CN108894528A - A kind of high-altitude glass cleaning machine - Google Patents

Abstract

A high-altitude glass cleaning machine disclosed by the present invention includes a cleaning mechanism and a moving mechanism, and the cleaning mechanism and the moving mechanism are detachably connected; the cleaning mechanism includes a sewage treatment system and a water purification system, both of which are connected, and the water purification system is connected to a cleaning component , the cleaning assembly includes an atomized water assembly and a drum assembly; the moving mechanism includes a transmission mechanism and an adsorption mechanism, the transmission mechanism is symmetrically installed on the spacers on the left and right sides, and each adsorption mechanism is installed on the surface of the transmission mechanism. The glass cleaning machine disclosed by the invention solves the problems of inconvenient operation, single function and inability to overcome obstacles in the existing glass cleaning device. Using the device to clean high-altitude glass reduces labor costs, reduces construction risks and improves work efficiency.

Description

A high-altitude glass washing machine

technical field

The invention belongs to the technical field of high-altitude glass cleaning devices, and relates to a high-altitude glass cleaning machine.

Background technique

The wall mobile robot belongs to the extreme operation robot. The so-called extreme operation refers to the detection, maintenance, rescue and other operations carried out under some dangerous working conditions (such as radioactivity, high temperature, high pressure, vertical wall, space environment, etc.). These operations are dangerous and difficult for human beings. The currently used crawling devices generally use multiple piston cylinders or motors and related mechanisms to connect with vacuum suction cups to realize the straight running, turning and stationary of the crawling device on the smooth wall. The overall mechanism is complicated and heavy, and the heavy mass is not conducive to its adsorption on the smooth wall surface. The complicated mechanism also increases the manufacturing cost of the crawling device and reduces the reliability of the whole device. The existing wall crawling device will stop advancing when encountering an obstacle on the wall, and cannot continue to work, causing great inconvenience.

Today's high-altitude glass cleaning machines can only clean smooth and flat glass surfaces, but cannot clean some uneven glass curtain wall surfaces with glass ribs or protrusions. In a word, the existing high-altitude glass washing machine cannot climb over obstacles during cleaning, which is inconvenient to use.

Contents of the invention

The object of the present invention is to provide a high-altitude glass cleaning machine, which solves the problems of inconvenient operation and single function of the existing glass cleaning device.

The technical solution adopted in the present invention is a high-altitude glass cleaning machine, including a cleaning mechanism and a moving mechanism, and the cleaning mechanism and the moving mechanism are detachably connected;

The cleaning mechanism includes a sewage treatment system and a water purification system. The sewage treatment system and the water purification system are connected through a sewage recovery pipeline. The water purification system is connected to a cleaning component. The cleaning component includes an atomized water component and a roller component for cleaning the glass wall. ;

The moving mechanism includes a transmission mechanism and several adsorption mechanisms. The transmission mechanism is symmetrically installed on the distance rods on the left and right sides, and each adsorption mechanism is installed on the surface of the transmission mechanism.

Other features of the present invention are also that,

The water purification system includes a clean water tank fixed on the top surface of the housing. The side wall of the clean water tank is fixed with a cleaning liquid tank. A water pump III is fixed inside the cleaning liquid tank. The water pump III is connected to the mist through the cleaning liquid pipe and the cleaning liquid inlet. A chemical water assembly; a water pump II is also installed inside the side wall of the clean water tank, and the water pump II is connected to the drum assembly through a clean water pipe and a clean water inlet.

The atomizing water assembly includes an atomizing main pipe fixed between the two side walls of the bottom of the housing. The atomizing main pipe is connected to the cleaning liquid inlet. There are several atomizing tubes evenly spaced on the atomizing main tube. Each atomizing tube is perpendicular to the housing. The bottom surface of each atomization pipe is suspended and fixed on the atomization main pipe, and communicates with the inside of the atomization main pipe. One end of each atomization pipe is provided with an atomization nozzle; one side of the atomization main pipe is provided with a drum assembly, and the drum assembly includes a The drum hollow suspender between the two side walls of the bottom surface, one end of the drum hollow suspender is connected to the clean water inlet, the other end is connected to the drum shaft, one end of the drum shaft is connected to the motor IV through a coupling, and the drum shaft is sleeved with a drum. The roller is connected to the roller shaft through bearings, the outer wall of the roller is fixedly connected with the rubber cushion, and the outer wall of the rubber cushion is fixed with the soft hair of the roller.

The cleaning assembly also includes wipers fixed on the four sides of the bottom surface of the shell, and the two wipers parallel to the atomizing main pipe are respectively provided with the B-side sewage outlet and the A-side sewage outlet, and the B-side sewage outlet and the A-side sewage outlet. The B-side sewage pipe and the A-side sewage pipe are respectively connected to the sewage treatment system. The B-side sewage pipe and the A-side sewage pipe are respectively installed with a B-side sewage pump and a side A-side sewage pump; the sewage treatment system includes In the sewage tank on the surface, a coarse filter membrane and a fine filter membrane are sequentially fixed between the two side walls of the sewage tank, and the B-side sewage pipe and the A-side sewage pipe are connected to one side of the coarse filter membrane on the inner wall of the sewage tank.

The transmission mechanism includes a gear assembly installed between the distance rods on the left and right sides, and a sprocket group I and a sprocket group II respectively installed on the outside of the distance rods on the left and right sides. The sprocket group I and the sprocket group II are respectively wound There are chain I and chain II, and the structure of chain wheel group I and chain wheel group II is the same.

The gear assembly includes a large gear shaft, a pinion shaft and a shaft that are connected between the distance rods on the left and right sides and are parallel to each other. In the middle of the large gear shaft, the middle key of the large gear shaft is connected with the large gear, and the middle key of the pinion shaft is connected with the pinion, and the large gear meshes with the pinion. One end of the pinion shaft is connected to the motor I through a coupling, and the motor I is fixed on the distance rod; The bull gear shaft and the two ends of the shaft pass through the spacer bar and connect the sprocket group I and the sprocket group II on the left and right sides of the spacer bar through threads.

The sprocket set I includes two large sprockets that are respectively connected to the large gear shaft and one end of the shaft by threads, and the meshing chain I is wound between the two large sprockets, and the chain I is also meshed with three small sprockets. The triangle fixing frame is fixed by bolts, and there is a pin shaft hole in the center of the triangle fixing frame to connect another triangle fixing frame through the pin shaft I. Fixed on the pressure bar, the three small sprockets are located between the two triangle fixing frames, and are fixed on the triangles of the two triangle fixing frames through pins, the three small sprockets can rotate around the pins, and the chain I is set There are several adsorption mechanisms.

Each spacer rod is also fixedly connected with the auxiliary mounting shell, and the top of the auxiliary mounting shell is fixed with a linear motor. There are grooves on the opposite sides of the auxiliary mounting shell, and a pull rod is placed in the groove. The axis of the pull rod is aligned with the distance rod. Parallel, the tie rod is threadedly connected with the screw shaft of the linear motor through the threaded hole. There is a corresponding boss at the place where the center of the tie rod is matched with the groove. The end is provided with an arc track, and the inner surface of the through hole is a plane track except for the two ends.

The adsorption mechanism includes a circular suction cup shell, the central gap of the suction cup shell is connected to the suction cup rod, the surface of the suction cup shell is located on both sides of the suction cup rod, and two groups of suction cup bosses are fixed symmetrically, and each group of suction cup bosses is connected by two mutually parallel Bearing pin II is connected on chain I and chain II.

The suction cup shell is located on the outside of the suction cup boss and is also fixedly connected with a roller support platform, which is connected to the roller through a pin shaft; one end of the suction cup rod is fixed to a cross bar perpendicular to the suction cup rod, and the two ends of the cross bar are interference fit Connect the inner ring of a bearing II, the outer ring of the bearing II rolls in the arc track and the plane track, the other end of the suction cup rod is connected to the butyl rubber through the nut, and the butyl rubber is connected to the circumference of the suction cup shell.

The beneficial effect of the present invention is that a high-altitude glass cleaning machine removes stains on the glass through the comprehensive action of the brush, roller brush and cleaning liquid. The glass is cleaned cleanly; finally, the wiper is used to collect the cleaning liquid containing the stains into the sewage tank, filtered and purified by the sewage tank, and the filtered water enters the clean water tank to realize water recycling; the moving mechanism has two functions of adsorption and crawling. Function, when the suction cup enters the pull rod, it generates adsorption force. During the crawling process, the front suction cup enters the adsorption state through the pull rod in turn, and the last suction cup at the tail passes through the middle plane track and the end arc track of the tie rod in turn to realize the sucker from the suction The state gradually changes to a state of being close to the wall without adsorption force, and when the suction cup leaves the wall, it will not be in an adsorption state, and will not cause resistance to the crawling device moving forward. Through the setting of the turntable mechanism, the mechanism can be rotated 360 degrees in situ. When an obstacle is encountered, the motor can control the sprocket set to climb over the obstacle.

Description of drawings

Fig. 1 is the structural representation of a kind of high-altitude glass washing machine of the present invention;

Fig. 2 is the structural representation of cleaning mechanism;

Fig. 3 is the structural representation of moving mechanism;

Fig. 4 is a structural schematic diagram of the connection between the cleaning mechanism and the moving mechanism;

Fig. 5 is a schematic diagram of the internal structure of the cleaning mechanism;

Fig. 6 is a side view structural schematic diagram of the cleaning mechanism;

Fig. 7 is a schematic diagram of a transmission structure;

Fig. 8 is a structural schematic diagram of a tripod mount;

Fig. 9 is a structural schematic diagram of a pull rod;

Figure 10 is a schematic structural view of the adsorption mechanism;

Fig. 11 is a schematic diagram of the main structure of the turntable;

Fig. 12 is a cross-sectional view of the connection between the lower beam of the slider and the upper beam of the slider;

Fig. 13 is a schematic diagram of the structure after the lower beam of the sliding plate is connected to the upper beam of the sliding plate;

Fig. 14 is a structural schematic diagram of the suction cup of the turntable.

Among the figure, 1. bull gear, 2. bull gear shaft, 3. spacer bar, 4. chain wheel group 1, 5. motor 1, 6. chain 1, 7. pinion shaft, 8. pinion, 9. Shaft, 10. Chain II, 11. Pull rod, 12. Linear motor, 13. Auxiliary installation shell, 14. Groove, 15. Linear motor screw shaft, 16. Sprocket group II, 17. Adsorption mechanism, 18. Large Chain wheel, 19. triangular fixed frame, 20. depression bar, 21. small sprocket wheel, 22. bearing 1, 23. pin shaft 1, 24. bolt hole, 25. pin shaft hole, 27. arc track, 28. Plane track, 29. Pin shaft II, 30. Bearing II, 31. Suction cup rod, 32. Suction cup boss, 33. Roller, 34. Suction cup shell, 35. Butyl rubber, 36. Roller support platform, 37. Thread Hole, 38. Turntable pinion, 39. Turntable suction cup, 40. Nut, 41. Vacuum pump, 43. Bolt hole II, 44. Turntable top plate, 45. Turntable linear motor shaft, 46. Turntable linear motor, 47. Vacuum pump tube 48. Suction cup fixed plate, 49. Sliding plate upper beam, 50. Guide rod, 51. Sliding plate lower beam, 52. Screw, 53. Ball screw, 56. Sliding plate lower beam motor, 57. Bolt hole II, 58 .Screw hole II, 59. Slide plate upper beam boss, 60. Screw motor shaft, 61. Screw motor, 62. Butyl rubber II, 63. Turntable gear, 64. Cleaning mechanism, 65. Sewage tank, 66. Screw, 67. Screw motor II, 68. Cleaning mechanism hanging plate, 69. Screw hole III, 70. Clean water tank, 71. Coarse filter membrane, 72. Fine filter membrane, 73. Water pump I, 74. Water pump II, 75. Cleaning Liquid tank, 76. Water pump III, 77. Clean water pipe, 78. Cleaning liquid pipe, 79. B side sewage outlet, 80. A measuring sewage outlet, 81. Atomizing nozzle, 82. Hair brush, 83. Roller soft hair, 84. Sewage pipe on side A, 85. Sewage pipe on side B, 86. Scraper, 87. Cleaning liquid inlet, 88. Clean water inlet, 89. Sewage pump on A side, 90. Sewage pump on B side, 91. Screw hole IV , 94. Shell, 95. Atomizing tube, 96. Motor VII, 103. Drum hollow suspender, 107. Drum shaft, 108. Motor IV, 109. Rubber pad, 110. Brush shaft, 111. Drum, 114 . Sewage recycling pipes.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

A high-altitude glass cleaning machine of the present invention, as shown in Figure 1, includes a cleaning mechanism 64 and a moving mechanism, and the cleaning mechanism 64 and the moving mechanism are detachably connected by bolts;

As shown in Figure 2, the cleaning mechanism 64 includes a rectangular hollow shell 94, and one end of the top surface of the shell 94 is fixedly connected with a sewage treatment system and a water purification system, and the sewage treatment system and the water purification system are communicated through a sewage recovery pipeline 114, A water pump I73 is installed on the sewage recovery pipeline 114, which is used to pump the sewage treated by the sewage treatment system to the water purification system. The water purification system is connected to a cleaning component. The cleaning component includes an atomized water component and a roller component for cleaning the glass wall. ;

As shown in Figures 1 and 3, the moving mechanism includes a transmission mechanism, several adsorption mechanisms 17 and a turntable mechanism. The transmission mechanism is symmetrically installed on the distance rods 3 on the left and right sides, and each adsorption mechanism 17 is installed on the surface of the transmission mechanism. , the turntable mechanism is located between the transmission mechanisms on the left and right sides. The turntable mechanism includes a turntable body and a slider lower beam 51 connected to the top of the turntable body. The slider lower beam 51 is fixedly connected with a slider perpendicular to the axis of the slider lower beam 51. Upper beam 49, the upper beam 49 of the sliding plate is fixedly connected on the distance rods 3 on the left and right sides by the screw motor shaft 60 at the screw hole II58 places offered at both ends, and the screw motor shaft 60 is fixedly connected to the screw motor 61 as a whole, in order to drive Transmission mechanism movement.

As shown in Figure 4, one end of the lower beam 51 of the sliding plate is fixedly connected to the cleaning mechanism hanging plate 68, and some screw holes III69 are arranged on the surface of the cleaning mechanism hanging plate 68. It is threadedly connected with the screw hole III69 on the surface of the cleaning mechanism hanging plate 68, and the screw motor II67 is also connected on the screw rod 66.

As shown in Figures 5 and 6, the water purification system includes a clean water tank 70 fixed on the top surface of the housing 94, the inner side wall of the clean water tank 70 is fixed with a cleaning solution tank 75, and a water pump is fixedly installed inside the cleaning solution tank 75. III76, the water pump III76 is connected to the atomized water assembly through the cleaning liquid pipe 78 and the cleaning liquid inlet 87; the water pump II74 is also installed inside the side wall of the clean water tank 70, and the water pump II74 is connected to the drum assembly through the clean water pipe 77 and the clean water inlet 88; the cleaning assembly includes Atomized water assembly, the atomized water assembly includes an atomized main pipe fixed between the two side walls of the bottom surface of the shell 94, the atomized main pipe communicates with the cleaning liquid inlet 87, and several atomized pipes 95 are evenly connected to the atomized main pipe, Each atomizing tube 95 is suspended and fixed on the atomizing main tube perpendicular to the bottom surface of the shell 94, and communicates with the inside of the atomizing main tube. One end of each atomizing tube 95 is provided with an atomizing nozzle 81; The side is also provided with a brush assembly and a roller assembly. The brush assembly includes a brush shaft 110 that is connected between the two side walls of the bottom surface of the housing 94, and one end of the brush shaft 110 is connected to the motor VII96 through a coupling. The motor VII96 is installed in the inside of the casing 94, and several suspended brushes 82 are affixed axially on the brush shaft 110. The drum assembly includes a drum hollow suspender 103 connected between the two side walls of the bottom surface of the housing 94, and the drum is hollow. One end of the boom 103 is connected to the clean water inlet 88, and the other end is connected to the drum shaft 107. One end of the drum shaft 107 is connected to the motor IV108 through a coupling. The drum shaft 107 is sleeved with a drum 111, and the drum 111 is connected to the drum shaft 107 through a bearing. , the outer wall of the roller 111 is fixedly connected with the rubber cushion layer 109 , and the outer wall of the rubber cushion layer 109 is fixedly connected with the roller fur 83 .

The cleaning assembly also includes wipers 86 fixed on the four sides of the bottom surface of the shell 94. The two wipers 86 parallel to the atomizing main pipe are respectively provided with a B-side sewage outlet 79 and an A-side sewage outlet 80. The B-side sewage outlet 79 and A-side sewage pipe 80 are respectively connected to the sewage treatment system through the B-side sewage pipe 85 and the A-side sewage pipe 84, and the B-side sewage pipe 85 and the A-side sewage pipe 84 are respectively installed with the B-side sewage pump 90 and the A-side sewage pump 90. Sewage pump 89; the sewage treatment system includes a sewage tank 65 fixedly connected to the top surface of the shell 94, a coarse filter membrane 71 and a fine filter membrane 72 are sequentially fixed between the two side walls of the sewage tank 65, and the B-side sewage pipe 85 and the A-side sewage pipe 84 are connected to one side of the coarse filter membrane 71 on the inner wall of the sewage tank 65 .

As shown in Figure 7, the transmission mechanism includes a gear assembly installed between the distance rods 3 on the left and right sides and a sprocket group I4 and a sprocket group II16 installed on the outside of the distance rods 3 on the left and right sides respectively, and the sprocket group I4 The chain I6 and the chain II10 are respectively wound on the sprocket set II16, and the structure of the sprocket set I4 and the sprocket set II16 is the same.

The gear assembly includes a large gear shaft 2, a pinion shaft 7 and a shaft 9 that are connected between the distance rods 3 on the left and right sides through the interference fit of the bearing I22. The large gear shaft 2 and the shaft 9 are located on the distance rod 3. The pinion shaft 7 is located in the middle of the bull gear shaft 2 and the shaft 9, the middle key of the bull gear shaft 2 is connected to the bull gear 1, the middle key of the pinion shaft 7 is connected to the pinion 8, the bull gear 1 meshes with the pinion 8, and the small One end of the gear shaft 7 is connected to the motor I5 through a coupling, and the motor I5 is fixedly connected to the distance rod 3; both ends of the gear shaft 2 and the shaft 9 pass through the distance rod 3 and are respectively threaded to connect the left and right sides of the distance rod 3. Side chainring set I4 and chainring set II16.

The sprocket set I4 includes two large sprockets 18 which are respectively threaded on one end of the large gear shaft 2 and the shaft 9, and the meshing chain I6 is wound between the two large sprockets 18, and the chain I6 is also meshed with three small sprockets 21 , the distance bar 3 central parts are fixedly connected with the triangle mount 19 by bolts, as shown in Figure 8, the triangle mount 19 central part is provided with pin shaft hole 25 and connects another triangle mount 19 by bearing pin 123, another triangle mount 19 is located outside the sprocket group I4, and is fixed on the pressure bar 20 by bolts at the bolt hole 24 at the bottom of the surface, and the three small sprockets 21 are located between the two triangle brackets 19, and are fixed on the two by pins. The triangle of triangle fixed mount 19, three small sprocket wheels 21 can rotate around pin, and some adsorption mechanisms 17 are provided on the chain 16.

Each distance rod 3 is also fixedly connected with an auxiliary installation shell 13, and the top end of the auxiliary installation shell 13 is fixed with a linear motor 12. The opposite sides of the auxiliary installation shell 13 are provided with grooves 14, and a pull rod 11 is placed in the groove 14. , the axis of the pull rod 11 is parallel to the spacer rod 3, and the pull rod 11 is threadedly connected with the screw shaft 15 of the linear motor through the threaded hole 37. Boss, the inside of pull rod 11 is provided with " concave " font through-hole axially, and through-hole two ends are provided with arc surface track 27, and the place of through-hole inner surface except two ends is plane track 28.

As shown in FIG. 10 , the adsorption mechanism 17 includes a circular suction cup housing 34 , the central gap of the suction cup housing 34 is connected to the suction cup rod 31 , and the surface of the suction cup housing 34 is located on both sides of the suction cup rod 31 and a group of suction cup bosses 32 are fixed symmetrically. Each group of sucker bosses 32 is connected on the chain I6 and the chain II10 through two mutually parallel pin shafts II29; the outer side of the sucker bosses 32 on the sucker housing 34 is also fixedly connected with a roller support platform 36, the roller support platform 36 is connected to the roller 33 through a pin shaft; one end of the sucker bar 31 is fixedly connected to a cross bar perpendicular to the sucker bar 31, and each of the two ends of the cross bar is connected with a bearing II30 inner ring with an interference fit, and the outer ring of the bearing II30 is in the arc surface track 27 Roll on the plane track 28, the other end of the suction cup rod 31 is connected to the butyl rubber 35 through a nut, and the butyl rubber is connected to the circumference of the suction cup housing 34.

As shown in Figure 11, Figure 12 and Figure 13, the main body of the turntable includes a circular turntable top plate 44, four bolt holes II43 are opened in the center of the surface of the turntable top plate 44, and the bolt holes II43 are fixedly connected with the lower beam of the slide plate by bolts 51, both sides of the lower beam 51 of the sliding plate are fixedly connected with guide rods 50 along the axis, the guide rods 50 are connected with the upper beam 49 of the sliding plate, the axis of the upper beam 49 of the sliding plate is vertical, and the upper beam 49 of the sliding plate The upper beam boss 59 of the sliding plate is symmetrically fixed in the middle, and the upper beam boss 59 of the sliding plate is connected with the guide rod 50 by a bolt at the bolt hole II57 and fixed by a screw 52. The lower beam 51 of the sliding plate is axially connected with the ball screw 53, and the ball screw One end of 53 is connected with the lower beam motor 56 of the sliding plate through a coupling, and the lower beam motor 56 of the sliding plate drives the ball screw 53 to rotate, and the lower beam 51 of the sliding plate moves along the axis of the ball screw 53 as the ball screw 53 rotates. to move, thereby driving the upper beam 49 of the sliding plate to move.

The two ends of the surface of the turntable top plate 44 are respectively connected to the circular sucker fixed disk 48 through the turntable linear motor shaft 45, and one end of the turntable linear motor shaft 45 is connected with a turntable linear motor 46 as a whole to drive the movement of the turntable mechanism; the turntable top plate 44 and the suction cup fixed disk In the middle of 48, a turntable bull gear 63 is arranged. The other end of the turntable linear motor shaft 45 passes through the two ends of the turntable bull gear 63 and is affixed to the surface of the suction cup fixed disk 48. The turntable bull gear 63 meshes with the turntable pinion 38, and the turntable pinion 38 and The central key of the turntable gear 63 is connected to one end of the gear shaft, and the other end of the gear shaft is connected to the suction cup fixed disk 48 through a bearing, and the gear shaft connected to the turntable pinion 38 is connected to a driving motor through a coupling;

As shown in Figure 14, the surface of the suction cup fixed disk 48 is evenly connected with the rotary disk suction cup 39 by several suction cup rods along the circumference, and each suction cup rod passes through the surface of the suction cup fixed disk 48 and is threadedly connected with the suction cup fixed disk 48, and is fixed by a nut 40. Each suction cup rod is hollow inside, and each suction cup rod is positioned at one end of the bottom surface of the suction cup fixed disk 48 and is affixed with butyl rubber II62, and one end positioned at the surface of the suction cup fixed disk 48 is connected with a vacuum pump tube 47, and the vacuum pump tube 47 is connected with a vacuum pump 41, and the vacuum pump 41 is fixed on The suction cup fixes the surface of the disc 48 .

A high-altitude glass cleaning machine of the present invention has the following working principle: fill the cleaning liquid tank 75 with cleaning liquid and the clean water tank 70 with water, start the water pump II74, water pump III76, motor VII96 and motor IV108 in sequence, and then, atomize the nozzle 81 sprays atomized cleaning solution, brush 82 for rough scrubbing, roller soft bristle 83 for scrubbing, and wiper 86 for scraping (wherein, the shell 94 is a closed shell with four sides, and all four sides have wiper 86, No matter which direction the cleaning device advances, the wiper 86 can scrape off the cleaning water marks and sewage), then start the A-side sewage pump 89 or the B-side sewage pump 90, and pass through the A-side sewage outlet 80 or the B-side sewage outlet 79 The sewage pipe 84 on the A side and the sewage pipe 85 on the B side flow into the sewage tank 65 respectively. After being filtered by the coarse filter membrane 71 and the fine filter membrane 72, the sewage becomes clean water, and then the water pump I73 is started to transport the treated clean water to the clean water tank 70 , it can be recycled next time.

The working process of a kind of high-altitude glass washing machine of the present invention is as follows:

Before the device is placed on the wall, start the linear motor 12 to move down, so that the linear motor screw shaft 15 drives the pull rod 11 to move down, so that the butyl rubber 35 glue of the suction cup is close to the wall (the bearing II30 has entered the plane track through the arc track 27 28), when the whole crawling device is placed on the wall, the linear motor 12 is moved upward, the linear motor screw shaft 15 drives the 11 pull rod to move upward, and the middle part of the butyl rubber 35 is pulled away from the wall, and then, the motor 15 is started , drives pinion 8 to rotate, and pinion 8 drives bull gear 1 to rotate, and bull gear 1 drives sprocket set I4 and sprocket set II16 to rotate (the three are coaxial), and the whole crawling device moves forward (if you want to move backward, put The motor I5 can be reversed; if you want to stop, just turn off the motor I5).

The adsorption process is that when the suction cup does not enter the pull rod 11, no adsorption force is generated, and when it enters the end arc track and the plane track in the structure of the pull rod 11 (at this time, all the suction cups facing the wall are tightly adsorbed on the wall) . In the process of moving forward, this crawler is similar to crawler movement. The front suction cup enters the adsorption state through the pull rod in turn, and the last suction cup at the tail passes through the plane track in the pull rod structure in turn (the middle part of the butyl rubber 35 of the suction cup is pulled away from the wall. ) and the arc surface track at the end (the butyl rubber 35 of the suction cup gradually approaches the wall), that is, the suction cup gradually changes from the adsorption state to the non-adsorption state close to the wall surface. When the suction cup leaves the wall surface, it will not be in the adsorption state and will not give The forward movement of the crawler creates resistance.

When you hit a snag:

1) Sprocket group obstacle surmounting: After the motor I5 stops, the sprocket group I4 and the sprocket group II16 on both sides stop moving forward, the turntable linear motor 46 starts, and the turntable suction cup 39 moves down close to the wall; at the same time, start the vacuum pump to make all the turntable suction cups 41 Generate enough negative pressure in 39 to be adsorbed on the wall (at this moment, the whole device is firmly adsorbed on the wall). Then, start the linear motor 12 to move down, so that the linear motor screw shaft 15 drives the pull rod 11 to move down, so that the butyl rubber 35 on the suction cup housing 34 is close to the wall surface and does not absorb the wall surface. Start the screw motor 61 to move the sprocket group I4 and the sprocket group II16 as a whole, and leave the wall at a certain height; start the sliding plate lower beam motor 56, and under the action of the ball screw 53, the sliding plate upper beam 49 moves forward, and at the same time Drive sprocket wheel group I4 and sprocket wheel group II16 whole body forward (sprocket wheel group I4 and sprocket wheel group II16 cross obstacle); The wheel group I4 and the sprocket group II16 move down as a whole, and after the sprocket group is close to the wall, start the linear motor 12, so that the linear motor screw shaft 15 drives the pull rod 11 to move upward, so that the butyl rubber 35 on the suction cup housing 34 and the A cavity is formed on the wall surface, which generates negative pressure, so that the suction cup absorbs the wall surface;

Then, when the caterpillar mechanism of sprocket wheel group I4 and chain wheel group II16 is adsorbed on the wall surface, the work of the turntable mechanism can be stopped (that is, stop the vacuum pump 47, so that the negative pressure produced in all turntable suckers 39 disappears, and then start the turntable linear motor 46 reverses, make the turntable suction cup 39 move away from the wall certain distance (this moment the turntable top plate 44 does not move)). Start the lower beam motor 56 of the sliding plate, the lower beam 49 of the sliding plate is moved forward, and after driving the rotating disc sucker to move forward and cross the obstacle, stop the lower beam motor of the sliding plate.

At this point, the crawler can continue to move forward.

² ) Rotate at 360° on the spot: When the crawling device is moving forward and needs to rotate on the spot, stop the motor I5, stop the sprocket group I4 and the sprocket group II16 on both sides, start the turntable linear motor 46, and the turntable suction cup 39 move down close to the wall; Simultaneously, start the vacuum pump 41 and make enough negative pressure to be adsorbed on the wall (at this time, the whole device is firmly adsorbed on the wall) in all the turntable suction cups 39. Then, the screw motor 61 is started to move the 5 sprocket wheel groups I4 and the sprocket wheel group II16 as a whole, leaving a certain height on the wall; Gear 63 rotates, and turntable gear 63 then drives turntable linear motor shaft 45, and then drives turntable top plate 44 to rotate, turntable top plate 44 drives slide plate lower beam 51 to rotate, slide plate lower beam 51 drives slide plate upper beam 49 to rotate, slide plate The beam 49 on the plate drives the sprocket wheel set I4 and the sprocket wheel set II16 on both sides to move, finally realizing the rotation of the whole device. After rotating to designated position, start screw motor 61 sprocket wheel set I4 and sprocket wheel set II16 integrally move down, close to the wall. Start the linear motor 12 to move up, so that the linear motor screw shaft 15 drives the pull rod 11 to move up, so that the butyl rubber 35 leaves the wall and absorbs the wall. Can stop the work of turntable sucker 39 this moment. At this time, the crawling device can continue to move forward after rotating.

The glass cleaning machine uses the comprehensive function of cleaning liquid, brush and roller brush to remove stains on the glass. The main process is atomized spraying cleaning liquid, brush scrubbing, roller scrubbing, scraper scraping, sewage collection, and sewage filtration treatment. Clean water, clear water is transported to the drum for recycling. The specific process is: the atomizing nozzle 81 sprays the cleaning solution on the glass curtain wall, so that the stains on the glass curtain wall are dissolved in the cleaning solution; and then the brush shaft is driven by the motor VII96 to drive the brush Pre-clean the glass curtain wall to remove some difficult-to-remove substances from the glass curtain wall, and then the soft roller 83 will perform deep cleaning on the glass curtain wall under the action of the motor IV108 driving the roller shaft 107 to separate all the stains on the glass curtain wall. In the cleaning solution, use the wiper 86 to collect the cleaning solution containing stains into the sewage tank 65, filter and purify the sewage tank 65, and the filtered water enters the clean water tank 70 to realize water recycling. Get a clean glass curtain wall.

When the cleaning is finished, first stop the water pump II74 and water pump III76, then stop VII96 and motor IV108 in turn, wait for half a minute, wait for the sewage to be collected, stop the A-side sewage pump 89 and B-side sewage pump 90, and then suspend for 3 minutes, wait After the sewage treatment is completed and delivered to the clean water tank 70, the water pump I73 is closed.

Claims (10)

1. a kind of high-altitude glass cleaning machine, which is characterized in that including wiper mechanism (64) and mobile mechanism, the wiper mechanism (64) it is detachably connected between the mobile mechanism；

The wiper mechanism (64) includes sewage disposal system and water purification system, between the sewage disposal system and water purification system It is connected to by sewage recovery tube road (114), the water purification system connects cleaning assembly, and the cleaning assembly includes atomization water assembly And drum assembly, for cleaning glass metope；

The mobile mechanism includes transmission mechanism and several adsorbing mechanisms (17), and the transmission mechanism is symmetrically mounted on the left and right sides Distance rod (3) on, each adsorbing mechanism (17) is installed in the surface of the transmission mechanism.

2. a kind of high-altitude glass cleaning machine as described in claim 1, which is characterized in that the water purification system includes being fixed in institute State the clear water tanks (70) on shell (94) top surface, the affixed cleaning fluid tank of clear water tanks (70) internal side wall (75), the cleaning It is fixedly installed with water pump III (76) inside liquid case (75), the water pump III (76) passes through cleaning liquid pipe (78) and cleaning solution import (87) the atomization water assembly is connected；Clear water tanks (70) interior is also equipped with water pump II (74), the water pump II (74) drum assembly is connected by water pipe (77) and clear water import (88).

3. a kind of high-altitude glass cleaning machine as claimed in claim 2, which is characterized in that the atomization water assembly includes being fixed in Atomization supervisor between shell (94) the bottom surface both side wall, the atomization supervisor are connected to the cleaning solution import (87), institute It states to be spaced on atomization supervisor and uniformly be communicated with several mist pipes (95), each mist pipe (95) is perpendicular to the shell (94) Bottom surface suspension be fixed in the atomization and be responsible for, and be connected to the atomization main pipe, each mist pipe (95) One end is provided with atomizer (81)；The side of the atomization supervisor is provided with drum assembly, and the drum assembly includes connecting Connect the hollow sunpender of roller (103) between the bottom surface both side wall of the shell (94), the described hollow sunpender of roller (103) one end It is connected to the clear water import (88), the other end connects drum shaft (107), and one end of the drum shaft (107) passes through shaft coupling It connects motor IV (108), is socketed with roller (111) on the drum shaft (107), the roller (111) is connected to by bearing On the drum shaft (107), the affixed rubber spacer of roller (111) lateral wall (109), the rubber spacer (109) it is outer The affixed roller fur (83) of side wall.

4. a kind of high-altitude glass cleaning machine as claimed in claim 3, which is characterized in that the cleaning assembly further includes being fixed in The Wiper blade (86) on four side of shell (94) bottom surface is responsible on two Wiper blades (86) being parallel to each other with the atomization It has the side B sewage draining exit (79) and A surveys sewage draining exit (80), the side B sewage draining exit (79) and A survey sewage draining exit (80) and pass through respectively The side B sewage pipe (85) and the side A sewage pipe (84) are connected to the sewage disposal system, the side B sewage pipe (85) and the side A sewage It is also separately installed with B on pipe (84) and surveys sewage pump (90) and the side A sewage pump (89)；The sewage disposal system includes being fixed in institute The foul water tank (65) on shell (94) top surface is stated, is spaced between the internal two sidewalls of the foul water tank (65) and is successively connected with coarse filtration film (71) and fine filtering film (72), the side B sewage pipe (85) are connected to the foul water tank (65) inner wall coarse filtration with the side A sewage pipe (84) Film (71) side.

5. a kind of high-altitude glass cleaning machine as described in claim 1, which is characterized in that the transmission mechanism includes being mounted on a left side Gear assembly between distance rod described in right two sides (3) and the sprocket wheel being separately mounted on the outside of the distance rod (3) of the left and right sides It is wound with chain I (6) and chain II respectively on group I (4) and chain wheel set II (16), the chain wheel set I (4) and chain wheel set II (16) (10), the chain wheel set I (4) is identical with the structure of the chain wheel set II (16).

6. a kind of high-altitude glass cleaning machine as claimed in claim 5, which is characterized in that the gear assembly includes being connected to a left side Large Gear Shaft (2), pinion shaft (7) and the axis (9) being parallel to each other two-by-two between distance rod described in right two sides (3), the canine tooth Wheel shaft (2) and axis (9) are located at the both ends of the distance rod (3), and the pinion shaft (7) is located at the Large Gear Shaft (2) and axis (9) centre, the Large Gear Shaft (2) is intermediate to be keyed gear wheel (1), and pinion gear is keyed among the pinion shaft (7) (8), one end of gear wheel (1) pinion mate (8), the pinion shaft (7) connects motor I (5) by shaft coupling, institute Motor I (5) is stated to be fixed on the distance rod (3)；The Large Gear Shaft (2) and the axis (9) both ends both pass through the spacing Bar (3) is connected through a screw thread the chain wheel set I (4) and the chain wheel set II (16) at left and right sides of the distance rod (3) respectively.

7. a kind of high-altitude glass cleaning machine as claimed in claim 6, which is characterized in that the chain wheel set I (4) includes leading to respectively Cross two big sprocket wheels (18) for being threaded in the Large Gear Shaft (2) and the axis (9) one end, two big sprocket wheels (18) Between wind engagement chain I (6), the chain I (6) also engages with three minor sprockets (21), and distance rod (3) center passes through Bolt is connected with triangular fixing frame (19), and triangular fixing frame (19) center offers pin shaft hole (25) and passes through pin shaft I (23) Another triangular fixing frame (19) is connected, another described triangular fixing frame (19) is located on the outside of the chain wheel set I (4), and It is bolted at surface bottom portion bolt hole (24) on compression bar (20), three minor sprockets (21) are located at described in two Between triangular fixing frame (19), and it is fixed on by pin the triangle of two triangular fixing frames (19), described in three Minor sprocket (21) can be rotated around the pin, and several adsorbing mechanisms (17) are provided on the chain I (6).

8. a kind of high-altitude glass cleaning machine as claimed in claim 5, which is characterized in that also solid on each distance rod (3) Connect auxiliary mounting shell (13), affixed linear motor (12) in auxiliary mounting shell (13) inner tip, the auxiliary mounting shell (13) opposite two sides are provided with groove (14), are placed with pull rod (11) in the groove (14), the axis of the pull rod (11) with In parallel, the pull rod (11) is threadedly coupled by threaded hole (37) with linear motor lead screw shaft (15) distance rod (3), described The center of pull rod (11) is provided with corresponding boss, the inside edge of the pull rod (11) with the place that the groove (14) are cooperatively connected Concave through-hole axially is offered, the through-hole both ends are provided with cambered surface track (27), and the through-hole interior surface removed two The place at end is in planar tracks (28).

9. a kind of high-altitude glass cleaning machine as claimed in claim 8, which is characterized in that the adsorbing mechanism (17) includes circle Sucker shell (34), sucker shell (34) the central space connecting sucker bar (31), sucker shell (34) surface position Pass through two between the symmetrical affixed two groups of sucker boss (32) in the sucking disk bar (31) two sides, sucker boss (32) described in every group The pin shaft II (29) being parallel to each other is connected on the chain I (6) and chain II (10).

10. a kind of high-altitude glass cleaning machine as claimed in claim 9, which is characterized in that be located on the sucker shell (34) The outside of the sucker boss (32) is also connected with roller supporting platform (36), and the roller supporting platform (36) is connected by pin shaft and rolled It takes turns (33)；Cross bar of the one end affixed one of the sucking disk bar (31) perpendicular to the sucking disk bar (31), each mistake in cross bar both ends It is full of bearing I I (30) inner ring that is cooperatively connected, (30) outer ring bearing I I is in the cambered surface track (27) and the plane rail Road rolls on (28), and the other end of the sucking disk bar (31) connects butyl rubber (35) by nut, the butyl rubber (35) It is connected on the circumference of the sucker shell (34).