CN108852147A - Glass curtain wall robotic cleaning device - Google Patents
Glass curtain wall robotic cleaning device Download PDFInfo
- Publication number
- CN108852147A CN108852147A CN201810788218.6A CN201810788218A CN108852147A CN 108852147 A CN108852147 A CN 108852147A CN 201810788218 A CN201810788218 A CN 201810788218A CN 108852147 A CN108852147 A CN 108852147A
- Authority
- CN
- China
- Prior art keywords
- fuselage
- curtain wall
- glass curtain
- joint
- sucker
- Prior art date
- 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
Landscapes
- Cleaning In General (AREA)
Abstract
The present invention discloses a kind of glass curtain wall robotic cleaning device, including fuselage, the cleaning mechanism of the fuselage bottom is arranged in the mechanical foot and activity that are symmetricly set on the fuselage two sides, the machinery foot is four-degree-of-freedom structure, the machinery foot is by shoulder joint nodal axisn, shoulder connecting rod, big leg joint, thick link, calf joint, shank link, sucker joint and sucker are formed, one end of the shoulder joint nodal axisn is fixed on the fuselage side by shoulder connecting rod, the other end of the shoulder joint nodal axisn and one end of thick link are connected by the thigh articulation, the other end of the thick link and one end of shank link are rotatablely connected by the calf joint, the other end of the shank link is rotatablely connected by the sucker joint and sucker, and fuselage and cleaning mechanism are played by the suction cup support.Automatic leaping over obstacles can be achieved in the present invention, can substantially meet the use of most glass curtain wall structures, and using safe with flexibly adjustment operation posture.
Description
Technical field
The present invention relates to a kind of cleaning machine more particularly to a kind of glass curtain wall robotic cleaning devices.
Background technique
Glass curtain wall is a kind of novel wall in the present age, and the maximum feature that it assigns building is by the aesthetics of architecture, building function
The factors such as energy, building energy conservation and building structure are organically united, and building shows different tones from different perspectives, with
The variation of sunlight, moonlight, light gives dynamic beauty.Each metropolitan various landmark buildings in the world all use in succession.
Due to being stained with a thick layer dirt in Urban dust pollution and surface in the case where exposing to the sun and rain for a long time, greatly
Overall beautiful and daylighting degree is affected, so periodic cleaning is the important maintenance work of glass curtain wall.
The clean mode of glass curtain wall has following several at present：
1, spider-man's basket-hanging cleans
Since vertical range is higher, personnel sling a rope from roof when often cleaning or so, and people is bundled in rope
Rope lower end, operating personnel vacantly fall completely on glass curtain wall surface, carry out bit by bit from top to bottom with easy tool
Cleaning, operation movement and its dangerous are not careful to be likely to fall down and cause death, and efficiency and its low, cleaning at
This is very high.
2, automatic absorbing clean robot
A kind of current existing glass curtain wall cleaning equipment, it is clear that drive is moved slowly at equipped with sucker suction on glass curtain wall
Clean mechanism carries out operation, but this equipment can only adsorb movement on smooth glass surface, if equipped with protrusion on glass surface
It just has no idea to cross over rib bone, the use scope very limit, and movement speed is slow, and operating efficiency is lower.
Based on the problems of above various cleaning ways, a kind of glass curtain wall robotic cleaning device is now developed.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of glass curtain wall robotic cleaning device,
Automatic leaping over obstacles can be achieved, the use of most glass curtain wall structures can be substantially met with flexibly adjustment operation posture,
And using safe.
Technical scheme is as follows：
A kind of glass curtain wall robotic cleaning device, including fuselage, be symmetricly set on the mechanical foot of the fuselage two sides with
And activity is arranged the cleaning mechanism of the fuselage bottom, the machinery foot is four-degree-of-freedom structure, the machinery foot by shoulder joint nodal axisn,
Shoulder connecting rod, big leg joint, thick link, calf joint, shank link, sucker joint and sucker are formed, the shoulder joint nodal axisn
One end the fuselage side is fixed on by shoulder connecting rod, the other end of the shoulder joint nodal axisn and one end of thick link pass through institute
The connection of thigh articulation is stated, the other end of the thick link and one end of shank link are connected by calf joint rotation
It connects, the other end of the shank link is rotatablely connected by the sucker joint and sucker, and plays machine by the suction cup support
Body and cleaning mechanism.
Further, the mechanical foot is equipped with several and is symmetrically distributed in the two sides of fuselage, the machine of the fuselage side
There is activity space between tool foot.
Further, there are six the mechanical foot is set, the two sides of the fuselage are symmetrically arranged with three.
Further, the fore-body is additionally provided with steel wire suspending head, and the back is provided with reaction force rotation spiral shell
Paddle is revolved, described two mechanical feet are between the steel wire suspending head and reaction force rotating-blade propeller.
Further, position of the fuselage at the 1/3 of steel wire suspending head is arranged in described two mechanical feet.
Further, the big leg joint and calf joint are gear linkage mechanism.
Further, the suction cup interior is equipped with vacuum sucking holes, is equipped in the machinery foot and is connected to the vacuum sucking holes
Vacuum system.
Further, the vacuum sucking holes are equipped with several, and are distributed in matrix.
Further, the two sides of the fuselage bottom are equipped with the first dragging track and the second dragging track in parallel, described clear
Clean mechanism is movably arranged on first dragging track and the second dragging track, and can be along first dragging track and
Two dragging track front-rear reciprocation movements.
Further, the cleaning mechanism includes that driving device and cleaning round brush, the cleaning round brush are arranged described
In driving device, the driving device is slidably connected with first dragging track and the second dragging track, the cleaning round brush
It is driven and is rotated by the driving device.
Compared with the existing technology, the beneficial effects of the present invention are：The present invention has the machinery of four-degree-of-freedom by design
Foot is connected by fuselage, using the machinery foot as motion driving mechanism, drives cleaning mechanism to be cleaned, cleaning mechanism exists
Two tracks of fuselage, which are moved forward and backward, realizes cleaning operation, and can realize automatic leaping over obstacles, can be with flexibly adjustment operation appearance
State substantially meets the use of most glass curtain wall structures, and using safe.
Detailed description of the invention
Fig. 1 provides the planar structure schematic diagram of glass curtain wall robotic cleaning device by the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of machinery foot described in the embodiment of the present invention one；
Fig. 3 is the connection schematic diagram of cleaning mechanism and fuselage described in the embodiment of the present invention one；
Fig. 4 is the side structure schematic diagram of one glass curtain wall robotic cleaning device of the embodiment of the present invention；
Fig. 5 provides the planar structure schematic diagram of glass curtain wall robotic cleaning device by the embodiment of the present invention two；
Fig. 6 provides the side structure schematic diagram of glass curtain wall robotic cleaning device by the embodiment of the present invention two；
Fig. 7 is the structural schematic diagram of machinery foot described in the embodiment of the present invention two.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment one
It please refers to shown in Fig. 1, Fig. 2, present embodiments provides a kind of glass curtain wall robotic cleaning device, including fuselage 1,
It is symmetricly set on several mechanical feet 2 of 1 two sides of fuselage and the cleaning mechanism 3 of activity setting 1 bottom of fuselage, 1 side of fuselage
Mechanical foot 2 between have activity space, mechanical foot 2 be four-degree-of-freedom structure, the machinery foot 2 is by shoulder joint nodal axisn 201, shoulder connecting rod
202,208 big leg joint 203, thick link 204, calf joint 205, shank link 206, sucker joint 207 and sucker groups
At one end of shoulder joint nodal axisn 201 is fixed on 1 side of fuselage by shoulder connecting rod 202, and the other end and thigh of shoulder joint nodal axisn 201 connect
One end of bar 204 is rotatablely connected by big leg joint 203, and the other end of thick link 204 and one end of shank link 206 are logical
The rotation connection of calf joint 205 is crossed, the other end of shank link 206 is rotatablely connected by sucker joint 207 and sucker 208, and
Fuselage 1 and cleaning mechanism 3 are supported by sucker 208.
The present embodiment, the big leg joint 203 and calf joint 205 are gear linkage mechanism.
Further, it is equipped with vacuum sucking holes inside the sucker 208, the vacuum of connection vacuum sucking holes is equipped in mechanical foot 2
System.Being sucked and unclamping for sucker 208 is realized by vacuum system.It preferably, the vacuum sucking holes are equipped with several, and is in square
Battle array distribution.Be conducive to improve the fastness and stability of 208 suction of sucker.
The present embodiment, the fuselage 1 are designed as strip.Certainly other shapes are also designed to, therefore do not limited.
As shown in figure 3, the two sides of 1 bottom of fuselage are equipped with the first dragging track 11 and the second dragging track 12 in parallel,
Cleaning mechanism 3 is movably arranged on the first dragging track 11 and the second dragging track 12, and can be along 11 He of the first dragging track
Second dragging track, 12 front-rear reciprocation movement.The rear and front end of fuselage 1 is provided with stopper 13, prevents cleaning mechanism 3 from skidding off, limit
Make its motion profile.
As shown in figure 4, the cleaning mechanism 3 includes driving device 31 and cleaning round brush 32, the cleaning setting of round brush 32 exists
In driving device 31, driving device 31 is slidably connected with the first dragging track 11 and the second dragging track 12, and cleaning round brush 32 is logical
Over-driving device 31 drives rotation.
The present embodiment, as shown in Figure 1, it is described machinery foot 2 set there are six, the two sides of fuselage 1 are symmetrically arranged with three.It wraps respectively
Include mechanical the 24, the 5th mechanical foot of mechanical foot the 25, the 6th of foot of the first mechanical foot 22 of mechanical foot 21, second, third machinery foot the 23, the 4th
26。
When work, pass through the first mechanical foot 22 of mechanical foot 21, second, third machinery foot the 23, the 4th mechanical foot 24, the 5th machine
The sucker 208 of the mechanical foot 26 of tool foot the 25, the 6th is sucked, and entire robot is steadily fixed on band cleaning operation face (such as：Glass
Deck), then the cleaning round brush 32 of cleaning mechanism 3 rotates, and cleaning mechanism 3 slides rail along the first dragging track 11 and second
Road 12 moves back and forth, and completes the cleaning of this area surface, can then be creeped forward or to from left to right according to environment.
Movement when creeping forward：The first step, the second mechanical foot 22 and third machinery foot 23 are stepped forward, are then sucked；Second
Step, the 4th mechanical foot 24 and the 5th mechanical foot 25 are stepped forward, are then sucked；Third step, entire body and the first mechanical foot 21 and
The 6th mechanical related cleaning mechanism 3 of foot 26 steps forward, and so circulation makes robot advance.
Movement when (right side) creeps to the left：The first step, the related cleaning mechanism 3 of fuselage 1 tilt to the left (right side), make the first machinery
The mechanical foot 25 of foot 21, third machinery foot the 23, the 5th stretches, and the second mechanical the 22, the 4th mechanical foot 26 of mechanical foot the 24, the 6th of foot is curved
It is bent；Second step, the 4th mechanical foot 24 stretches to be stepped to the left, and the bending of third machinery foot 23 steps to the left；Third step, the 6th mechanical foot 26
It stretches and steps to the left, the first mechanical bending of foot 21 steps to the left；4th step, the second mechanical foot 22 stretches to be stepped to the left, the 5th mechanical foot 25
It stretches and steps to the left, so circulation is moved to the left robot.
The present invention, as motion driving mechanism, drives cleaning mechanism to be cleaned using the mechanical foot of six four-degree-of-freedoms,
It, which can be realized automatically, has day across obstacle (300MM), more short distance gap (600MM), bypass pillar and pit, unlimited glass surface
Window, gap, abnormity, unfilled corner, protrusion rib bone or centre have pillar that can clean, completely substitution manual work, and the multiway is big
Type flat glass top robotic cleaning device can walk Aligning control charging automatically after the completion of not enough power supply or work, and with storage
Can, timing automatic job is not necessarily to manual intervention.
Embodiment two
Fig. 5, Fig. 6 are please referred to, present embodiments provides a kind of glass curtain wall robotic cleaning device, including is fuselage 1, symmetrical
The mechanical foot 2 of fuselage two sides, the cleaning mechanism 3 of activity setting 1 bottom of fuselage, the steel wire for being arranged in 1 front of fuselage is arranged in hang
First 4 and setting portion on the fuselage 1 reaction force rotating-blade propeller 5, described two mechanical feet 2 are located at steel wire suspending head 4 and anti-work
Firmly between rotating-blade propeller 5.
In use, roof, by steel wire traction steel wire suspending head 4, two mechanical feet 2 are mounted on fuselage 1 close to steel wire suspending head 4
1/3 at position, to make the self weight of cleaning mechanism 3 downward, under the cooperation self weight of the reaction force rotating-blade propeller 5 at 1 back of fuselage
For vertical characteristic by 1 apposition of fuselage really on vertical glass curtain wall, fuselage 1 can be lifted leaping over obstacles by mechanical foot 2.
Specifically, as shown in fig. 7, mechanical foot 2 is four-degree-of-freedom structure, the machinery foot 2 is by shoulder joint nodal axisn 201, shoulder connecting rod
202,208 big leg joint 203, thick link 204, calf joint 205, shank link 206, sucker joint 207 and sucker groups
At one end of shoulder joint nodal axisn 201 is fixed on 1 side of fuselage by shoulder connecting rod 202, and the other end and thigh of shoulder joint nodal axisn 201 connect
One end of bar 204 is rotatablely connected by big leg joint 203, and one end of the other end and shank link 206 of thick link 204 passes through
Calf joint 205 is rotatablely connected, and the other end of shank link 206 is rotatablely connected by sucker joint 207 and sucker 208, and is led to
It crosses sucker 208 and supports fuselage 1 and cleaning mechanism 3.
Wherein, the big leg joint 203 and calf joint 205 are gear linkage mechanism.
Further, it is equipped with vacuum sucking holes inside the sucker 208, the vacuum of connection vacuum sucking holes is equipped in mechanical foot 2
System.Being sucked and unclamping for sucker 208 is realized by vacuum system.It preferably, the vacuum sucking holes are equipped with several, and is in square
Battle array distribution.Be conducive to improve the fastness and stability of 208 suction of sucker.
Further, the two sides of 1 bottom of fuselage are equipped with the first dragging track and the second dragging track, cleaner in parallel
Structure 3 is movably arranged on the first dragging track and the second dragging track, and can be along the first dragging track and the second dragging track
Front-rear reciprocation movement.
As shown in fig. 6, the cleaning mechanism 3 includes driving device 31 and cleaning round brush 32, the cleaning setting of round brush 32 exists
In driving device 31, driving device 31 is slidably connected with the first dragging track and the second dragging track, and cleaning round brush 32 passes through drive
Dynamic device 31 drives rotation.
The method of operation：The Robot Design has the mechanical foot 2 of two four-degree-of-freedoms, from roof Hoisting Security traction steel wire
Rope, robot haulage cable synchronous when towards creeping up and down, use is safe, and two mechanical feet 2 are being led when leaping over obstacles
Fuselage 1 is lifted under the cooperation of messenger, imitates the mode across obstacle that acnemia disabled person is walked with hand, 1 apposition glass of fuselage
When curtain wall surface, cleaning 32 high-speed rotation of round brush completes cleaning operation, and included reaction force propeller 5 can be better
Apposition is on glass curtain wall.The both feet curtain wall robotic cleaning device can across in a certain range (high 200MM, it is wide
Obstacle 300MM), while the use of most glass curtain wall structures can be substantially met with flexibly adjustment operation posture.
The exploitation of glass curtain wall robotic cleaning device of the present invention compensates for all glass roof cleaning ways of the prior art
Defect realizes real glass surface intelligence cleaning function, makes a great contribution for glass roof cleaning operation.
The above is merely preferred embodiments of the present invention, be not intended to restrict the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of glass curtain wall robotic cleaning device, it is characterised in that：Including fuselage, it is symmetricly set on the fuselage two sides
Mechanical foot and activity are arranged the cleaning mechanism of the fuselage bottom, and the machinery foot is four-degree-of-freedom structure, the machinery foot by
Shoulder joint nodal axisn, shoulder connecting rod, big leg joint, thick link, calf joint, shank link, sucker joint and sucker are formed, described
One end of shoulder joint nodal axisn is fixed on the fuselage side by shoulder connecting rod, and the one of the other end of the shoulder joint nodal axisn and thick link
End is connected by the thigh articulation, and the other end of the thick link and one end of shank link are closed by the shank
The other end of section rotation connection, the shank link is rotatablely connected by the sucker joint and sucker, and passes through the sucker
Support fuselage and cleaning mechanism.
2. glass curtain wall robotic cleaning device according to claim 1, it is characterised in that：The machinery foot is equipped with several
Two sides that are a and being symmetrically distributed in fuselage have activity space between the mechanical foot of the fuselage side.
3. glass curtain wall robotic cleaning device according to claim 2, it is characterised in that：The machinery foot is equipped with six
A, the two sides of the fuselage are symmetrically arranged with three.
4. glass curtain wall robotic cleaning device according to claim 1, it is characterised in that：The fore-body is also set up
There is steel wire suspending head, the back is provided with reaction force rotating-blade propeller, and described two mechanical feet are located at the steel wire suspending head
Between reaction force rotating-blade propeller.
5. glass curtain wall robotic cleaning device according to claim 4, it is characterised in that：Described two mechanical foot settings
In position of the fuselage at the 1/3 of steel wire suspending head.
6. glass curtain wall robotic cleaning device according to claim 1, it is characterised in that：The big leg joint and shank
Joint is gear linkage mechanism.
7. glass curtain wall robotic cleaning device according to claim 1, it is characterised in that：The suction cup interior is equipped with true
Suction hole, the machinery foot is interior to be equipped with the vacuum system for being connected to the vacuum sucking holes.
8. glass curtain wall robotic cleaning device according to claim 7, it is characterised in that：If the vacuum sucking holes are equipped with
Dry, and be distributed in matrix.
9. glass curtain wall robotic cleaning device according to claim 1, it is characterised in that：The two sides of the fuselage bottom
It is equipped with the first dragging track and the second dragging track in parallel, the cleaning mechanism is movably arranged on first dragging track and the
On two dragging tracks, and can be along first dragging track and the second dragging track front-rear reciprocation movement.
10. glass curtain wall robotic cleaning device according to claim 9, it is characterised in that：The cleaning mechanism includes
Driving device and cleaning round brush, the cleaning round brush are arranged in the driving device, the driving device and described first
Dragging track and the second dragging track are slidably connected, and the cleaning round brush is driven by the driving device and rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810788218.6A CN108852147A (en) | 2018-07-18 | 2018-07-18 | Glass curtain wall robotic cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810788218.6A CN108852147A (en) | 2018-07-18 | 2018-07-18 | Glass curtain wall robotic cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108852147A true CN108852147A (en) | 2018-11-23 |
Family
ID=64303054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810788218.6A Pending CN108852147A (en) | 2018-07-18 | 2018-07-18 | Glass curtain wall robotic cleaning device |
Country Status (1)
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| CN (1) | CN108852147A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110226893A (en) * | 2019-05-24 | 2019-09-13 | 周训伦 | A kind of bionical wiping window spider robot of sucked type |
| CN110882968A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot |
| CN110882969A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically walking along bridge floor |
| CN110882967A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot of continuity of operation |
| CN110882971A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with distributed adsorption assembly |
| CN114345781A (en) * | 2021-11-10 | 2022-04-15 | 秦皇岛职业技术学院 | Automatic cleaning device of organizational structure information display board |
| CN117481546A (en) * | 2024-01-03 | 2024-02-02 | 深圳安培时代数字能源科技有限公司 | Window cleaning method and related device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110226893A (en) * | 2019-05-24 | 2019-09-13 | 周训伦 | A kind of bionical wiping window spider robot of sucked type |
| CN110882968A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot |
| CN110882969A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically walking along bridge floor |
| CN110882967A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot of continuity of operation |
| CN110882971A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with distributed adsorption assembly |
| CN114345781A (en) * | 2021-11-10 | 2022-04-15 | 秦皇岛职业技术学院 | Automatic cleaning device of organizational structure information display board |
| CN114345781B (en) * | 2021-11-10 | 2022-11-04 | 秦皇岛职业技术学院 | Automatic cleaning device for organization and construction information display board |
| CN117481546A (en) * | 2024-01-03 | 2024-02-02 | 深圳安培时代数字能源科技有限公司 | Window cleaning method and related device |
| CN117481546B (en) * | 2024-01-03 | 2024-03-29 | 深圳安培时代数字能源科技有限公司 | Window cleaning method and related device |
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Application publication date: 20181123 |