking cylinders, realize glass curtain
Wall cleaning robot is in horizontal and vertical stable movement, and the structure of walking mechanism is simpler compact, and flexible and convenient operation has
Higher working efficiency；Also, walking assembly generates negative pressure of vacuum using suction cylinder to sucker, gas needed for each suction cylinder
Measure small, the requirement to air pump is low, and actual operation and practicability are more preferable, and sucker and the one-to-one connection of suction cylinder, some suction
Disk gas leakage will not impact entire walking mechanism, more securely and reliably.In addition, the wall climbing mechanism, which has, climbs wall motion stability
Reliably, the advantages that wall is flexible and efficient, easy to control, highly practical is climbed.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, without creatively designing and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (8)
1. a kind of wall climbing mechanism of glass curtain wall cleaning machine device people, it is characterised in that：Including four groups of walking assemblies (1), four groups of rows
It walks assembly (1) and connects into closing structure from beginning to end by four groups of walking cylinders (2), and two groups of opposite walking cylinders (2) are along same
Direction synchronization telescope action, the telescopic direction of adjacent two groups of walking cylinders (2) are mutually perpendicular to；Walking assembly (1) packet
It includes walking frame (1-1), telescopic cylinder (1-2), sucker (1-3), vacuum and cylinder (1-4) and suction cylinder (1-5) occurs, it is described
Telescopic cylinder (1-2) be fixedly installed in walking frame (1-1), and the driving end of telescopic cylinder (1-2) and sucker (1-3)
Mounting base is connected, for driving sucker (1-3) stretching motion to be adsorbed on cladding glass；Cylinder occurs for the vacuum
(1-4) and suction cylinder (1-5) are installed on walking frame (1-1), and driving end and the pumping of cylinder (1-4) occur for the vacuum
The driving end of gas cylinder (1-5) is connected, the driving end synchronization telescope movement for driving suction cylinder (1-5), the pumping
A piece pipe interface of gas cylinder (1-5) is connected with the air entry of sucker (1-3), negative for making sucker (1-3) generate vacuum
Pressure.
2. the wall climbing mechanism of glass curtain wall cleaning machine device people according to claim 1 a kind of, it is characterised in that：Four groups of walkings
The structure of assembly (1) is identical, and the walking frame (1-1) of every group of walking assembly (1) is " L " shape, and four groups of walking assemblies (1) are first
Tail connects into rectangular configuration.
3. the wall climbing mechanism of glass curtain wall cleaning machine device people according to claim 2 a kind of, it is characterised in that：The row
It walks frame (1-1) to be formed by connecting by two vertically disposed little frameworks, and is respectively provided with one group of telescopic cylinder in two little frameworks
The driving end of (1-2), every group of telescopic cylinder (1-2) are respectively mounted two suckers (1-3).
4. the wall climbing mechanism of glass curtain wall cleaning machine device people according to claim 3 a kind of, it is characterised in that：The suction
Disk (1-3) and suction cylinder (1-5) one-to-one connection.
5. the wall climbing mechanism of glass curtain wall cleaning machine device people according to claim 4 a kind of, it is characterised in that：One group of vacuum
Cylinder (1-4) occurs and two groups of suction cylinders (1-5) connect into an air cylinder group side by side, cylinder (1-4) occurs for the vacuum
Between two groups of suction cylinders (1-5), and cylinder (1-4) occurs for vacuum and the driving end of suction cylinder (1-5) passes through connection
Plate is connected.
6. the wall climbing mechanism of glass curtain wall cleaning machine device people according to claim 5 a kind of, it is characterised in that：The row
Cylinder (2), telescopic cylinder (1-2) and vacuum generation cylinder (1-4) is walked to connect with high-pressure pump by reversal valve respectively.
7. the wall climbing mechanism of glass curtain wall cleaning machine device people according to claim 6 a kind of, it is characterised in that：The row
It walks cylinder (2) and telescopic cylinder (1-2) is all made of double-rod cylinder.
8. a kind of working method of the wall climbing mechanism of the glass curtain wall cleaning machine device people described in claim 1 to 7 any one,
Motion process is as follows：
When being adsorbed in curtain wall, the telescopic cylinder (1-2) on four groups of walking assemblies (1) drives sucker (1-3) protruding, makes sucker
(1-3) is adjacent on cladding glass surface, starts high-pressure pump, and cylinder (1-4), which occurs, by vacuum drives suction cylinder (1-5)
Stretching motion vacuumizes the sucker (1-3) being connect with suction cylinder (1-5), and entire wall climbing mechanism is made to pass through sucker (1-3) suction
It is attached on cladding glass；
When wall movement is climbed in longitudinal direction, controls corresponding vacuum and cylinder (1-4) and telescopic cylinder (1-2) action occurs, make wall climbing mechanism
Sucker (1-3) on two groups of walking assemblies (1) of upper and lower both sides with cladding glass alternating sorbent and disengaging, while longitudinal being set respectively
The two groups of walking cylinders (2) set, which synchronize, to be extended and retracted, to make wall climbing mechanism climb wall movement down in the longitudinal direction；
When laterally climbing wall movement, controls corresponding vacuum and cylinder (1-4) and telescopic cylinder (1-2) action occurs, make wall climbing mechanism
Sucker (1-3) on two groups of walking assemblies (1) of the left and right sides with cladding glass alternating sorbent and disengaging, while laterally being set respectively
The two groups of walking cylinders (2) set, which synchronize, to be extended and retracted, to make wall climbing mechanism climb wall movement in laterally left and right.
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| CN201810333344.2A CN108577654B (en) | 2018-04-13 | 2018-04-13 | Wall-climbing mechanism of glass curtain wall cleaning robot and working method thereof |
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| CN201810333344.2A CN108577654B (en) | 2018-04-13 | 2018-04-13 | Wall-climbing mechanism of glass curtain wall cleaning robot and working method thereof |
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| CN108577654B (en) | 2020-12-18 |
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