CN108894528B - High-altitude glass cleaning machine - Google Patents
High-altitude glass cleaning machine Download PDFInfo
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- CN108894528B CN108894528B CN201811022871.8A CN201811022871A CN108894528B CN 108894528 B CN108894528 B CN 108894528B CN 201811022871 A CN201811022871 A CN 201811022871A CN 108894528 B CN108894528 B CN 108894528B
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- 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
- E04G23/004—Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products
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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
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- Cleaning In General (AREA)
Abstract
The invention discloses a high-altitude glass cleaning machine which comprises a cleaning mechanism and a moving mechanism, wherein the cleaning mechanism and the moving mechanism are detachably connected; the cleaning mechanism comprises a sewage treatment system and a water purification system which are communicated, the water purification system is connected with a cleaning assembly, and the cleaning assembly comprises an atomized water assembly and a roller assembly; the moving mechanism comprises a transmission mechanism and adsorption mechanisms, the transmission mechanism is symmetrically arranged on the distance rods on the left side and the right side, and each adsorption mechanism is arranged on the surface of the transmission mechanism. The glass cleaning machine disclosed by the invention solves the problems that the existing glass cleaning device is inconvenient to operate, single in function and incapable of climbing over obstacles, reduces labor cost, reduces construction danger degree and improves working efficiency when the device is used for cleaning high-altitude glass.
Description
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
The wall surface moving robot belongs to a limit operation robot. The limit work is a work such as inspection, maintenance, and rescue performed under dangerous working conditions (e.g., radioactivity, high temperature, high pressure, vertical wall surface, and space environment). The operation is dangerous for human and is difficult to realize, a plurality of piston cylinders or motors and related mechanisms are generally adopted in the crawling device used at present to be connected with a vacuum chuck, the crawling device can move straightly, turn and stand on a smooth wall surface, the whole mechanism is complex and heavy, the overweight quality is not beneficial to the adsorption of the crawling device on the smooth wall surface, the complex mechanism also increases the manufacturing cost of the crawling device, and the reliability of the whole device is reduced. The existing wall surface crawling device can stop moving forwards when meeting obstacles on the wall surface, and cannot continue to work, so that great inconvenience is caused.
The existing high-altitude glass cleaning machine can only clean smooth glass surfaces, but can not clean the surfaces of uneven glass curtain walls with glass ribs or projections. In a word, the existing high-altitude glass cleaning machine cannot cross obstacles during cleaning, and is inconvenient to use.
Disclosure of Invention
The invention aims 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 invention adopts the technical scheme that the high-altitude glass cleaning machine comprises a cleaning mechanism and a moving mechanism, wherein the cleaning mechanism is detachably connected with the moving mechanism;
the cleaning mechanism comprises a sewage treatment system and a water purification system, the sewage treatment system is communicated with the water purification system through a sewage recovery pipeline, the water purification system is connected with a cleaning assembly, and the cleaning assembly comprises an atomized water assembly and a roller assembly and is used for cleaning the glass wall surface;
the moving mechanism comprises a transmission mechanism and a plurality of adsorption mechanisms, the transmission mechanism is symmetrically arranged on the distance rods on the left side and the right side, and each adsorption mechanism is arranged on the surface of the transmission mechanism.
Yet another feature of the present invention is that,
the water purification system comprises a water purification tank fixedly connected to the top surface of the shell, the side wall inside the water purification tank is fixedly connected with a cleaning liquid tank, a water pump III is fixedly installed inside the cleaning liquid tank, and the water pump III is connected with the atomized water assembly through a cleaning liquid pipe and a cleaning liquid inlet; the inside water pump II that still installs of water purification case lateral wall, water pump II passes through the clear water pipe and clear water access connection drum subassembly.
The atomized water component comprises an atomized main pipe fixedly connected between two side walls of the bottom surface of the shell, the atomized main pipe is communicated with the cleaning liquid inlet, a plurality of atomized pipes are uniformly communicated on the atomized main pipe at intervals, each atomized pipe is fixedly connected to the atomized main pipe in a hanging manner and is perpendicular to the bottom surface of the shell and communicated with the inside of the atomized main pipe, and one end of each atomized pipe is provided with an atomized spray head; one side that the atomizing was responsible for is provided with roller assembly, roller assembly is including connecting the hollow jib of cylinder between the bottom surface both sides wall of shell, hollow jib one end of cylinder and clear water import intercommunication, the drum shaft is connected to the other end, coupling joint motor IV is passed through to the one end of drum shaft, the epaxial cylinder that has cup jointed of drum, the cylinder passes through the bearing and connects on the drum shaft, cylinder lateral wall rigid coupling rubber bed course, the lateral wall rigid coupling cylinder fluff of rubber bed course.
The cleaning component also comprises water scraping plates fixedly connected with four sides of the bottom surface of the shell, two water scraping plates parallel to the atomization main pipe are respectively provided with a B-side sewage outlet and an A-side sewage outlet, the B-side sewage outlet and the A-side sewage outlet are respectively communicated with a sewage treatment system through a B-side sewage pipe and an A-side sewage pipe, and the B-side sewage pipe and the A-side sewage pipe are respectively provided with a B-side sewage pump and an A-side sewage pump; the sewage treatment system comprises a sewage tank fixedly connected to the top surface of the shell, a coarse filter membrane and a fine filter membrane are fixedly connected between two side walls in the sewage tank at intervals in sequence, and the sewage pipe on the B side and the sewage pipe on the A side are both communicated with one side of the coarse filter membrane on the inner wall of the sewage tank.
The transmission mechanism comprises a gear assembly arranged between the distance rods on the left side and the right side, and a chain wheel set I and a chain wheel set II which are respectively arranged on the outer sides of the distance rods on the left side and the right side, wherein a chain I and a chain II are respectively wound on the chain wheel set I and the chain wheel set II, and the chain wheel set I and the chain wheel set II have the same structure.
The gear assembly comprises a large gear shaft, a small gear shaft and a shaft which are connected between the left and right distance rods and are parallel to each other in pairs, the large gear shaft and the shaft are positioned at two ends of the distance rods, the small gear shaft is positioned in the middle of the large gear shaft and the shaft, the middle of the large gear shaft is connected with a large gear, the middle of the small gear shaft is connected with a small gear, the large gear is meshed with the small gear, one end of the small gear shaft is connected with a motor I through a coupler, and the; the two ends of the large gear shaft and the two ends of the shaft penetrate through the distance rods and are respectively connected with the chain wheel group I and the chain wheel group II on the left side and the right side of the distance rods through threads.
Sprocket group I includes two big sprockets through threaded connection respectively in bull gear axle and axle one end, winding meshing chain I between two big sprockets, chain I still meshes with three little sprocket, distance pole central authorities have the triangle mount through the bolt rigid coupling, triangle mount central authorities have seted up the round pin shaft hole and have passed through another triangle mount of round pin axle I connection, another triangle mount is located the sprocket group I outside, and pass through the bolt fastening on the depression bar in surperficial bottom bolt hole department, three little sprocket is located between two triangle mounts, and fix the triangle at two triangle mounts through the round pin post, three little sprocket can rotate around the round pin post, be provided with a plurality of adsorption apparatus on the chain I.
Still the rigid coupling auxiliary installation shell on every distance pole, rigid coupling linear electric motor on the inside top of auxiliary installation shell, open flutedly on the relative both sides of auxiliary installation shell, the pull rod has been placed in the recess, the axis of pull rod is parallel with the distance pole, the pull rod passes through screw hole and linear electric motor screw shaft threaded connection, the boss that has the correspondence is opened with the place that the recess cooperation is connected in the central authorities of pull rod, "concave" font through-hole has been seted up along the axial in the inside of pull rod, the through-hole both ends are provided with the cambered surface track, the place that the through-hole internal surface removed both ends is the plane track.
The adsorption mechanism comprises a circular sucker shell, the center of the sucker shell is in clearance connection with a sucker rod, the surface of the sucker shell is positioned on two groups of sucker bosses which are symmetrically and fixedly connected with the two sides of the sucker rod, and each group of sucker bosses are connected to a chain I and a chain II through two mutually parallel pin shafts II.
A roller supporting table is fixedly connected to the outer side of the sucker boss on the sucker shell, and the roller supporting table is connected with a roller through a pin shaft; one end of the sucker rod is fixedly connected with a cross rod perpendicular to the sucker rod, two ends of the cross rod are respectively connected with an inner ring of a bearing II in an interference fit manner, an outer ring of the bearing II rolls in the cambered surface track and on the plane track, the other end of the sucker rod is connected with butyl rubber through a nut, and the butyl rubber is connected to the circumference of the sucker shell.
The invention has the beneficial effects that the high-altitude glass cleaning machine removes stains on glass by adopting the comprehensive action of the hairbrush, the roller brush and the cleaning liquid, firstly atomizes and sprays the cleaning liquid, coarsely cleans the glass by the hairbrush, cleans the glass by the roller brush, and ensures the cleanness of the glass; finally, the cleaning liquid containing the stains is collected into a sewage tank by using a water scraping plate, the sewage tank is used for filtering and purifying, and the filtered water enters a clear water tank to realize the cyclic utilization of the water; the moving mechanism has two functions of adsorption and crawling, the sucking discs generate adsorption force when entering the pull rod, in the crawling process, the front sucking discs sequentially enter an adsorption state through the pull rod, the last sucking disc at the tail part sequentially passes through the pull rod middle plane rail and the end part cambered surface rail respectively, the sucking discs are gradually changed from the adsorption state to a state of being close to the wall surface without adsorption force, the sucking discs are not in the adsorption state when leaving the wall surface, and resistance cannot be caused when the crawling device moves forwards. Through the arrangement of the turntable mechanism, the mechanism can rotate 360 degrees on site, and when encountering an obstacle, the chain wheel set can be controlled to cross the obstacle through the motor.
Drawings
FIG. 1 is a schematic structural view of an overhead glass cleaning machine of the present invention;
FIG. 2 is a schematic view of the structure of the cleaning mechanism;
FIG. 3 is a schematic view of the moving mechanism;
FIG. 4 is a schematic view of the connection between the cleaning mechanism and the moving mechanism;
FIG. 5 is a schematic view of the internal structure of the washing mechanism;
FIG. 6 is a schematic side view of the cleaning mechanism;
FIG. 7 is a schematic view of a transmission configuration;
FIG. 8 is a schematic structural view of a triangular fixing frame;
FIG. 9 is a schematic view of the structure of the tie rod;
FIG. 10 is a schematic view of the structure of the adsorption mechanism;
FIG. 11 is a schematic structural view of a turntable body;
FIG. 12 is a cross-sectional view of the connection of the lower beam of the slide plate and the upper beam of the slide plate;
FIG. 13 is a schematic structural view of the lower beam of the sliding plate and the upper beam of the sliding plate after being connected;
fig. 14 is a schematic view of the construction of the turntable chuck.
In the figure, 1, a big gear, 2, a big gear shaft, 3, a distance rod, 4, a chain wheel group I, 5, motors I, 6, chains I, 7, a small gear shaft, 8, a small gear, 9, a shaft, 10, a chain II, 11, a pull rod, 12, a linear motor, 13, an auxiliary mounting shell, 14, a groove, 15, a linear motor screw shaft, 16, a chain wheel group II, 17, an adsorption mechanism, 18, a big chain wheel, 19, a triangle fixing frame, 20, a pressure rod, 21, a small chain wheel, 22, a bearing I, 23, a pin shaft I, 24, a bolt hole, 25, a pin shaft hole, 27, a cambered surface rail, 28, a plane rail, 29, a pin shaft II, 30, a bearing II, 31, a suction cup rod, 32, a suction cup boss, 33, a roller, 34, a shell, 35, a butyl rubber, a suction cup 36, a roller supporting table, 37, a threaded hole, 38, a rotary table pinion, 39, a suction cup, 43. bolt holes II, 44, a turntable top plate, 45, a turntable linear motor shaft, 46, a turntable linear motor, 47, a vacuum pump pipe 48, a sucker fixed plate, 49, a sliding disc upper beam, 50, a guide rod, 51, a sliding disc lower beam, 52, a screw, 53, a ball screw, 56, a sliding disc lower beam motor, 57, bolt holes II, 58, a screw hole II, 59, a sliding disc upper beam boss, 60, a screw motor shaft, 61, a screw motor, 62, butyl rubber II, 63, a turntable big gear, 64, a cleaning mechanism, 65, a sewage tank, 66, a screw, 67, a screw motor II, 68, a cleaning mechanism hanging plate, 69, a screw hole III, 70, a water purifying tank, 71, a coarse filter membrane, 72, a fine filter membrane, 73, a water pump I, 74, a water pump II, 75, a cleaning liquid tank, 76, a water pump III, 77, a clean water pipe, 78, a cleaning liquid pipe, a side discharge outlet on 79.B side, a sewage discharge outlet on 80.A side, 81, an atomizing, 82. the sewage treatment device comprises a brush, 83 roller soft bristles, 84.A side sewage pipe, 85.B side sewage pipe, 86. a wiper plate, 87. a cleaning liquid inlet, 88. a clean water inlet, 89.A side sewage pump, 90.B side sewage pump, 91. a screw hole IV, 94. a shell, 95. an atomizing pipe, 96. motors VII, 103. a roller hollow suspender, 107. a roller shaft, 108. motors IV, 109. a rubber cushion layer, 110. a brush shaft, 111. a roller, 114. a sewage recovery pipeline.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a high-altitude glass cleaning machine, which comprises a cleaning mechanism 64 and a moving mechanism, wherein the cleaning mechanism 64 and the moving mechanism are detachably connected through bolts;
as shown in fig. 2, the cleaning mechanism 64 comprises a rectangular hollow casing 94, a sewage treatment system and a water purification system are fixedly connected to one end of the top surface of the casing 94, the sewage treatment system and the water purification system are communicated through a sewage recovery pipeline 114, a water pump I73 is mounted on the sewage recovery pipeline 114 and used for pumping sewage treated by the sewage treatment system to the water purification system, the water purification system is connected with a cleaning assembly, and the cleaning assembly comprises an atomized water assembly and a roller assembly and is used for cleaning the glass wall surface;
as shown in fig. 1 and fig. 3, the moving mechanism includes a transmission mechanism, a plurality of adsorption mechanisms 17 and a turntable mechanism, the transmission mechanism is symmetrically installed on the distance rods 3 on the left and right sides, 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 main body and a sliding plate lower beam 51 connected to the top end of the turntable main body, a sliding plate upper beam 49 perpendicular to the axis of the sliding plate lower beam 51 is fixedly connected to the middle of the sliding plate lower beam 51, screw holes II58 formed at the two ends of the sliding plate upper beam 49 are fixedly connected to the distance rods 3 on the left and right sides through screw motor shafts 60, and the screw motor shafts 60 are fixedly connected to the screw motors 61 as a whole to drive.
As shown in fig. 4, one end of the lower beam 51 of the sliding tray is fixedly connected with a cleaning mechanism hanging plate 68, the surface of the cleaning mechanism hanging plate 68 is provided with a plurality of screw holes III69, the cleaning mechanism 64 is respectively in threaded connection with a screw hole VI91 on the top surface of the housing 94 and a screw hole III69 on the surface of the cleaning mechanism hanging plate 68 through a screw 66, and the screw 66 is also connected with a screw motor II 67.
As shown in fig. 5 and 6, the water purification system includes a water purification tank 70 fixedly connected to the top surface of the housing 94, a cleaning liquid tank 75 fixedly connected to the inner side wall of the water purification tank 70, a water pump III76 fixedly installed in the cleaning liquid tank 75, and a water pump III76 connected to the atomized water assembly through a cleaning liquid pipe 78 and a cleaning liquid inlet 87; a water pump II74 is also arranged in the side wall of the purified water tank 70, and a water pump II74 is connected with the roller component through a clean water pipe 77 and a clean water inlet 88; the cleaning assembly comprises an atomized water assembly, the atomized water assembly comprises an atomized main pipe fixedly connected between two side walls of the bottom surface of the shell 94, the atomized main pipe is communicated with the cleaning liquid inlet 87, a plurality of atomized pipes 95 are uniformly communicated on the atomized main pipe at intervals, each atomized pipe 95 is suspended and fixedly connected on the atomized main pipe and is communicated with the inside of the atomized main pipe, and one end of each atomized pipe 95 is provided with an atomized spray nozzle 81; one side of atomizing person in charge still is provided with brush subassembly and drum assembly, brush subassembly is including connecting the brush axle 110 that still connects in proper order between the bottom surface both sides wall that is located shell 94, shaft coupling connection motor VII96 is passed through to brush axle 110's one end, motor VII96 installs in the inside of shell 94, brush axle 110 goes up along the hollow brush 82 of a plurality of rigid coupling suspension of axial, drum assembly is including connecting the hollow jib 103 of cylinder between the bottom surface both sides wall of shell 94, hollow jib 103 one end of cylinder communicates with clear water import 88, drum axle 107 is connected to the other end, shaft coupling connection motor IV108 is passed through to the one end of drum axle 107, cylinder 111 has been cup jointed on the drum axle 107, cylinder 111 passes through the bearing and connects on drum axle 107, cylinder 111 lateral wall rigid coupling rubber cushion 109, rubber cushion 109's lateral wall rigid coupling cylinder.
The cleaning component also comprises water scraping plates 86 fixedly connected to four sides of the bottom surface of the shell 94, two water scraping plates 86 which are parallel to the atomization 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 the A-side sewage outlet 80 are respectively communicated with a sewage treatment system through a B-side sewage pipe 85 and an A-side sewage pipe 84, and the B-side sewage pipe 85 and the A-side sewage pipe 84 are respectively provided with a B-side sewage pump 90 and an A-side sewage pump 89; the sewage treatment system comprises a sewage tank 65 fixedly connected to the top surface of a shell 94, a coarse filter membrane 71 and a fine filter membrane 72 are fixedly connected between two side walls in the sewage tank 65 at intervals in sequence, and a sewage pipe 85 at the B side and a sewage pipe 84 at the A side are both communicated with one side of the coarse filter membrane 71 on the inner wall of the sewage tank 65.
As shown in fig. 7, the transmission mechanism comprises a gear assembly arranged between the left and right distance rods 3, and a chain wheel set I4 and a chain wheel set II16 respectively arranged at the outer sides of the left and right distance rods 3, wherein a chain I6 and a chain II10 are respectively wound on the chain wheel set I4 and the chain wheel set II16, and the chain wheel set I4 and the chain wheel set II16 have the same structure.
The gear assembly comprises a large gear shaft 2, a small gear shaft 7 and a shaft 9 which are connected between distance rods 3 on the left side and the right side in an interference fit manner in a pairwise manner and are parallel to each other, the large gear shaft 2 and the shaft 9 are positioned at two ends of the distance rods 3, the small gear shaft 7 is positioned between the large gear shaft 2 and the shaft 9, the middle part of the large gear shaft 2 is connected with a large gear 1 in a key manner, the middle part of the small gear shaft 7 is connected with a small gear 8 in a key manner, the large gear 1 is meshed with the small gear 8, one end of the small gear shaft 7 is connected with a motor; both ends of the large gear shaft 2 and the shaft 9 penetrate through the distance rod 3 and are respectively connected with a chain wheel group I4 and a chain wheel group II16 on the left side and the right side of the distance rod 3 through threads.
The chain wheel group I4 comprises two large chain wheels 18 which are respectively connected with one end of a large gear shaft 2 and one end of a shaft 9 through threads, a meshing chain I6 is wound between the two large chain wheels 18, a chain I6 is also meshed with three small chain wheels 21, the center of a distance rod 3 is fixedly connected with a triangular fixing frame 19 through bolts, as shown in FIG. 8, the center of the triangular fixing frame 19 is provided with a pin shaft hole 25 which is connected with another triangular fixing frame 19 through a pin shaft I23, the other triangular fixing frame 19 is positioned on the outer side of the chain wheel group I4 and is fixed on a pressure rod 20 through a bolt hole 24 at the bottom of the surface, the three small chain wheels 21 are positioned between the two triangular fixing frames 19 and are fixed on the triangles of the two triangular fixing frames 19 through pins, the three small chain wheels 21 can rotate around.
Each distance rod 3 is fixedly connected with an auxiliary mounting shell 13, the top end inside the auxiliary mounting shell 13 is fixedly connected with a linear motor 12, two opposite sides of the auxiliary mounting shell 13 are provided with grooves 14, pull rods 11 are placed in the grooves 14, the axes of the pull rods 11 are parallel to the distance rods 3, the pull rods 11 are in threaded connection with linear motor screw rod shafts 15 through threaded holes 37, as shown in fig. 9, corresponding bosses are arranged at the positions where the centers of the pull rods 11 are in fit connection with the grooves 14, concave-shaped through holes are axially formed in the inner portions of the pull rods 11, two ends of each through hole are provided with cambered surface rails 27, and the inner surfaces of the through holes except the positions at the two ends are provided with plane rails 28.
As shown in fig. 10, the suction mechanism 17 includes a circular suction cup housing 34, the suction cup housing 34 is connected to the suction cup rod 31 at a central gap, a set of suction cup bosses 32 are symmetrically and fixedly connected to two sides of the suction cup rod 31 on the surface of the suction cup housing 34, and each set of suction cup bosses 32 are connected to the chain I6 and the chain II10 through two mutually parallel pin shafts II 29; a roller supporting platform 36 is fixedly connected to the outer side of the suction cup boss 32 on the suction cup shell 34, and the roller supporting platform 36 is connected with the roller 33 through a pin shaft; one end of the suction cup rod 31 is fixedly connected with a cross rod vertical to the suction cup rod 31, two ends of the cross rod are respectively connected with an inner ring of a bearing II30 in an interference fit manner, an outer ring of the bearing II30 rolls in the cambered surface track 27 and on the plane track 28, the other end of the suction cup rod 31 is connected with butyl rubber 35 through a nut, and the butyl rubber is connected to the circumference of the suction cup shell 34.
As shown in figure 11 of the drawings, as shown in fig. 12 and 13, the turntable body includes a circular turntable top plate 44, four bolt holes II43 are formed in the center of the surface of the turntable top plate 44, a lower slide plate beam 51 is fixedly connected to the bolt holes II43 through bolts, guide rods 50 are fixedly connected to two sides of the lower slide plate beam 51 along the axis, the guide rods 50 are connected to an upper slide plate beam 49, the axis of the upper slide plate beam 49 is perpendicular to the axis of the lower slide plate beam 51, upper slide plate beam bosses 59 are symmetrically and fixedly connected to the middle of the upper slide plate beam 49, the upper slide plate beam bosses 59 are connected to the guide rods 50 at the bolt holes II57 through bolts and are fixed through screws 52, the lower slide plate beam 51 is axially connected to a ball screw 53, one end of the ball screw 53 is connected to a lower slide plate beam motor 56 through a coupler, the lower slide plate beam motor 56 drives the ball screw 53 to rotate, and the lower slide plate beam 51 moves along the axial direction of the ball screw 53 along with the rotation of the ball.
The two ends of the surface of the turntable top plate 44 are respectively connected with a circular sucker fixing plate 48 through a turntable linear motor shaft 45, and one end of the turntable linear motor shaft 45 is connected with a turntable linear motor 46 to drive the turntable mechanism to move as a whole; a turntable large gear 63 is arranged between the turntable top plate 44 and the sucker fixed plate 48, the other end of a turntable linear motor shaft 45 penetrates through two ends of the turntable large gear 63 and is fixedly connected to the surface of the sucker fixed plate 48, the turntable large gear 63 is meshed with the turntable small gear 38, the turntable small gear 38 and the turntable large gear 63 are centrally keyed at one end of a gear shaft, the other end of the gear shaft is connected with the sucker fixed plate 48 through a bearing, and the gear shaft connected with the turntable small gear 38 is connected with a driving motor through a coupling;
as shown in fig. 14, the surface of the suction cup fixing disk 48 is uniformly connected with the turntable suction cups 39 along the circumference through a plurality of suction cup rods, each suction cup rod penetrates through the surface of the suction cup fixing disk 48 to be in threaded connection with the suction cup fixing disk 48 and is fixed through a nut 40, each suction cup rod is hollow, one end of each suction cup rod, which is located on the bottom surface of the suction cup fixing disk 48, is fixedly connected with butyl rubber II62, one end of each suction cup rod, which is located on the surface of the suction cup fixing disk 48, is connected with a vacuum pump pipe 47, the vacuum pump pipe 47.
The invention relates to a high-altitude glass cleaning machine, which has the following working principle: the cleaning liquid tank 75 is filled with cleaning liquid, the clean water tank 70 is filled with water, the water pump II74, the water pump III76, the motor VII96 and the motor IV108 are sequentially started, then, the atomized cleaning liquid is sprayed by the atomizing nozzle 81, the brush 82 performs rough brushing, the roller fluff 83 brushes and the wiper 86 performs wiping (wherein, the shell 94 is a closed shell with four sides, the four sides are provided with the wiper 86, the wiper 86 can wipe clean the cleaning water marks and the sewage no matter which direction the cleaning device advances), then, the a side sewage pump 89 or the B side sewage pump 90 is started, the sewage flows into the sewage tank 65 through the a side sewage pipe 84 and the B side sewage pipe 85 respectively through the a side sewage outlet 80 or the B side sewage outlet 79, the sewage becomes clean water after being filtered by the rough filter membrane 71 and the fine filter membrane 72, the water pump I73 is started, the treated clean water is conveyed to the clean water tank 70 for next cycle utilization.
The working process of the high-altitude glass cleaning machine is as follows:
before the device is placed on a wall surface, the linear motor 12 is started to move downwards, the linear motor screw shaft 15 drives the pull rod 11 to move downwards, the butyl rubber 35 rubber of the sucker is enabled to be tightly attached to the wall surface (the bearing II30 enters the plane track 28 through the arc track 27), when the whole crawling device is placed on the wall surface, the linear motor 12 moves upwards, the linear motor screw shaft 15 drives the pull rod 11 to move upwards, the middle part of the butyl rubber 35 is pulled up to be away from the wall surface, then, the motor I5 is started 5, the pinion 8 is driven to rotate, the pinion 8 drives the bull gear 1 to rotate, the bull gear 1 drives the chain wheel set I4 and the chain wheel set II16 to rotate (the three are coaxial), and the whole crawling device moves forwards (if the whole crawling device needs to retreat, the motor I5 is reversed, and if the crawling device needs to.
The suction process is that when the suction cups do not enter the pull rod 11, no suction force is generated, and when the suction cups enter the end cambered surface track and the plane track in the structure of the pull rod 11 (at this time, all the suction cups facing to the wall surface are tightly sucked on the wall surface). The in-process that gos forward, this similar crawler motion's device of crawling, preceding sucking disc loops through the pull rod and gets into adsorption state, the last sucking disc of afterbody, respectively in proper order through draw bar structure midplane track (the butyl rubber 35 middle part of sucking disc is for the pulling-up keep away from the wall state) and tip cambered surface track (the butyl rubber 35 of sucking disc is close to the wall gradually), the sucking disc becomes the no adsorption affinity state of hugging closely the wall gradually by adsorption state promptly, the sucking disc just can not be adsorption state when leaving the wall, just can not lead to the fact the resistance for crawling the device and go forward.
When an obstacle is encountered:
1) obstacle crossing of the chain wheel set: after the motor I5 stops, the chain wheel group I4 and the chain wheel group II16 on the two sides stop advancing, the turntable linear motor 46 is started, and the turntable sucker 39 moves downwards to be close to the wall surface; at the same time, the vacuum pump is started to make 41 all the turntable suction cups 39 generate enough negative pressure to be adsorbed on the wall surface (at this time, the whole device is firmly adsorbed on the wall surface). Then, the linear motor 12 is started to move downwards, so that the linear motor screw shaft 15 drives the pull rod 11 to move downwards, and the butyl rubber 35 on the suction cup shell 34 is tightly attached to the wall surface and does not adsorb the wall surface. Starting the screw motor 61 to move the chain wheel group I4 and the chain wheel group II16 upwards integrally and leave the wall surface for a certain height; starting a sliding disc lower beam motor 56, and under the action of a ball screw 53, moving a sliding disc upper beam 49 forwards and simultaneously driving a chain wheel set I4 and a chain wheel set II16 to integrally move forwards (the chain wheel set I4 and the chain wheel set II16 cross an obstacle); after the obstacle is crossed, stopping the sliding disc lower beam motor 56, starting the screw motor 61 at the moment, moving the chain wheel set I4 and the chain wheel set II16 downwards integrally, starting the linear motor 12 after the chain wheel set is tightly attached to the wall surface, driving the pull rod 11 to move upwards by the linear motor screw shaft 15, forming a cavity between the butyl rubber 35 on the suction disc shell 34 and the wall surface, generating negative pressure, and enabling the suction disc to adsorb the wall surface;
then, when the crawler mechanisms of the sprocket group I4 and the sprocket group II16 are attached to the wall surface, the operation of the turntable mechanism may be stopped (i.e., the vacuum pump 47 is stopped to eliminate the negative pressure generated in all the turntable suction cups 39, and then the turntable linear motor 46 is started to rotate in reverse to move the turntable suction cups 39 upward a certain distance from the wall surface (at this time, the turntable top plate 44 is not moved)). The lower beam motor 56 of the sliding plate is started to make the lower beam 49 of the sliding plate move forward, and the lower beam motor of the sliding plate is stopped after the rotating disc sucker is driven to move forward to cross the obstacle.
At this point, the crawler can continue to move forward.
2) In situ 3600Rotating: when the crawling device needs to rotate in situ in the advancing process, the motor I5 is stopped, the chain wheel groups I4 and II16 on the two sides are stopped from advancing, the turntable linear motor 46 is started, and the turntable sucker 39 moves downwards to be close to the wall surface; at the same time, the vacuum pump 41 is activated to generate enough negative pressure in all the turntable suction cups 39 to adhere to the wall (at this time, the whole apparatus is firmly adhered to the wall). Then, the screw motor 61 is started to move the 5 chain wheel set I4 and the chain wheel set II16 upwards integrally to leave the wall surface for a certain height; at the moment, a turntable pinion motor is started to drive the turntable pinion 38 to rotate, the turntable pinion 38 further drives the turntable gearwheel 63 to rotate, the turntable gearwheel 63 further drives the turntable linear motor shaft 45 and then drives the turntable top disc 44 to rotate, the turntable top disc 44 drives the sliding disc lower beam 51 to rotate, the sliding disc lower beam 51 drives the sliding disc upper beam 49 to rotate, the sliding disc upper beam 49 drives the chain wheel sets I4 and the chain wheel sets II16 on two sides to move, and finally the whole device is rotated. After the screw motor 61 is rotated to a designated position, the chain wheel group I4 and the chain wheel group II16 are started to move downwards integrally and cling to the wall surface. Starting the linear motor 12 to move upwards, so that the linear motor screw shaft 15 drives the pull rod 11 to move upwards, the butyl rubber 35 leaves the wall surface, and the wall surface is adsorbed. At this point, the operation of the turntable chuck 39 can be stopped. At this time, the crawler may continue to move forward after rotating.
The glass cleaning machine adopts the combined action of washing liquid, brush and cylinder brush to get rid of the spot on the glass, and the main flow is that the atomizing sprays the washing liquid, the brush is scrubbed, the cylinder is scrubbed, the scraper blade is scraped clean, sewage is collected, sewage filtration treatment becomes clear water, clear water and carries cylinder department recycle, and concrete process is: the atomizing nozzle 81 sprays the cleaning solution on the glass curtain wall to dissolve the stains on the glass curtain wall into the cleaning solution; then the brush shaft is driven by the motor VII96 to drive the brush to pre-scrub the glass curtain wall, so that substances which are difficult to clean are separated from the glass curtain wall, then the roller soft hair 83 deeply cleans the glass curtain wall under the action of the motor IV108 driving the roller shaft 107 to rotate, so that stains on the glass curtain wall are completely separated into cleaning liquid, finally the cleaning liquid containing the stains is collected into the sewage tank 65 by using the water scraping plate 86, the sewage tank 65 is used for filtering and purifying, the filtered water enters the water purifying tank 70, the water recycling is realized, and the clean glass curtain wall is obtained after the machine is cleaned.
And when the cleaning is finished, stopping the water pump II74 and the water pump III76, then stopping the water pump VII96 and the motor IV108 in sequence, pausing for half a minute, stopping the sewage pump 89 on the side A and the sewage pump 90 on the side B after the sewage is collected, pausing for 3 minutes again, waiting for the sewage to be treated, conveying the sewage to the purified water tank 70, and then closing the water pump I73.
Claims (7)
1. The high-altitude glass cleaning machine is characterized by comprising a cleaning mechanism (64) and a moving mechanism, wherein the cleaning mechanism (64) is detachably connected with the moving mechanism;
the cleaning mechanism (64) comprises a sewage treatment system and a water purification system, the sewage treatment system is communicated with the water purification system through a sewage recovery pipeline (114), the water purification system is connected with a cleaning assembly, and the cleaning assembly comprises an atomized water assembly and a roller assembly and is used for cleaning the glass wall surface;
the moving mechanism comprises a transmission mechanism and a plurality of adsorption mechanisms (17), the transmission mechanism is symmetrically arranged on the distance rods (3) at the left side and the right side, and each adsorption mechanism (17) is arranged on the surface of the transmission mechanism;
the water purification system comprises a water purification tank (70) fixedly connected to the top surface of the shell (94), the side wall of the interior of the water purification tank (70) is fixedly connected with a cleaning liquid tank (75), a water pump III (76) is fixedly installed in the cleaning liquid tank (75), and the water pump III (76) is connected with the atomized water assembly through a cleaning liquid pipe (78) and a cleaning liquid inlet (87); a water pump II (74) is further installed inside the side wall of the purified water tank (70), and the water pump II (74) is connected with the roller assembly through a purified water pipe (77) and a purified water inlet (88);
the atomized water assembly comprises an atomized main pipe fixedly connected between two side walls of the bottom surface of the shell (94), the atomized main pipe is communicated with the cleaning liquid inlet (87), a plurality of atomized pipes (95) are uniformly communicated with the atomized main pipe at intervals, each atomized pipe (95) is suspended and fixedly connected on the atomized main pipe and is communicated with the inside of the atomized main pipe, and one end of each atomized pipe (95) is provided with an atomizing nozzle (81); a roller assembly is arranged on one side of the atomization main pipe, the roller assembly comprises a roller hollow suspender (103) connected between two side walls of the bottom surface of the shell (94), one end of the roller hollow suspender (103) is communicated with the clean water inlet (88), the other end of the roller hollow suspender is connected with a roller shaft (107), one end of the roller shaft (107) is connected with a motor IV (108) through a coupling, a roller (111) is sleeved on the roller shaft (107), the roller (111) is connected to the roller shaft (107) through a bearing, a rubber cushion layer (109) is fixedly connected to the outer side wall of the roller (111), and roller fluff (83) is fixedly connected to the outer side wall of the rubber cushion layer (109);
the cleaning assembly further comprises water scraping plates (86) fixedly connected to four sides of the bottom surface of the shell (94), a B-side sewage discharge port (79) and an A-side sewage discharge port (80) are respectively formed in the two water scraping plates (86) parallel to the atomization main pipe, the B-side sewage discharge port (79) and the A-side sewage discharge port (80) are respectively communicated with the sewage treatment system through a B-side sewage pipe (85) and an A-side sewage pipe (84), and a B-side sewage pump (90) and an A-side sewage pump (89) are respectively mounted on the B-side sewage pipe (85) and the A-side sewage pipe (84); the sewage treatment system comprises a sewage tank (65) fixedly connected to the top surface of the shell (94), a coarse filtration membrane (71) and a fine filtration membrane (72) are fixedly connected between two side walls inside the sewage tank (65) at intervals in sequence, and a sewage pipe (85) at the B side and a sewage pipe (84) at the A side are communicated with one side of the coarse filtration membrane (71) on the inner wall of the sewage tank (65).
2. The high altitude glass cleaning machine according to claim 1, characterized in that the transmission mechanism comprises a gear assembly installed between the distance rods (3) on the left and right sides and a chain wheel set I (4) and a chain wheel set II (16) respectively installed on the outer sides of the distance rods (3) on the left and right sides, a chain I (6) and a chain II (10) are respectively wound on the chain wheel set I (4) and the chain wheel set II (16), and the chain wheel set I (4) and the chain wheel set II (16) have the same structure.
3. The high-altitude glass cleaning machine as claimed in claim 2, wherein the gear assembly comprises a large gear shaft (2), a small gear shaft (7) and a shaft (9) which are connected between the distance rods (3) at the left side and the right side and are parallel to each other in pairs, the large gear shaft (2) and the shaft (9) are positioned at two ends of the distance rods (3), the small gear shaft (7) is positioned in the middle of the large gear shaft (2) and the shaft (9), the large gear shaft (2) is connected with the large gear (1) in the middle in a key mode, the small gear shaft (7) is connected with the small gear (8) in the middle in a key mode, the large gear (1) is meshed with the small gear (8), one end of the small gear shaft (7) is connected with a motor I (5) through a coupler, and the motor I (5; the gear rack is characterized in that the gear rack shaft (2) and the two ends of the shaft (9) penetrate through the distance rods (3) and are connected with the sprocket set I (4) and the sprocket set II (16) on the left side and the right side of the distance rods (3) through threads respectively.
4. The high-altitude glass cleaning machine as claimed in claim 3, wherein the chain wheel set I (4) comprises two large chain wheels (18) which are respectively connected with the large gear shaft (2) and one end of the shaft (9) through threads, a meshing chain I (6) is wound between the two large chain wheels (18), the chain I (6) is further meshed with three small chain wheels (21), a triangular fixing frame (19) is fixedly connected to the center of the distance rod (3) through a bolt, a pin shaft hole (25) is formed in the center of the triangular fixing frame (19) and connected with another triangular fixing frame (19) through a pin shaft I (23), the other triangular fixing frame (19) is located on the outer side of the chain wheel set I (4) and fixed on the pressure rod (20) through a bolt at a bolt hole (24) at the bottom of the surface, and the three small chain wheels (21) are located between the two triangular fixing frames (19), and fix through the pin post two the triangle of triangle mount (19), three little sprocket (21) can wind the pin post rotates, be provided with a plurality of on chain I (6) adsorption apparatus constructs (17).
5. The high-altitude glass cleaning machine as claimed in claim 3, wherein each distance rod (3) is further fixedly connected with an auxiliary mounting shell (13), the top end in the auxiliary mounting shell (13) is fixedly connected with a linear motor (12), two opposite sides of the auxiliary mounting shell (13) are provided with grooves (14), a pull rod (11) is arranged in the groove (14), the axis of the pull rod (11) is parallel to the distance rod (3), the pull rod (11) is in threaded connection with a screw shaft (15) of the linear motor through a threaded hole (37), a corresponding boss is arranged at the position where the center of the pull rod (11) is matched and connected with the groove (14), the pull rod is characterized in that a concave-shaped through hole is formed in the pull rod (11) along the axial direction, arc-surface rails (27) are arranged at two ends of the through hole, and the inner surface of the through hole except for the two ends is a plane rail (28).
6. The high-altitude glass cleaning machine according to claim 5, wherein the suction mechanism (17) comprises a circular suction cup shell (34), the suction cup rod (31) is connected with the suction cup shell (34) through a central gap, two groups of suction cup bosses (32) are symmetrically and fixedly connected to the surface of the suction cup shell (34) on two sides of the suction cup rod (31), and each group of suction cup bosses (32) are connected to the chain I (6) and the chain II (10) through two mutually parallel pin shafts II (29).
7. The high-altitude glass cleaning machine as claimed in claim 6, wherein a roller supporting platform (36) is further fixedly connected to the suction cup shell (34) on the outer side of the suction cup boss (32), and the roller supporting platform (36) is connected with the roller (33) through a pin shaft; the one end rigid coupling of sucking disc pole (31) is perpendicular to the horizontal pole of sucking disc pole (31), each interference fit in horizontal pole both ends connects a bearing II (30) inner circle, bearing II (30) outer lane is in cambered surface track (27) with roll on plane track (28), the other end of sucking disc pole (31) passes through the nut and connects butyl rubber (35), butyl rubber (35) are connected on the circumference of sucking disc casing (34).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022871.8A CN108894528B (en) | 2018-09-03 | 2018-09-03 | High-altitude glass cleaning machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022871.8A CN108894528B (en) | 2018-09-03 | 2018-09-03 | High-altitude glass cleaning machine |
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| Publication Number | Publication Date |
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| CN108894528A CN108894528A (en) | 2018-11-27 |
| CN108894528B true CN108894528B (en) | 2020-10-27 |
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| CN201811022871.8A Expired - Fee Related CN108894528B (en) | 2018-09-03 | 2018-09-03 | High-altitude glass cleaning machine |
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| CN112299693A (en) * | 2020-10-30 | 2021-02-02 | 重庆重玻节能玻璃有限公司 | Fireproof glass tempering furnace |
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Inventor after: Wang Fang Inventor after: Ding Tao Inventor after: Lv Lei Inventor after: Li Botao Inventor after: Yang Tian Inventor after: Zhang Xin Inventor after: Ye Zhuoxuan Inventor after: Sun Zhichao Inventor before: Ding Tao Inventor before: Wang Fang Inventor before: Lv Lei Inventor before: Li Botao Inventor before: Yang Tian Inventor before: Zhang Xin Inventor before: Ye Zhuoxuan Inventor before: Sun Zhichao |
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Granted publication date: 20201027 Termination date: 20210903 |