CN109157152A

CN109157152A - A kind of high building exterior wall glass cleaning machine people based on vacuum chuck control

Info

Publication number: CN109157152A
Application number: CN201810995867.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shengshi Yao Lan (shenzhen) Technology Co Ltd
Current assignee: Jiaxing City carry forward spray Weaving Co.,Ltd.
Priority date: 2018-02-28
Filing date: 2018-08-29
Publication date: 2019-01-08
Anticipated expiration: 2038-08-29
Also published as: CN108354540A; CN109157152B

Abstract

The invention belongs to glass cleaning machine people's technical fields, more particularly to a kind of high building exterior wall glass cleaning machine people based on vacuum chuck control, it includes rail mechanism, trigger track, first pipe, the first sucker, the 4th sucker, third pipeline, set casing, the second circular hole, first hole etc., is wherein provided with first hole on set casing end face；It is provided on the upper surface of first hole and passes through slot；Set casing is opened and is provided with the first half slot on the end face of first hole, and the first half slot is located on the downside of first hole；The end face that set casing opens first hole is symmetrically provided with two group of second circular hole in two sides up and down.It is turning or across obstacle that it is induction cleaning robot robot mechanism that sensing device, which is mounted on the effect that set casing is opened on the end face of second hole,.Equipment in the present invention plays the role of while the glass cleaned on high building exterior wall with the metope and same cleaning metope across obstacle for automatically switching cleaning.

Description

A kind of high building exterior wall glass cleaning machine people based on vacuum chuck control

Technical field

The invention belongs to outside glass cleaning machine people technical field more particularly to a kind of high building based on vacuum chuck control Wall glass cleaning machine people.

Background technique

Current existing glass cleaning machine people's structure is simple, and the mode for generally mostly using wirerope to fish carries out outside high building The washing and cleaning operation of glass on wall, there are very big security risks for this fixed form, because to cleaning robot in the height of high building Guidance is fixed in people, under gravity, it will so that cleaning robot is swung to and fro, while when cleaning robot into When the switching in row different work face, traditional cleaning robot is switched over by wirerope, will make cleaning robot in this way The situation of rocking of people will be bigger, and the cleaning robot rocked in this way will encounter aerial barrier, it will to cleaning robot People and barrier all damage, to form unnecessary loss, in order to avoid the generation of such phenomenon, design one kind and are based on The high building exterior wall glass cleaning machine people of vacuum chuck control is necessary.

The present invention design it is a kind of based on vacuum chuck control high building exterior wall glass cleaning machine people solve the problems, such as it is as above.

Summary of the invention

To solve drawbacks described above in the prior art, the present invention discloses a kind of high building exterior wall glass based on vacuum chuck control Glass cleaning robot, it adopts the following technical solutions to realize.

A kind of high building exterior wall glass cleaning machine people based on vacuum chuck control, it is characterised in that: rectangular-ambulatory-plane fixed plate It is mounted on the upside of high building；Rectangular-ambulatory-plane T-bar is mounted on rectangular-ambulatory-plane fixed plate lower end surface；Perforation is provided on first T-shaped block end face The first T-slot；First T-shaped block is coupled by the first T-slot and rectangular-ambulatory-plane T-bar；Wirerope one end is mounted on the first T On shape block end face；Cleaning robot robot mechanism is mounted on wirerope, and cleaning robot robot mechanism and high building cooperate.

Above-mentioned cleaning robot robot mechanism includes rail mechanism, trigger track, first pipe, the first sucker, the 4th sucker, Three pipelines, set casing, the second circular hole, first hole, the first half slot, second hole, third circular hole, the second half slot, L shape Slot, by slot, the first cleaning agency, the second cleaning agency, vacuum plant, sensing device, the is wherein provided on set casing end face One square hole；It is provided on the upper surface of first hole and passes through slot；Set casing is opened and is provided with the first half slot on the end face of first hole, and First half slot is located on the downside of first hole；The end face that set casing opens first hole is symmetrically provided with two group of second circle in two sides up and down Hole；Two the second circular holes in every group are distributed about set casing end surface symmetric；Second hole is provided on set casing end face, and fixed Shell opens the end face that first hole is opened on the end face and set casing of second hole in 90 degree of angles；It is provided on the upper surface of second hole L-shaped groove；Set casing is opened and is provided with the second half slot on the end face of second hole, and the second half slot is located on the downside of second hole；Gu Determine shell open second hole end face up and down two sides be symmetrically provided with two groups of third circular holes；Two third circular holes in every group are about fixation The distribution of shell end surface symmetric；Set casing upper surface is mounted on wirerope lower end, and the glass surface on first hole and high building cooperates； 4 first pipes are installed on set casing end face, and each first pipe is communicated with corresponding second circular hole respectively；4 Three pipeline one end are installed on set casing end face, and each third pipeline is communicated with corresponding third circular hole respectively；Each The first sucker is mounted on the end face of one pipeline；The 4th sucker is mounted on the end face of each third pipeline；First sucker It is communicated with first pipe；4th sucker is communicated with third pipeline；The end face of first sucker and the 4th sucker is and on high building exterior wall Glass batch；Rail mechanism is mounted on set casing；Trigger track is mounted on rail mechanism；Two the second cleaning agency peaces First hole end face two sides are opened mounted in set casing；Two the first cleaning agencies are mounted on set casing and open second hole end face two sides； Sensing device is mounted on set casing and opens on the end face of second hole；Vacuum plant is mounted in set casing.

Above-mentioned rail mechanism include the first circular hole, sliding slot, the second sucker, third sucker, second pipe, the first curved track, Second driving gear, the first driving gear, hold-down support, the first motor, fixing axle, first bevel gear, third curved track, the Two curved tracks, second bevel gear, first motor axis, the second motor, the second motor shaft, the first spring, the first square groove, the 3rd T Shape block, gas passage, the second T-slot, the 4th T-shaped block, the second square groove, third square groove, the first arc-shaped slot, the first T shape arc slot, 4th square groove, the second curved channel, the 2nd T shape arc slot, wherein it is logical to be provided with the second arc being not penetrated on the first curved track end face Road；The end face of second curved channel is provided with the 2nd T shape arc slot that both ends penetrate through；Four directions is provided on first curved track upper surface Slot, and the 4th square groove is communicated with the 2nd T shape arc slot；Sliding slot is provided on first curved track upper surface；First curved track keeps away from First circular hole there are two being opened on the end face of two curved channels；Teeth are provided on the lower end surface of first curved track；First curved track peace In first hole and second hole；Two second sucker one end are mounted on the first curved track end face, and two second suctions Disk is communicated with corresponding first circular hole；Second motor is mounted on the second half slot side；First driving gear one end is mounted on On second motor shaft；First motor is mounted on the second half slot far from the second motor side；The installation of first bevel gear one end In first motor axial end；Hold-down support one end is mounted on set casing and opens on the end face of first hole；Fixing axle is mounted on solid Determine on support；Second bevel gear one end is mounted in fixed axial end, and second bevel gear is engaged with first bevel gear；Second drives Moving gear one end is mounted in fixed axial end, and the lower end surface of the second driving gear and the first curved track cooperates；Second arc The first curved channel of perforation is provided on rail end face；The first T shape arc slot is provided on the upper surface of first curved channel；Second arc Rail is provided with teeth on lower end surface；Second curved track upper surface side is provided with third square groove, and third square groove and the first T shape arc slot phase It is logical；The second square groove is provided on 4th T-shaped block upper surface；4th T-shaped block lower end surface is mounted on the second curved track upper surface, and the Four T-shaped blocks are far from third square groove；Second curved track is coupled by the 4th T-shaped block and the 2nd T shape arc slot；Under third curved track Teeth are provided on end face；Gas passage there are two being opened on third curved track end face；Third curved track is provided with the 2nd T shape on upper surface Slot；Third T-shaped block is provided with the first square groove on upper surface；Third T-shaped block lower end surface is mounted on third curved track upper surface；Two Second pipe is mounted on third curved track end face, and two second pipes are communicated with corresponding gas passage；Two second pipes Third sucker is mounted on the end face in road, and third sucker is communicated with second pipe；Third curved track by third T-shaped block with First T shape arc slot is coupled；First spring one end is mounted on the second curved channel end face, and the other end is mounted on third arc On rail end face.

Above-mentioned trigger track includes the 4th curved track, return spring, sliding block, the first triggering block, the second T-shaped block, the second touching Send out block, the 6th curved track, the 5th curved track, fixed block, the first pushing block, the second pushing block, second spring, first moving mass, First fixture block, third spring, the first inclined-plane, the second inclined-plane, the second moving mass, the 4th spring, the second fixture block, the first guide block, One arc guide barrel, third curved channel, the second guide block, the second arc guide barrel, the 4th curved channel, the 4th inclined-plane, link block, Three inclined-planes, wherein being provided with the 4th curved channel on the 4th curved track end face；Second is provided on 4th curved channel, two inner headed face Arc guide barrel；Sliding block end face is mounted on the 4th curved track lower end surface；4th curved track is mounted on passing through of being opened on set casing In slot and L-shaped groove, and sliding block is in sliding fit with the sliding chute；Return spring is installed, return spring one end is mounted on sliding slot in sliding slot On end face, the other end is mounted on sliding block end face；Two the 4th spring one ends are installed on the second square groove end face；Second fixture block In the second square groove, second fixture block one end is mounted on the 4th spring；Two are symmetrically provided on second moving mass upper end two sides A third inclined-plane；Second moving mass is mounted in the 4th square groove, and the second moving mass is opened the one end on third inclined-plane and is distributed upwards；The 4th inclined-plane there are two symmetrically being opened on two pushing block lower end surfaces；Second pushing block is mounted on the 4th curved track by link block, And the third contact of incline plane cooperation on the second the 4th inclined-plane and the second moving mass on pushing block；It is provided on 5th curved track end face The third curved channel of perforation；The first arc guide barrel is provided on the two sides inner headed face of third curved channel；Two the second guide blocks It is separately mounted on two peripheries of the 5th curved track；5th curved track is pacified by the cooperation of the first guide block and the second arc guide barrel On the 4th curved track；Two third spring one ends are installed in the first square groove opened in third T-shaped block；First fixture block It is mounted in the first square groove, and the lower end surface of the first fixture block is mounted on third spring；On the two sides of first moving mass upper end It is provided with the first inclined-plane；First moving mass is mounted in third square groove, and the first inclined-plane in first moving mass is distributed upwards；First Second inclined-plane there are two symmetrically being opened on pushing block lower end surface；First pushing block is mounted on the 5th curved track by fixed block, and First inclined-plane and the second contact of incline plane cooperate；Two the first guide blocks are separately mounted on two periphery of the 6th curved track；6th arc Shape rail is fitted on the 5th curved track by the first guide block and the second arc guide barrel；Second T-shaped block one end is mounted on On lower end surface of six curved tracks far from the 5th curved track side；Second T-shaped block is slidably matched with the second T-slot；Second spring peace In the second T-slot, second spring one end is mounted on the second T-shaped block end face, and the other end is mounted on the second T-slot end face On；Second triggering block one end is mounted on the 6th curved track periphery, and the second triggering block is distributed close to the second T-shaped block；First Triggering block one end is mounted on the 4th curved track periphery, and the first triggering block is distributed close to sliding block.

Above-mentioned first circular hole, the second circular hole, third circular hole, gas passage pass through pipeline and are connected with vacuum plant；Induction Device is connected by electric line with the first motor and the second motor；When third curved track does not move out with the second curved track When the first curved track, first at this time drives the teeth opened on gear and the lower end surface of third curved track to engage；Second driving The teeth opened on gear and the first curved track lower end surface engage；The coefficient of elasticity of return spring and second spring is all larger than first The coefficient of elasticity of spring；Return spring is identical with the coefficient of elasticity of second spring.

As the further improvement of this technology, there are frictional force effects between above-mentioned first moving mass and third square groove； There are frictional force effects between second moving mass and the 4th square groove.

As the further improvement of this technology, the size of above-mentioned first sucker, the second sucker, third sucker, the 4th sucker Size is identical.

As the further improvement of this technology, above-mentioned third spring and the 4th spring are compressed spring；First spring is Extension spring.

As the further improvement of this technology, above-mentioned fixing axle is mounted on hold-down support by bearing.

As the further improvement of this technology, solid lubrication oil is coated between above-mentioned first T-slot and rectangular-ambulatory-plane T-bar.

Relative to traditional glass cleaning machine people's technology, rectangular-ambulatory-plane fixed plate of the present invention is mounted on the effect on the upside of high building It is easy for fixed rectangular-ambulatory-plane T-bar；The effect that rectangular-ambulatory-plane T-bar is mounted on rectangular-ambulatory-plane fixed plate lower end surface is easy for the first T Under the mating reaction of the first T-slot that shape block is opened on it and rectangular-ambulatory-plane T-bar, the first T-bar can be allowed along returning Font T-bar movement, so that wirerope can drive cleaning robot preferably to clean the glass outer wall on the outside of high building；The One T-shaped block is easy for fixed wirerope by the effect that the first T-slot and rectangular-ambulatory-plane T-bar are coupled；Wirerope one end peace Effect on the first T-shaped block end face is easy for fixed cleaning robot, so that cleaning robot can be comprehensively clear Wash the glass outer wall on the outside of high building；Cleaning robot robot mechanism is mounted on wirerope, and cleaning robot robot mechanism and high building cooperate Effect be easy for cleaning high building glass outer wall.

In the present invention effect of cleaning robot robot mechanism be easy for cleaning high building exterior wall glass, while again can automatically across The metope of barrier and automatic conversion cleaning more on glass outer wall.The effect that first hole is provided on set casing end face is easy for First curved track is installed；It is provided on the upper surface of first hole and the 4th curved track of installation is easy for by the effect of slot；Set casing It opens and is provided with the first half slot on the end face of first hole, and the first half slot is located at the effect on the downside of first hole and drives convenient for second The movement of moving gear；The end face effect that two sides are symmetrically provided with two group of second circular hole up and down that set casing opens first hole is easy for very Gas flowing in empty device；Second hole is provided on set casing end face, and set casing opens end face and the set casing of second hole On open the end face of first hole and be easy for fixing the first curved track, while first hole and second hole in the effect of 90 degree of angles The effect that 90 degree of distribution is presented is easy for cleaning robot robot mechanism after automatic turning, and can continue the glass cleaned on high building Glass exterior wall；The effect that L-shaped groove is provided on the upper surface of second hole is easy for the 4th curved track of installation, while being convenient for the 4th arc Rail movement；Set casing is opened and is provided with the second half slot on the end face of second hole, and the second half slot is located on the downside of second hole Effect is easy for fixing the first motor and the second motor；The end face that set casing opens second hole is provided with two groups of third circular holes Act on the into or out third pipeline of gas being easy in vacuum plant；Set casing upper surface is mounted on wirerope lower end On, and the effect of the glass surface cooperation on first hole and high building is easy for the first cleaning agency and the second cleaning agency cleans height The glass outer wall in building；The effect that 4 first pipes are installed on set casing end face is easy for vacuum plant and can be absorbed first Gas in sucker；The effect that 4 third pipeline one end are installed on set casing end face is easy for vacuum plant and absorbs the 4th Gas in sucker；The end face of first sucker and the 4th sucker is easy for the effect of the glass batch on high building exterior wall will be clear It washes on the glass outer wall that robot mechanism is fixed on high building, to achieve the purpose that stable cleaning robot robot mechanism；Track machine Structure is mounted on the effect on set casing and is easy for cleaning robot robot mechanism and can smoothly turn and across obstacle；Trigger track peace Effect on rail mechanism is trigger track mechanism, so that rail mechanism is automatically moved back to original position On；Two the second cleaning agencies be mounted on set casing open first hole end face two sides effect be easy for cleaning high building glass outside Wall；It is the cleaning robot facilitated after turning that two the first cleaning agencies, which are mounted on set casing and open the effect of second hole end face two sides, Robot mechanism can clean the glass outer wall in the face；It is sense that sensing device, which is mounted on the effect that set casing is opened on the end face of second hole, Answering cleaning robot robot mechanism is turning or across obstacle, to reach the first motor of control or the second motor movement Purpose；Vacuum plant is mounted on the effect in set casing and is easy for inhaling the first sucker, the second sucker, third sucker and the 4th Disk forms vacuum state, so that cleaning robot robot mechanism can be fixed on the glass on high building exterior wall.

The effect of middle orbit mechanism of the present invention is easy for cleaning robot robot mechanism can smoothly across obstacle or completion Turning motion；The effect that the second curved channel being not penetrated is provided on first curved track end face is easy for accommodating the second curved track； The end face of second curved channel be provided with the 2nd T shape arc slot that both ends penetrate through effect be be mounted on the second curved track Four T shape open forms are at being slidably matched；The 4th square groove, and the 4th square groove and the 2nd T shape arc slot phase are provided on first curved track upper surface Logical effect is easy for the second moving mass of installation, while the 4th square groove cooperates with the second fixture block being mounted on the second curved track； Under the action of the second fixture block and four square grooves, achieve the purpose that limit the movement of the second curved track；On first curved track upper surface The effect for being provided with sliding slot is easy for the mating reaction lower slider movement of sliding block and sliding slot that the 4th arc block is installed on it；The One curved track, which is kept away from, opens that there are two the effects of the first circular hole to be easy for vacuum plant to second on the end face of the second curved channel Sucker effect, so that the air in the second sucker enters in vacuum plant；The work of teeth is provided on the lower end surface of first curved track It is moved with second the first curved track of sliding tooth wheel drive is easy for；First curved track is mounted in first hole and second hole Effect, which is easy for cleaning robot robot mechanism, may be implemented the purpose of turning；Two second sucker one end are mounted on the first curved track end Effect on face is easy on the glass that the first curved track is fixed on high building exterior wall；Second motor is mounted on the second semicircle The effect of slot side is easy for driving the first driving gear movement；First driving gear one end is mounted on the work on the second motor shaft It is moved with driving third curved track is easy for；First motor is mounted on effect of second half slot far from the second motor side It is easy for driving first bevel gear movement；The effect that first bevel gear one end is mounted in first motor axial end is by the first electricity Movement in motivation is transmitted in second bevel gear；Hold-down support one end is mounted on set casing and opens work on the end face of first hole Be easy for installation fixing axle；Fixing axle is mounted on the effect on hold-down support and is easy for fixed second bevel gear and the second driving Gear；Second bevel gear one end is mounted in fixed axial end, and the effect that second bevel gear is engaged with first bevel gear is just In driving fixing axle movement；Second driving gear one end is mounted in fixed axial end, and the second driving gear and the first arc The effect of the lower end surface cooperation of rail is easy for the movement of second the first curved track of sliding tooth wheel drive；It is provided on second curved track end face The effect of first curved channel of perforation is easy for accommodating third curved track；The first T is provided on the upper surface of first curved channel The effect of shape arc slot is slidably matched with the third T-shaped block formation being mounted on third curved track, to reach guidance third arc The purpose of shape rail movement；The effect that teeth are provided on second curved track lower end surface is easy for first the second arc of sliding tooth wheel drive Rail movement；Second curved track upper surface side is provided with third square groove, and the effect that is communicated with the first T shape arc slot of third square groove be with The the first fixture block cooperation being mounted on third curved track, to achieve the purpose that limit the movement of third curved track；In 4th T-shaped block The effect that the second square groove is provided on end face is easy for the secondth fixture block of installation；Second curved track passes through the 4th T-shaped block and the 2nd T shape The effect that arc slot is coupled is easy for cleaning robot robot mechanism turning motion；The work of teeth is provided on third curved track lower end surface It is moved with the first sliding tooth wheel drive third curved track is easy for；The effect there are two gas passage is opened on third curved track end face The gas being easy in third sucker enters in vacuum plant；The effect that the second T-slot is provided on third curved track upper surface is Cooperate with the second T-shaped block installed on the 6th curved track, to reach the purpose of guidance the 6th curved track movement；3rd T shape The effect that the first square groove is provided on block upper surface is easy for the first fixture block of installation；Is mounted on the end face of two second pipes Three suckers, and the effect that third sucker is communicated with second pipe is easy for for third curved track being fixed on the glass outer wall of high building On；Third curved track is that robot mechanism easy to clean can be with by the effect that third T-shaped block and the first T shape arc slot are coupled Turning；First spring one end is mounted on the second curved channel end face, and the other end is mounted on the effect on third curved track end face It is to give third curved track or the first curved track one restoring force effect.

The effect of trigger track is easy for trigger track mechanism in the present invention, so that rail mechanism can be restored to original On the position come；The effect that the 4th curved channel is provided on 4th curved track end face is easy for accommodating the 5th curved track；4th arc The effect of the second arc guide barrel is provided on two inner headed face of shape channel to be cooperated with the second guide block being mounted on the 5th curved track, To achieve the purpose that guide the movement of the 5th curved track, while the purpose of limitation the 5th curved track movement can be played again；4th arc Shape rail be mounted on opened on set casing by slot and L-shaped groove, and the effect that sliding block is in sliding fit with the sliding chute is easy for installing 5th curved track and link block；Return spring is installed, return spring one end is mounted on sliding slot end face, other end peace in sliding slot Effect on sliding block end face is to give sliding block one restoring force effect；Two the 4th spring one ends are installed in the second square groove end Effect on face is easy for the second fixture block of support, while can give the second fixture block one restoring force effect again；On second moving mass Symmetrically being opened on the two sides of end there are two the effect on third inclined-plane is cooperated with the 4th inclined-plane opened on the second pushing block, to make Obtain the purpose that the second pushing block can push the second moving mass to move；Second moving mass is mounted in the 4th square groove, and the second fortune The effect that one end that motion block opens third inclined-plane is distributed upwards is easy for the second pushing block and pushes the movement of the second moving mass；Second pushes Block is mounted on the 4th curved track by link block, and the 4th inclined-plane on the second pushing block and the third on the second moving mass are oblique Movement on 4th curved track is transmitted on the second moving mass by face contact cooperation；Perforation is provided on 5th curved track end face The effect of third curved channel is easy for accommodating the 6th curved track；The first arc is provided on the two sides inner headed face of third curved channel The effect of shape guide groove is cooperated with the first guide block being mounted on the 6th curved track, to reach the 6th curved track of guidance and limitation The purpose of movement；5th curved track passes through the effect of the first guide block and the second arc guide barrel being fitted on the 4th curved track It is easy for the 6th curved track of installation, and also to adapt to the movement of rail mechanism；Two third spring one ends are installed in The effect in the first square groove opened in three T-shaped blocks is the first fixture block of support, and also to give one restoring force of the first fixture block Effect；The effect that the first inclined-plane is provided on the two sides of first moving mass upper end is and the second inclined-plane for being opened on the first pushing block Cooperation, to achieve the purpose that the first pushing block can push first moving mass to move；First moving mass is mounted on third square groove It is interior, and the effect that the first inclined-plane in first moving mass is distributed upwards is easy for the first pushing block promotion first moving mass；First Pushing block is mounted on the 5th curved track by fixed block, and the effect of the first inclined-plane and the cooperation of the second contact of incline plane is by the 5th Movement on curved track is transmitted in first moving mass；6th curved track is pacified by the cooperation of the first guide block and the second arc guide barrel Effect on the 5th curved track is easy for trigger track mechanism kinematic；It is remote that second T-shaped block one end is mounted on the 6th curved track The effect on lower end surface from the 5th curved track side is guidance the 6th curved track movement；Second T-shaped block and the second T-slot slide The effect of cooperation is can to limit the movement of the second T-shaped block during guiding the movement of the second T-shaped block again；Second spring is mounted on In second T-slot, second spring one end is mounted on the second T-shaped block end face, and the other end is mounted on the work on the second T-slot end face With being to give the one restoring force effect of the second T-shaped block；Second triggering block one end is mounted on the 6th curved track periphery, and the second touching Hair block is easy for capturing motion state of the set casing on rail mechanism close to the effect that the second T-shaped block is distributed；First triggering block One end is mounted on the 4th curved track periphery, and the first triggering block is easy for capture set casing close to the effect that sliding block is distributed and exists Motion state on rail mechanism, to reach the purpose of trigger track mechanism return；When third curved track and the second curved track When not moving out the first curved track, first at this time drives the teeth opened on gear and the lower end surface of third curved track to engage Effect be easy for the first driving gear and can there is third curved track successively to drive to the second curved track；Second driving gear and the The effect for the teeth engagement opened on one curved track lower end surface, which is easy for the second driving gear, can have the first curved track to second Curved track successively drives；The effect that the coefficient of elasticity of return spring and second spring is all larger than the coefficient of elasticity of the first spring is just The 6th curved track can be driven to move in third curved track, the 6th curved track can move again with respect to third curved track；Return bullet The identical effect of the coefficient of elasticity of spring and second spring is so that the motion state of the 4th curved track and the 6th curved track keeps one Cause property；Between first moving mass and third square groove there are frictional force effect effect be so that first moving mass gravity work It will not be moved along third square groove direction under；The effect acted between second moving mass and the 4th square groove there are frictional force is to make Obtaining the second moving mass will not move under gravity along the 4th square groove direction；First sucker, the second sucker, third sucker, The identical effect of the size of 4th sucker be so that the first sucker, the second sucker, third sucker, the 4th sucker to height Glass adsorption capacity on building exterior wall is identical.

In use, rectangular-ambulatory-plane fixed plate is mounted on high building first；It is solid that rectangular-ambulatory-plane T-bar is mounted on rectangular-ambulatory-plane On fixed board；First T-shaped block is coupled by the first T-slot and rectangular-ambulatory-plane T-bar；Wirerope one end is mounted on the first T-shaped block On；Cleaning robot robot mechanism is mounted on wirerope；At this time the exterior wall that cleaning robot robot mechanism is mounted on high building is needed to clean Glass on；Rail mechanism and trigger track at this time is in set casing；When the sensing device sense on cleaning robot robot mechanism When should arrive cleaning robot robot mechanism and needing to turn, the second sucker will be adsorbed on the glass of high building under the action of vacuum plant On；Signal will be passed to the second motor by induction mechanism at this time；First motor will not move；Second motor shaft will Driving the first driving gear movement, the first driving gear will drive third curved track to move, when third curved track moves 90 degree When, the first fixture block at this time will be moved into third square groove and cooperate with first moving mass under the action of third spring, this When third curved track will will not continue to move under the action of the first fixture block；The first driving gear at this time will drive the Two curved tracks continue to move, when the second curved track moves 90 degree, the second fixture block at this time will under the action of four springs, It is moved into the 4th square groove and cooperates with the second moving mass, the second curved track at this time will will not under the action of the second fixture block Continue to move；The 6th curved track will be driven to move under the action of the second T-shaped block during the movement of third curved track, fortune The 6th dynamic curved track will drive the 5th curved track to move, and the 6th curved track at this time will be in the first guide block and the first arc It will not continue to move under the action of guide groove；5th curved track will will not be after under the action of the second guide block and the second arc guide barrel Reforwarding is dynamic；When the glass contact on third sucker and high building, third sucker at this time will be inhaled under the action of vacuum plant It is attached on the glass on high building, rail mechanism is adsorbed on the corner of high building exterior wall at this time；Vacuum plant at this time will be so that the One sucker disappears to the adsorption capacity of glass outer wall, rotation side when the second motor at this time will come out relative to rail mechanism To on the contrary, protective shell at this time will be under the action of the first driving gear along the second curved track and third curved track lower end surface It is moved in the teeth opened, when will push the movement of the second triggering block in set casing motion process, the second triggering block will drive the The movement of six curved tracks, the 6th curved track of movement will drive the 5th curved track to move, and the 5th curved track will drive the 4th arc The movement of shape rail, the 4th curved track will be drivingly connected block movement, and link block will drive the second pushing block to move, the second pushing block The movement of the second moving mass will be will push, the second moving mass will drive the second fixture block to move, and the second fixture block at this time will move 4th square groove out, while the 5th curved track will drive fixed block to move, fixed block will drive the first pushing block, and first pushes Block will drive first moving mass to move, and first moving mass will drive the first fixture block to move, and the first fixture block at this time will be transported Dynamic third square groove out；The first curved track and the second curved track at this time will be moved into set casing under the action of the first spring It is interior；Cleaning robot robot mechanism at this time will complete turning motion；When cleaning robot robot mechanism needs to back within original height When on the side in building, third sucker will be adsorbed on the glass on high building under the action of vacuum plant；Induction dress at this time The first motor movement will be controlled by setting, and the first motor axis of movement will drive first bevel gear to move, and first bevel gear will Second bevel gear can be driven to move, second bevel gear will drive fixing axle to move, and fixing axle will drive the second driving gear Movement, second driving gear will drive the first curved track move, the first curved track will after 90 degree of movement, at this time second Fixture block will be moved into the 4th square groove and cooperate with the second moving mass under the action of four springs, the first arc at this time Rail will will not continue to move under the action of the second fixture block；The second driving gear at this time continues to the second curved track of driving Movement, when the second curved track moves 90 degree, the first fixture block at this time will be moved into third under the action of third spring Cooperate in square groove with first moving mass, the second curved track at this time will will not continue to move under the action of the first fixture block；The On the glass that two suckers will be adsorbed on high building under the action of vacuum plant；Rail mechanism will complete the track work of turning Make, set casing at this time will move under the action of the second driving gear along the second curved track and the first curved track, work as cleaning When robot mechanism successfully completes direction turning, set casing at this time will drive the first triggering block to move, the first touching of movement Hair block will drive the 4th curved track to move, and the 4th curved track will be drivingly connected block movement, and link block will drive second to push away Motion block movement, the second pushing block will successively push the second moving mass, the movement of the second fixture block, and the 4th curved track of movement will simultaneously The 5th curved track is driven to move, the 5th curved track of movement will successively drive the first pushing block, first moving mass, the first fixture block Movement, third curved track at this time will move in set casing under the action of the first spring, and cleaning robot at this time is man-machine Structure will complete the purpose of U-turn；By the turning process of above cleaning robot robot mechanism it is recognised that working as cleaning robot When rail mechanism on robot mechanism moves to 180 degree, cleaning robot robot mechanism at this time can be smoothly across phase on high building exterior wall Barrier between adjacent glass.

Detailed description of the invention

Fig. 1 is global facility distribution schematic diagram.

Fig. 2 is rectangular-ambulatory-plane T-bar mounting structure schematic diagram.

Fig. 3 is cleaning robot robot mechanism mounting structure schematic diagram.

Fig. 4 is wirerope mounting structure schematic diagram.

Fig. 5 is the first T-shaped block structural schematic diagram.

Fig. 6 is the first sucker mounting structure schematic diagram.

Fig. 7 is fixed shell structure (one) schematic diagram.

Fig. 8 is fixed shell structure (two) schematic diagram.

Fig. 9 is the second sucker mounting structure schematic diagram.

Figure 10 is the second driving gear installation structure schematic diagram.

Figure 11 is the first driving gear installation structure schematic diagram.

Figure 12 is the first spring mounting structure schematic diagram.

Figure 13 is third curved track structural schematic diagram.

Figure 14 is the second T-shaped block mounting structure schematic diagram.

Figure 15 is the second triggering block mounting structure schematic diagram.

Figure 16 is second curved track structure (one) schematic diagram.

Figure 17 is second curved track structure (two) schematic diagram.

Figure 18 is fixed block mounting structure schematic diagram.

Figure 19 is first moving mass structural schematic diagram.

Figure 20 is the first pushing block structural schematic diagram.

Figure 21 is the second fixture block mounting structure schematic diagram.

Figure 22 is first curved track structure (one) schematic diagram.

Figure 23 is first curved track structure (two) schematic diagram.

Figure 24 is the 6th curved track mounting structure schematic diagram.

Figure 25 is the first guide block mounting structure schematic diagram.

Figure 26 is the second guide block mounting structure schematic diagram.

Figure 27 is the 5th curved track structural schematic diagram.

Figure 28 is the 5th curved track mounting structure schematic diagram.

Figure 29 is the 4th curved track structural schematic diagram.

Figure 30 is the first triggering block mounting structure schematic diagram.

Figure 31 is the second moving mass structural schematic diagram.

Figure 32 is the second pushing block structural schematic diagram.

Figure 33 is sliding block mounting structure schematic diagram.

Figure 34 is return spring mounting structure schematic diagram.

Figure 35 is cleaning robot robot mechanism turning process schematic.

Figure 36 is cleaning robot robot mechanism across obstacle process schematic.

Figure label title: 1, the first T-shaped block；2, rectangular-ambulatory-plane fixed plate；3, rectangular-ambulatory-plane T-bar；4, high building；5, steel wire Rope；6, cleaning robot robot mechanism；8, the first T-slot；9, first pipe；10, the first sucker；11, rail mechanism；12, the first circle Hole；13, the second sucker；14, third sucker；15, second pipe；16, trigger track；17, the 4th sucker；18, third pipeline； 19, set casing；20, the second circular hole；21, first hole；22, the first half slot；23, second hole；24, third circular hole；25, Two half slots；26, L-shaped groove；27, pass through slot；28, the first cleaning agency；29, the second cleaning agency；30, vacuum plant；31, Four curved tracks；32, the first triggering block；33, the first curved track；34, the second driving gear；35, the first driving gear；36, fixed Support；37, the first motor；38, fixing axle；39, first bevel gear；40, the second T-shaped block；41, third curved track；42, second Triggering block；43, the 6th curved track；44, the second curved track；45, the 5th curved track；46, fixed block；47, the first pushing block；48, First motor axis；49, the second motor；50, the second motor shaft；51, the second pushing block；52, the first spring；53, the first square groove； 54, third T-shaped block；55, gas passage；56, the second T-slot；58, second spring；60, the 4th T-shaped block；61, the second square groove； 62, third square groove；63, the first arc-shaped slot；64, the first T shape arc slot；65, first moving mass；66, the first fixture block；67, third Spring；68, the first inclined-plane；69, the second inclined-plane；70, the second moving mass；71, the 4th spring；72, the second fixture block；73, four directions Slot；74, the second curved channel；75, the 2nd T shape arc slot；76, the first guide block；77, the first arc guide barrel；78, third arc is logical Road；79, the second guide block；80, the second arc guide barrel；81, the 4th curved channel；83, barrier；84, sensing device；85, the 4th Inclined-plane；86, link block；87, third inclined-plane；88, second bevel gear；89, sliding slot；90, sliding block；91, return spring.

Specific embodiment

As shown in Figure 1, rectangular-ambulatory-plane fixed plate 2 is mounted on 4 upside of high building；As shown in Fig. 2, rectangular-ambulatory-plane T-bar 3 is mounted on back On 2 lower end surface of font fixed plate；As shown in figure 5, being provided with the first T-slot 8 of perforation on 1 end face of the first T-shaped block；As shown in Figure 1, First T-shaped block 1 is coupled by the first T-slot 8 with rectangular-ambulatory-plane T-bar 3；As shown in figure 4,5 one end of wirerope is mounted on On one T-shaped block, 1 end face；As shown in figure 3, cleaning robot robot mechanism 6 is mounted on wirerope 5, and cleaning robot robot mechanism 6 and height Building 4 cooperates.

As shown in fig. 6, above-mentioned cleaning robot robot mechanism 6 includes rail mechanism 11, trigger track 16, first pipe 9, first Sucker 10, the 4th sucker 17, third pipeline 18, set casing 19, the second circular hole 20, first hole 21, the first half slot 22, second Square hole 23, the second half slot 25, L-shaped groove 26, passes through slot 27, the first cleaning agency 28, the second cleaning agency at third circular hole 24 29, vacuum plant 30, sensing device 84 are wherein provided with first hole 21 on 19 end face of set casing as shown in Figure 7,8；Such as Fig. 7,8 It is shown, it is provided on the upper surface of first hole 21 through slot 27；As shown in Figure 7,8, set casing 19 opens the end face of first hole 21 On be provided with the first half slot 22, and the first half slot 22 is located at 21 downside of first hole；As shown in Figure 7,8, set casing 19 opens The end face of one square hole 21 is symmetrically provided with two group of second circular hole 20 in two sides up and down；As shown in Figure 7,8, two the second circular holes in every group 20 are distributed about 19 end surface symmetric of set casing；As shown in Figure 7,8, second hole 23, and set casing are provided on 19 end face of set casing 19 open the end face that first hole 21 is opened on the end face of second hole 23 and set casing 19 in 90 degree of angles；As shown in Figure 7,8, second L-shaped groove 26 is provided on the upper surface of square hole 23；As shown in Figure 7,8, set casing 19 is opened and is provided with second on the end face of second hole 23 Half slot 25, and the second half slot 25 is located at 23 downside of second hole；As shown in Figure 7,8, set casing 19 opens second hole 23 End face is symmetrically provided with two groups of third circular holes 24 in two sides up and down；As shown in Figure 7,8, two third circular holes 24 in every group are about fixation The distribution of 19 end surface symmetric of shell；As shown in figure 3,19 upper surface of set casing is mounted on 5 lower end of wirerope, and first hole 21 and height Glass surface cooperation on building 4；As shown in fig. 6,4 first pipes 9 are installed on 19 end face of set casing, and each first pipe 9 communicate with corresponding second circular hole 20 respectively；As shown in fig. 6,4 18 one end of third pipeline are installed in 19 end face of set casing On, and each third pipeline 18 is communicated with corresponding third circular hole 24 respectively；As shown in fig. 6, on the end face of each first pipe 9 It is mounted on the first sucker 10；The 4th sucker 17 is mounted on the end face of each third pipeline 18；As shown in fig. 6, first inhales Disk 10 is communicated with first pipe 9；As shown in fig. 6, the 4th sucker 17 is communicated with third pipeline 18；As shown in fig. 6, the first sucker 10 With the end face of the 4th sucker 17 with the glass batch on 4 exterior wall of high building；As shown in fig. 6, rail mechanism 11 is mounted on set casing On 19；Trigger track 16 is mounted on rail mechanism 11；As shown in fig. 6, two the second cleaning agencies 29 are mounted on set casing 19 Open 21 end face two sides of first hole；As shown in fig. 6, two the first cleaning agencies 28, which are mounted on set casing 19, opens 23 end of second hole Face two sides；It is opened on the end face of second hole 23 as shown in fig. 6, sensing device 84 is mounted on set casing 19；As shown in Fig. 6,9, very Empty device 30 is mounted in set casing 19.

As shown in Figure 10,11, above-mentioned rail mechanism 11 includes the first circular hole 12, sliding slot 89, the second sucker 13, third sucker 14, second pipe 15, the first curved track 33, second driving gear 34, first drive gear 35, hold-down support 36, first electronic Machine 37, fixing axle 38, first bevel gear 39, third curved track 41, the second curved track 44, second bevel gear 88, first motor axis 48, the second motor 49, the second motor shaft 50, the first spring 52, the first square groove 53, third T-shaped block 54, gas passage 55, Two T-slots 56, the 4th T-shaped block 60, the second square groove 61, third square groove 62, the first arc-shaped slot 63, the first T shape arc slot the 64, the 4th Square groove 73, the second curved channel 74, the 2nd T shape arc slot 75, as shown in Figure 22,23, wherein being provided on 33 end face of the first curved track The second curved channel 74 being not penetrated；As shown in figure 22, the end face of the second curved channel 74 is provided with the 2nd T shape that both ends penetrate through Arc slot 75；As shown in figure 22, the 4th square groove 73, and the 4th square groove 73 and the 2nd T shape arc are provided on 33 upper surface of the first curved track Slot 75 communicates；As shown in figure 23, sliding slot 89 is provided on 33 upper surface of the first curved track；As shown in figure 23, the first curved track 33 is remote Leave the first circular hole 12 there are two opening on the end face of the second curved channel 74；Teeth are provided on the lower end surface of first curved track 33； As shown in fig. 6, the first curved track 33 is mounted in first hole 21 and second hole 23；As shown in Figure 10, two the second suckers 13 one end are mounted on 33 end face of the first curved track, and two the second suckers 13 are communicated with corresponding first circular hole 12；Such as Fig. 6 institute Show, the second motor 49 is mounted on 25 side of the second half slot；As shown in figure 11, first driving 35 one end of gear is mounted on second On motor shaft 50；As shown in figure 11, the first motor 37 is mounted on the second half slot 25 far from 49 side of the second motor；Such as figure Shown in 11,39 one end of first bevel gear is mounted on 48 end face of first motor axis；As shown in figure 11,36 one end of hold-down support is installed On the end face that set casing 19 opens first hole 21；As shown in figure 11, fixing axle 38 is mounted on hold-down support 36；Such as Figure 11 institute Show, 88 one end of second bevel gear is mounted on 38 end face of fixing axle, and second bevel gear 88 is engaged with first bevel gear 39；Such as figure Shown in 11, second driving 34 one end of gear is mounted on 38 end face of fixing axle, and the second driving gear 34 and the first curved track 33 Lower end surface cooperation；As shown in Figure 16,17, the first curved channel of perforation is provided on 44 end face of the second curved track；Such as Figure 16,17 It is shown, the first T shape arc slot 64 is provided on the upper surface of the first curved channel；Second curved track is provided with teeth on 44 lower end surface；Such as Figure 16, shown in 17,44 upper surface side of the second curved track is provided with third square groove 62, and third square groove 62 and the first T shape arc slot 64 It communicates；As shown in Figure 16,17, the second square groove 61 is provided on 60 upper surface of the 4th T-shaped block；4th T-shaped block, 60 lower end surface is mounted on On second curved track, 44 upper surface, and the 4th T-shaped block 60 is far from third square groove 62；As shown in Figure 16,17, the second curved track 44 is logical The 4th T-shaped block 60 is crossed to be coupled with the 2nd T shape arc slot 75；Third curved track is provided with teeth on 41 lower end surface；As shown in figure 13, Gas passage 55 there are two being opened on 41 end face of third curved track；As shown in figure 13, the 2nd T is provided on 41 upper surface of third curved track Shape slot 56；As shown in figure 13, the first square groove 53 is provided on 54 upper surface of third T-shaped block；As shown in figure 13, under third T-shaped block 54 End face is mounted on 41 upper surface of third curved track；Two second pipes 15 are mounted on 41 end face of third curved track, and two Second pipe 15 is communicated with corresponding gas passage 55；As shown in fig. 6, being mounted on third on the end face of two second pipes 15 Sucker 14, and third sucker 14 is communicated with second pipe 15；As shown in fig. 6, third curved track 41 passes through third T-shaped block 54 and the One T shape arc slot 64 is coupled；As shown in figure 12,52 one end of the first spring is mounted on 74 end face of the second curved channel, another End is mounted on 41 end face of third curved track.

As shown in figure 24, above-mentioned trigger track 16 includes the 4th curved track 31, return spring 91, the triggering of sliding block 90, first Block 32, the second T-shaped block 40, the second triggering block 42, the 6th curved track 43, the 5th curved track 45, fixed block 46, the first pushing block 47, the second pushing block 51, second spring 58, first moving mass 65, the first fixture block 66, third spring 67, the first inclined-plane 68, second Inclined-plane 69, the second moving mass 70, the 4th spring 71, the second fixture block 72, the first guide block 76, the first arc guide barrel 77, third arc Channel 78, the second guide block 79, the second arc guide barrel 80, the 4th curved channel 81, the 4th inclined-plane 85, link block 86, third inclined-plane 87, as shown in Figure 29,30, wherein being provided with the 4th curved channel 81 on 31 end face of the 4th curved track；As shown in figure 30, the 4th arc The second arc guide barrel 80 is provided on the inner headed face of 81 liang of channel；As shown in figure 33,90 end face of sliding block is mounted on the 4th curved track 31 On lower end surface；As shown in fig. 6, the 4th curved track 31 be mounted on opened on set casing 19 by slot 27 and L-shaped groove 26, and it is sliding Block 90 is slidably matched with sliding slot 89；As shown in figure 34, return spring 91 is installed, 91 one end of return spring is mounted in sliding slot 89 On 89 end face of sliding slot, the other end is mounted on 90 end face of sliding block；As shown in figure 21, two 71 one end of the 4th spring are installed in On two square grooves, 61 end face；As shown in figure 21, the second fixture block 72 is located in the second square groove 61, and 72 one end of the second fixture block is mounted on the 4th On spring 71；As shown in figure 31, third inclined-plane 87 there are two symmetrically being opened on 70 upper end two sides of the second moving mass；Such as Figure 21 institute Show, the second moving mass 70 is mounted in the 4th square groove 73, and the second moving mass 70 is opened the one end on third inclined-plane 87 and is distributed upwards；Such as Shown in Figure 32, symmetrically opened on 51 lower end surface of the second pushing block there are two the 4th inclined-plane 85；As shown in figure 21, the second pushing block 51 is logical It crosses link block 86 to be mounted on the 4th curved track 31, and on the 4th inclined-plane 85 and the second moving mass 70 on the second pushing block 51 Third inclined-plane 87 is engaged；As shown in Figure 26,27, the third curved channel 78 of perforation is provided on 45 end face of the 5th curved track； As shown in figure 27, the first arc guide barrel 77 is provided on the two sides inner headed face of third curved channel 78；As shown in figure 27, two Two guide blocks 79 are separately mounted on two peripheries of the 5th curved track 45；As shown in figure 28, the 5th curved track 45 is led by first Block 76 and the second arc guide barrel 80 are fitted on the 4th curved track 31；As shown in figure 18, two 67 one end of third spring It is installed in the first square groove 53 opened in third T-shaped block 54；As shown in figure 18, the first fixture block 66 is mounted on the first square groove 53 It is interior, and the lower end surface of the first fixture block 66 is mounted on third spring 67；As shown in figure 19, on 65 upper end two sides of first moving mass It is provided with the first inclined-plane 68；As shown in figure 18, first moving mass 65 is mounted in third square groove 62, and in first moving mass 65 First distribution upwards of inclined-plane 68；As shown in figure 20, the second inclined-plane 69 there are two symmetrically being opened on 47 lower end surface of the first pushing block；First Pushing block 47 is mounted on the 5th curved track 45 by fixed block 46, and the first inclined-plane 68 is engaged with the second inclined-plane 69；Such as Shown in Figure 15, two the first guide blocks 76 are separately mounted on 43 liang of peripheries of the 6th curved track；6th curved track 43 passes through first Guide block 76 and the second arc guide barrel 80 are fitted on the 5th curved track 45；As shown in figure 15,40 one end of the second T-shaped block is pacified On 43 lower end surface far from 45 side of the 5th curved track of the 6th curved track；As shown in figure 14, the second T-shaped block 40 and the 2nd T Shape slot 56 is slidably matched；As shown in figure 14, second spring 58 is mounted in the second T-slot 56, and 58 one end of second spring is mounted on On second T-shaped block, 40 end face, the other end is mounted on 56 end face of the second T-slot；As shown in figure 25,42 one end of the second triggering block is pacified On 43 periphery of the 6th curved track, and the second triggering block 42 is distributed close to the second T-shaped block 40；As shown in figure 29, the first touching Hair 32 one end of block is mounted on 31 periphery of the 4th curved track, and the first triggering block 32 is distributed close to sliding block 90.

Above-mentioned first circular hole 12, the second circular hole 20, third circular hole 24, gas passage 55 pass through pipeline and vacuum plant 30 It is connected；Sensing device 84 is connected by electric line with the first motor 37 and the second motor 49；When third curved track 41 and When two curved tracks 44 do not move out the first curved track 33, the lower end surface of the first driving gear 35 and third curved track 41 at this time On opened teeth engagement；The teeth opened on second driving gear 34 and 33 lower end surface of the first curved track engage；Return spring 91 and the coefficient of elasticity of second spring 58 be all larger than the coefficient of elasticity of the first spring 52；The bullet of return spring 91 and second spring 58 Property coefficient is identical.

There are frictional force effects between above-mentioned first moving mass 65 and third square groove 62；Second moving mass 70 and four directions There are frictional force effects between slot 73.

Above-mentioned first sucker 10, the second sucker 13, third sucker 14, the size of the 4th sucker 17 are identical.

Above-mentioned third spring 67 and the 4th spring 71 are compressed spring；First spring 52 is extension spring.

Above-mentioned fixing axle 38 is mounted on hold-down support 36 by bearing.

Solid lubrication oil is coated between above-mentioned first T-slot 8 and rectangular-ambulatory-plane T-bar 3.

In summary:

The effect that rectangular-ambulatory-plane fixed plate 2 of the present invention is mounted on 4 upside of high building is easy for fixed rectangular-ambulatory-plane T-bar 3；Rectangular-ambulatory-plane T-bar 3 is mounted on the effect on 2 lower end surface of rectangular-ambulatory-plane fixed plate and is easy for the first T-slot 8 that the first T-shaped block 1 is opened on it Under mating reaction with rectangular-ambulatory-plane T-bar 3, the first T-bar can be allowed to move along rectangular-ambulatory-plane T-bar 3, so that steel Cord 5 can drive cleaning robot preferably to clean the glass outer wall on the outside of high building 4；First T-shaped block 1 passes through the first T-slot 8 The effect being coupled with rectangular-ambulatory-plane T-bar 3 is easy for fixed wirerope 5；5 one end of wirerope is mounted on 1 end face of the first T-shaped block On effect be easy for fixed cleaning robot so that cleaning robot can comprehensively clean the glass in 4 outside of high building Exterior wall；Cleaning robot robot mechanism 6 is mounted on wirerope 5, and the effect that cleaning robot robot mechanism 6 cooperates with high building 4 is easy for Clean the glass outer wall of high building 4.

The effect of cleaning robot robot mechanism 6 is easy for the glass of cleaning 4 exterior wall of high building in the present invention, while again can be automatic Across the metope of barrier 83 and automatic conversion cleaning on glass outer wall.The work of first hole 21 is provided on 19 end face of set casing Be easy for installation the first curved track 33；It is provided on the upper surface of first hole 21 and installation the 4th is easy for by the effect of slot 27 Curved track 31；Set casing 19 is opened and is provided with the first half slot 22 on the end face of first hole 21, and the first half slot 22 is located at first The movement that the effect of 21 downside of square hole drives gear 34 convenient for second；Set casing 19 opens the end face of first hole 21 or more two sides pair The gas flowing for claiming the effect for being provided with two group of second circular hole 20 to be easy in vacuum plant 30；Set casing is provided with second on 19 end face Square hole 23, and set casing 19 is opened and opens the end face of first hole 21 on the end face and set casing 19 of second hole 23 in 90 degree of angles Effect is easy for fixing the first curved track 33, while the effect of the distribution of 90 degree of first hole 21 and the presentation of second hole 23 is just In cleaning robot robot mechanism 6 after automatic turning, and the glass outer wall cleaned on high building 4 can be continued；Second hole 23 it is upper The effect that L-shaped groove 26 is provided on end face is easy for the 4th curved track 31 of installation, while moving convenient for the 4th curved track 31；Set casing 19 open and are provided with the second half slot 25 on the end face of second hole 23, and the second half slot 25 is located at the effect of 23 downside of second hole It is easy for fixing the first motor 37 and the second motor 49；The end face that set casing 19 opens second hole 23 is provided with two groups of third circles The into or out third pipeline 18 of gas that the effect in hole 24 is easy in vacuum plant 30；19 upper surface of set casing is mounted on The effect of glass surface cooperation on 5 lower end of wirerope, and on first hole 21 and high building 4 is easy for the first cleaning agency 28 and the The glass outer wall of two cleaning agencies 29 cleaning high building 4；The effect that 4 first pipes 9 are installed on 19 end face of set casing is just The gas in the first sucker 10 can be absorbed in vacuum plant 30；4 18 one end of third pipeline are installed in 19 end face of set casing On effect be easy for vacuum plant 30 absorb the 4th sucker 17 in gas；The end face of first sucker 10 and the 4th sucker 17 is equal Effect with the glass batch on 4 exterior wall of high building is easy for the glass outer wall being fixed on cleaning robot robot mechanism 6 on high building 4 On, to achieve the purpose that stable cleaning robot robot mechanism 6；The effect that rail mechanism 11 is mounted on set casing 19 is easy for clearly Washing robot mechanism 6 can smoothly turn and across obstacle 83；The effect that trigger track 16 is mounted on rail mechanism 11 is 16 mechanism 11 of trigger track, so that rail mechanism 11 is automatically moved back on original position；Two the second scavenging machines Structure 29 be mounted on set casing 19 open 21 end face two sides of first hole effect be easy for cleaning high building 4 glass outer wall；Two It is the cleaning robot facilitated after turning that one cleaning agency 28, which is mounted on set casing 19 and opens the effect of 23 end face two sides of second hole, Mechanism 6 can clean the glass outer wall in the face；Sensing device 84 is mounted on set casing 19 and opens work on the end face of second hole 23 It is turning or across obstacle 83 with being induction cleaning robot robot mechanism 6, to reach the first motor 37 of control or the The purpose of two motor 49 movement；The effect that vacuum plant 30 is mounted in set casing 19 is easy for the first sucker 10, second Sucker 13, third sucker 14 and the 4th sucker 17 form vacuum state, so that cleaning robot robot mechanism 6 can be fixed on height On glass on 4 exterior wall of building.

The effect of middle orbit mechanism 11 of the present invention be easy for cleaning robot robot mechanism 6 can smoothly across obstacle 83 or Complete turning motion；The effect that the second curved channel 74 being not penetrated is provided on first curved track, 33 end face is easy for receiving second Curved track 44；The effect that the end face of second curved channel 74 is provided with the 2nd T shape arc slot 75 that both ends penetrate through is and is mounted on The 4th T shape open form on two curved tracks 44 is at being slidably matched；The 4th square groove 73, and the 4th are provided on first curved track, 33 upper surface The effect that square groove 73 is communicated with the 2nd T shape arc slot 75 be easy for installation the second moving mass 70, while the 4th square groove 73 be mounted on The second fixture block 72 cooperation on second curved track 44；Under the action of the second fixture block 72 and the 4th square groove 73, reach limitation second The purpose that curved track 44 moves；The effect that sliding slot 89 is provided on first curved track, 33 upper surface is easy for the 4th arc block on it The mating reaction lower slider of the sliding block 90 and sliding slot 89 installed moves；First curved track 33 keeps away from the second curved channel 74 The effect there are two the first circular hole 12 is opened on end face be easy for vacuum plant 30 and second sucker 13 is acted on, so that the second sucker 13 Interior air enters in vacuum plant 30；The effect that teeth are provided on the lower end surface of first curved track 33 is easy for the second sliding tooth 34 driving the first curved track 33 movement of wheel；The effect that first curved track 33 is mounted in first hole 21 and second hole 23 is just The purpose of turning may be implemented in cleaning robot robot mechanism 6；Two 13 one end of the second sucker are mounted on 33 end face of the first curved track On effect be easy on the glass that the first curved track 33 is fixed on 4 exterior wall of high building；Second motor 49 is mounted on second The effect of 25 side of half slot is easy for driving the first driving gear 35 and moves；First driving 35 one end of gear is mounted on the second electricity Effect on arbor 50 is easy for driving third curved track 41 and moves；First motor 37 is mounted on the second half slot 25 far from The effect of two motor, 49 side is easy for driving first bevel gear 39 and moves；39 one end of first bevel gear is mounted on first motor Effect on 48 end face of axis is that the movement on the first motor 37 is transmitted in second bevel gear 88；36 one end of hold-down support peace Effect on the end face that set casing 19 opens first hole 21 is easy for installation fixing axle 38；Fixing axle 38 is mounted on fixed branch Effect on seat 36 is easy for fixed second bevel gear 88 and the second driving gear 34；88 one end of second bevel gear is mounted on fixation On 38 end face of axis, and the effect that second bevel gear 88 is engaged with first bevel gear 39 is easy for the driving movement of fixing axle 38；Second Driving 34 one end of gear is mounted on 38 end face of fixing axle, and the lower end surface of the second driving gear 34 and the first curved track 33 cooperates Effect be easy for the second driving gear 34 drive the first curved track 33 movement；The of perforation is provided on second curved track, 44 end face The effect of one curved channel is easy for accommodating third curved track 41；The first T shape arc slot is provided on the upper surface of first curved channel 64 effect is slidably matched with the formation of third T-shaped block 54 being mounted on third curved track 41, to reach guidance third arc The purpose that shape rail 41 moves；The effect that teeth are provided on second curved track, 44 lower end surface is easy for the first driving gear 35 driving the The movement of two curved tracks 44；Second curved track, 44 upper surface side is provided with third square groove 62, and third square groove 62 and the first T shape arc slot 64 effects communicated are cooperated with the first fixture block 66 being mounted on third curved track 41, to reach limitation third curved track 41 The purpose of movement；The effect that the second square groove 61 is provided on 4th T-shaped block, 60 upper surface is easy for the secondth fixture block 72 of installation；Second Curved track 44 is easy for the turning of cleaning robot robot mechanism 6 by the effect that the 4th T-shaped block 60 and the 2nd T shape arc slot 75 are coupled Movement；The effect that teeth are provided on 41 lower end surface of third curved track is easy for the first driving gear 35 driving third curved track 41 and transports It is dynamic；The gas being easy in third sucker 14 there are two the effect of gas passage 55 is opened on 41 end face of third curved track enters vacuum In device 30；The effect that the second T-slot 56 is provided on 41 upper surface of third curved track is installed on the 6th curved track 43 Second T-shaped block 40 cooperation, to reach the purpose of guidance the 6th curved track 43 movement；Is provided on 54 upper surface of third T-shaped block The effect of one square groove 53 is easy for the first fixture block 66 of installation；Third sucker 14 is mounted on the end face of two second pipes 15, And the effect that third sucker 14 is communicated with second pipe 15 is easy for for third curved track 41 being fixed on the glass outer wall of high building 4 On；Third curved track 41 is that machine easy to clean is man-machine by the effect that third T-shaped block 54 is coupled with the first T shape arc slot 64 Structure 6 can turn；First spring, 52 one end is mounted on 74 end face of the second curved channel, and the other end is mounted on third curved track 41 Effect on end face is to give third curved track 41 or the first curved track 33 1 restoring force effects.

The effect of trigger track 16 is easy for 16 mechanism 11 of trigger track in the present invention, so that rail mechanism 11 can be with It is restored on original position；The effect that the 4th curved channel 81 is provided on 4th curved track, 31 end face is easy for accommodating the 5th arc Shape rail 45；The effect that the second arc guide barrel 80 is provided on 4th 81 liang of curved channel inner headed face is and is mounted on the 5th curved track The second guide block 79 cooperation on 45 to achieve the purpose that guide the movement of the 5th curved track 45, while can play limitation the 5th again The purpose that curved track 45 moves；4th curved track 31 be mounted on opened on set casing 19 by slot 27 and L-shaped groove 26, and it is sliding The effect that block 90 and sliding slot 89 are slidably matched is easy for the 5th curved track 45 of installation and link block 86；Return is installed in sliding slot 89 Spring 91,91 one end of return spring are mounted on 89 end face of sliding slot, and the effect that the other end is mounted on 90 end face of sliding block is to cunning 90 1 restoring force effects of block；The effect that two 71 one end of the 4th spring are installed on 61 end face of the second square groove is easy for supporting Second fixture block 72, while can give the second fixture block 72 1 restoring force effects again；It is symmetrical on second moving mass, 70 upper end two sides Opening there are two the effect on third inclined-plane 87 is cooperated with the 4th inclined-plane 85 opened on the second pushing block 51, so that second pushes away The purpose that motion block 51 can push the second moving mass 70 to move；Second moving mass 70 is mounted in the 4th square groove 73, and the second fortune The effect that one end that motion block 70 opens third inclined-plane 87 is distributed upwards is easy for the second pushing block 51 and pushes the movement of the second moving mass 70； Second pushing block 51 is mounted on the 4th curved track 31 by link block 86, and the 4th inclined-plane 85 on the second pushing block 51 and the What the third inclined-plane 87 on two moving mass 70 was engaged is transmitted to the movement on the 4th curved track 31 on second moving mass 70； The effect that the third curved channel 78 of perforation is provided on 5th curved track, 45 end face is easy for accommodating the 6th curved track 43；Third arc Be provided on the two sides inner headed face in shape channel 78 first arc guide barrel 77 effect be be mounted on the 6th curved track 43 One guide block 76 cooperation, to achieve the purpose that guidance and limitation the 6th curved track 43 movement；5th curved track 45 is led by first The effect of block 76 and the second arc guide barrel 80 being fitted on the 4th curved track 31 is easy for the 6th curved track 43 of installation, together When also for adapt to rail mechanism 11 movement；Two 67 one end of third spring are installed in opened in third T-shaped block 54 Effect in one square groove 53 is the first fixture block 66 of support, and also to give the first fixture block 66 1 restoring force effects；First fortune The effect on the first inclined-plane 68 is provided on 65 upper end two sides of motion block is matched with the second inclined-plane 69 opened on the first pushing block 47 It closes, to achieve the purpose that the first pushing block 47 can push first moving mass 65 to move；First moving mass 65 is mounted on third The effect that the first inclined-plane 68 in square groove 62, and in first moving mass 65 is distributed upwards is easy for the first pushing block 47 and pushes first Moving mass 65；First pushing block 47 is mounted on the 5th curved track 45 by fixed block 46, and the first inclined-plane 68 and the second inclined-plane 69 effects being engaged are that the movement on the 5th curved track 45 is transmitted in first moving mass 65；6th curved track 43 passes through The effect of first guide block 76 and the second arc guide barrel 80 being fitted on the 5th curved track 45 is easy for 16 machine of trigger track Structure 11 moves；Second T-shaped block, 40 one end is mounted on the work on 43 lower end surface far from 45 side of the 5th curved track of the 6th curved track Be guidance the 6th curved track 43 movement；The effect that second T-shaped block 40 and the second T-slot 56 are slidably matched is the 2nd T shape of guidance Block 40 can limit the movement of the second T-shaped block 40 again during moving；Second spring 58 is mounted in the second T-slot 56, the Two springs, 58 one end is mounted on 40 end face of the second T-shaped block, and the effect that the other end is mounted on 56 end face of the second T-slot is to The effect of two restoring forces of T-shaped block 40 1；Second triggering block, 42 one end is mounted on 43 periphery of the 6th curved track, and the second triggering Block 42 is easy for capturing motion state of the set casing 19 on rail mechanism 11 close to the effect that the second T-shaped block 40 is distributed；First 32 one end of triggering block is mounted on 31 periphery of the 4th curved track, and the first triggering block 32 is just close to the effect that sliding block 90 is distributed In capturing motion state of the set casing 19 on rail mechanism 11, to reach the purpose of 16 mechanism of trigger track, 11 return；When When third curved track 41 and the second curved track 44 do not move out the first curved track 33, the first driving gear 35 and third at this time The effect for the teeth engagement opened on the lower end surface of curved track 41, which is easy for the first driving gear 35, can third curved track 41 It is successively driven to the second curved track 44；The work that the teeth opened on second driving gear 34 and 33 lower end surface of the first curved track engage There can be first the 33 to the second curved track of curved track 44 successively to drive with the second driving gear 34 is easy for；Return spring 91 and The effect that the coefficient of elasticity of two springs 58 is all larger than the coefficient of elasticity of the first spring 52, which is easy for third curved track 41, to be driven The movement of 6th curved track 43, the 6th curved track 43 can move again with respect to third curved track 41；Return spring 91 and second spring The identical effect of 58 coefficient of elasticity is the being consistent property of motion state so that the 4th curved track 31 and the 6th curved track 43；The Between one moving mass 65 and third square groove 62 there are frictional force effect effect be so that first moving mass 65 gravity work It will not be moved along 62 direction of third square groove under；There are the works of frictional force effect between second moving mass 70 and the 4th square groove 73 With being so that the second moving mass 70 will not move under gravity along 73 direction of the 4th square groove；First sucker 10, second is inhaled The identical effect of size of disk 13, third sucker 14, the 4th sucker 17 be so that the first sucker 10, the second sucker 13, Third sucker 14, the 4th sucker 17 it is identical to the glass adsorption capacity on 4 exterior wall of high building.

Specific embodiment is that rectangular-ambulatory-plane fixed plate 2 is mounted on high building 4 first；Rectangular-ambulatory-plane T-bar 3 is mounted on back In font fixed plate 2；First T-shaped block 1 is coupled by the first T-slot 8 with rectangular-ambulatory-plane T-bar 3；The installation of 5 one end of wirerope In the first T-shaped block 1；Cleaning robot robot mechanism 6 is mounted on wirerope 5；Cleaning robot robot mechanism 6 is mounted on high building at this time On the glass that 4 exterior wall needs to clean；Rail mechanism 11 and trigger track 16 at this time is in set casing 19；Such as Figure 35 a institute Show, when the sensing device 84 on cleaning robot robot mechanism 6 senses that cleaning robot robot mechanism 6 needs to turn, the second sucker 13 It will be adsorbed on the glass of high building 4 under the action of vacuum plant 30；Signal will be passed to by induction mechanism at this time Two motor 49；First motor 37 will not move；Second motor shaft 50 will drive the first driving gear 35 to move, and first drives Moving gear 35 will drive third curved track 41 to move, and when third curved track 41 moves 90 degree, the first fixture block 66 at this time will It can be moved into third square groove 62 and cooperate with first moving mass 65 under the action of third spring 67, third arc at this time Rail 41 will will not continue to move under the action of the first fixture block 66；The first driving gear 35 at this time will drive the second arc Rail 44 continues to move, and when the second curved track 44 moves 90 degree, the second fixture block 72 at this time will be in the effect of the 4th spring 71 Under, it is moved into the 4th square groove 73 and cooperates with the second moving mass 70, the second curved track 44 at this time will be in the second fixture block 72 Under the action of will not continue to move；It is driven under the action of will be in the second T-shaped block 40 during third curved track 41 moves The movement of 6th curved track 43, the 6th curved track 43 of movement will drive the 5th curved track 45 to move, the 6th curved track at this time 43 will will not continue to move under the action of the first guide block 76 is with the first arc guide barrel 77；5th curved track 45 will be second It will not continue to move under the action of guide block 79 and the second arc guide barrel 80；When the glass contact on third sucker 14 and high building 4, As shown in Figure 35 b, third sucker 14 at this time will be adsorbed on the glass on high building 4 under the action of vacuum plant 30, rail Road mechanism 11 is adsorbed on the corner of 4 exterior wall of high building at this time；Vacuum plant 30 at this time will so that the first sucker 10 to glass outside The adsorption capacity of wall disappears, direction of rotation when the second motor 49 at this time will come out relative to rail mechanism 11 on the contrary, this When protective shell will be under the action of the first driving gear 35 along the second curved track 44 and institute along 41 lower end surface of third curved track It is moved in the teeth opened, when will push the movement of the second triggering block 42 in 19 motion process of set casing, the second triggering block 42 will be driven Dynamic 6th curved track 43 movement, the 6th curved track 43 of movement will drive the 5th curved track 45 to move, and the 5th curved track 45 will The 4th curved track 31 can be driven to move, the 4th curved track 31 will be drivingly connected the movement of block 86, and link block 86 will drive second Pushing block 51 moves, and the second pushing block 51 will will push the second moving mass 70 and move, and the second moving mass 70 will drive the second card Block 72 moves, and the second fixture block 72 at this time will move out the 4th square groove 73, while the 5th curved track 45 will drive fixed block 46 movements, fixed block 46 will drive the first pushing block 47, and the first pushing block 47 will drive first moving mass 65 to move, and first Moving mass 65 will drive the first fixture block 66 to move, and the first fixture block 66 at this time will move out third square groove 62；At this time One curved track 33 and the second curved track 44 will be moved into set casing 19 under the action of the first spring 52；Such as Figure 35 c institute Show, cleaning robot robot mechanism 6 at this time will complete turning motion；When cleaning robot robot mechanism 6 need to back within it is original When on the side of high building 4, third sucker 14 will be adsorbed on the glass on high building 4 under the action of vacuum plant 30；At this time Sensing device 84 will control the first motor 37 movement, the first motor axis 48 of movement will drive first bevel gear 39 transport Dynamic, first bevel gear 39 will drive second bevel gear 88 to move, and second bevel gear 88 will drive fixing axle 38 to move, fixed Axis 38 will drive the second driving gear 34 to move, and the second driving gear 34 will drive the first curved track 33 to move, the first arc Shape rail 33 will be after 90 degree of movement, and the second fixture block 72 at this time will be moved into the 4th under the action of the 4th spring 71 Cooperate in square groove 73 with the second moving mass 70, the first curved track 33 at this time will will not continue under the action of the second fixture block 72 Movement；The second driving gear 34 at this time continues to driving the second curved track 44 movement, when the second curved track 44 moves 90 degree When, the first fixture block 66 at this time will be moved into third square groove 62 and first moving mass under the action of third spring 67 65 cooperations, the second curved track 44 at this time will will not continue to move under the action of the first fixture block 66；Second sucker 13 will It is adsorbed on the glass of high building 4 under the action of vacuum plant 30；Rail mechanism 11 will complete the trackwork of turning, at this time Set casing 19 will move under the action of the second driving gear 34 along the second curved track 44 and the first curved track 33, work as cleaning When robot mechanism 6 successfully completes direction turning, set casing 19 at this time will drive the first triggering block 32 to move, and the of movement One triggering block 32 will drive the 4th curved track 31 to move, and the 4th curved track 31 will be drivingly connected the movement of block 86, link block 86 The second pushing block 51 will be driven to move, the second pushing block 51 will successively push the second moving mass 70, the movement of the second fixture block 72, 4th curved track 31 of movement will drive simultaneously the 5th curved track 45 to move, and the 5th curved track 45 of movement will successively drive the One pushing block 47, first moving mass 65, the movement of the first fixture block 66, third curved track 41 at this time will be in the work of the first spring 52 It is moved under in set casing 19, cleaning robot robot mechanism 6 at this time will complete the purpose of U-turn；As Figure 36 a, 36b, Shown in 36c, by the turning process of above cleaning robot robot mechanism 6 it is recognised that when the track on cleaning robot robot mechanism 6 When mechanism 11 moves to 180 degree, cleaning robot robot mechanism 6 at this time can smoothly across glass adjacent on 4 exterior wall of high building it Between barrier 83.

Claims

1. a kind of high building exterior wall glass cleaning machine people based on vacuum chuck control, it is characterised in that: rectangular-ambulatory-plane fixed plate peace On the upside of high building；Rectangular-ambulatory-plane T-bar is mounted on rectangular-ambulatory-plane fixed plate lower end surface；Perforation is provided on first T-shaped block end face First T-slot；First T-shaped block is coupled by the first T-slot and rectangular-ambulatory-plane T-bar；Wirerope one end is mounted on the first T shape On block end face；Cleaning robot robot mechanism is mounted on wirerope, and cleaning robot robot mechanism and high building cooperate；

Above-mentioned cleaning robot robot mechanism includes rail mechanism, trigger track, first pipe, the first sucker, the 4th sucker, third pipe Road, the second circular hole, first hole, the first half slot, second hole, third circular hole, the second half slot, L-shaped groove, leads to set casing Slot, the first cleaning agency, the second cleaning agency, vacuum plant, sensing device are crossed, is wherein provided with first party on set casing end face Hole；It is provided on the upper surface of first hole and passes through slot；Set casing is opened and is provided with the first half slot on the end face of first hole, and first Half slot is located on the downside of first hole；The end face that set casing opens first hole is symmetrically provided with two group of second circular hole in two sides up and down；Often Two the second circular holes in group are distributed about set casing end surface symmetric；Second hole is provided on set casing end face, and set casing is opened The end face of first hole is opened on the end face of second hole and set casing in 90 degree of angles；L shape is provided on the upper surface of second hole Slot；Set casing is opened and is provided with the second half slot on the end face of second hole, and the second half slot is located on the downside of second hole；Set casing The end face for opening second hole is symmetrically provided with two groups of third circular holes in two sides up and down；Two third circular holes in every group are about set casing end Face is symmetrical；Set casing upper surface is mounted on wirerope lower end, and the glass surface on first hole and high building cooperates；4 First pipe is installed on set casing end face, and each first pipe is communicated with corresponding second circular hole respectively；4 third pipes Road one end is installed on set casing end face, and each third pipeline is communicated with corresponding third circular hole respectively；Each first pipe The first sucker is mounted on the end face in road；The 4th sucker is mounted on the end face of each third pipeline；First sucker and One pipeline communicates；4th sucker is communicated with third pipeline；The end face of first sucker and the 4th sucker with the glass on high building exterior wall Glass cooperation；Rail mechanism is mounted on set casing；Trigger track is mounted on rail mechanism；Two the second cleaning agencies are mounted on Set casing opens first hole end face two sides；Two the first cleaning agencies are mounted on set casing and open second hole end face two sides；Induction Device is mounted on set casing and opens on the end face of second hole；Vacuum plant is mounted in set casing；

Above-mentioned rail mechanism includes the first circular hole, sliding slot, the second sucker, third sucker, second pipe, the first curved track, second Drive gear, the first driving gear, hold-down support, the first motor, fixing axle, first bevel gear, third curved track, the second arc Shape rail, second bevel gear, first motor axis, the second motor, the second motor shaft, the first spring, the first square groove, third T-shaped block, Gas passage, the second T-slot, the 4th T-shaped block, the second square groove, third square groove, the first arc-shaped slot, the first T shape arc slot, the 4th Square groove, the second curved channel, the 2nd T shape arc slot, wherein being provided with the second curved channel being not penetrated on the first curved track end face；The The end face of two curved channels is provided with the 2nd T shape arc slot that both ends penetrate through；The 4th square groove is provided on first curved track upper surface, and 4th square groove is communicated with the 2nd T shape arc slot；Sliding slot is provided on first curved track upper surface；First curved track keeps away from the second arc First circular hole there are two being opened on the end face in channel；Teeth are provided on the lower end surface of first curved track；First curved track is mounted on In one square hole and second hole；Two second sucker one end are mounted on the first curved track end face, and two the second suckers and phase The first circular hole answered communicates；Second motor is mounted on the second half slot side；First driving gear one end is mounted on the second electricity On arbor；First motor is mounted on the second half slot far from the second motor side；First bevel gear one end is mounted on first On sealing of motor spindle end face；Hold-down support one end is mounted on set casing and opens on the end face of first hole；Fixing axle is mounted on hold-down support On；Second bevel gear one end is mounted in fixed axial end, and second bevel gear is engaged with first bevel gear；Second driving gear One end is mounted in fixed axial end, and the lower end surface of the second driving gear and the first curved track cooperates；Second curved track end face On be provided with the first curved channel of perforation；The first T shape arc slot is provided on the upper surface of first curved channel；Second curved track lower end Teeth are provided on face；Second curved track upper surface side is provided with third square groove, and third square groove is communicated with the first T shape arc slot；The The second square groove is provided on four T-shaped block upper surfaces；4th T-shaped block lower end surface is mounted on the second curved track upper surface, and the 4th T shape Block is far from third square groove；Second curved track is coupled by the 4th T-shaped block and the 2nd T shape arc slot；Third curved track lower end surface On be provided with teeth；Gas passage there are two being opened on third curved track end face；Third curved track is provided with the second T-slot on upper surface； Third T-shaped block is provided with the first square groove on upper surface；Third T-shaped block lower end surface is mounted on third curved track upper surface；Two Two Pipe installings are on third curved track end face, and two second pipes are communicated with corresponding gas passage；Two second pipes End face on be mounted on third sucker, and third sucker is communicated with second pipe；Third curved track passes through third T-shaped block and the One T shape arc slot is coupled；First spring one end is mounted on the second curved channel end face, and the other end is mounted on third curved track On end face；

Above-mentioned trigger track include the 4th curved track, return spring, sliding block, the first triggering block, the second T-shaped block, the second triggering block, 6th curved track, the 5th curved track, fixed block, the first pushing block, the second pushing block, second spring, first moving mass, the first card Block, third spring, the first inclined-plane, the second inclined-plane, the second moving mass, the 4th spring, the second fixture block, the first guide block, the first arc Guide groove, third curved channel, the second guide block, the second arc guide barrel, the 4th curved channel, the 4th inclined-plane, link block, third are oblique Face, wherein being provided with the 4th curved channel on the 4th curved track end face；The second arc is provided on 4th curved channel, two inner headed face Guide groove；Sliding block end face is mounted on the 4th curved track lower end surface；4th curved track be mounted on opened on set casing by slot and L In shape slot, and sliding block is in sliding fit with the sliding chute；Return spring is installed, return spring one end is mounted on sliding slot end face in sliding slot On, the other end is mounted on sliding block end face；Two the 4th spring one ends are installed on the second square groove end face；Second fixture block is located at In second square groove, second fixture block one end is mounted on the 4th spring；Symmetrically open that there are two the on second moving mass upper end two sides Three inclined-planes；Second moving mass is mounted in the 4th square groove, and the second moving mass is opened the one end on third inclined-plane and is distributed upwards；Second pushes away 4th inclined-plane there are two symmetrically being opened on motion block lower end surface；Second pushing block is mounted on the 4th curved track by link block, and the The 4th inclined-plane on two pushing blocks and the third contact of incline plane on the second moving mass cooperate；Perforation is provided on 5th curved track end face Third curved channel；The first arc guide barrel is provided on the two sides inner headed face of third curved channel；Two the second guide block difference It is mounted on two peripheries of the 5th curved track；5th curved track is fitted to by the first guide block and the second arc guide barrel On 4th curved track；Two third spring one ends are installed in the first square groove opened in third T-shaped block；The installation of first fixture block In the first square groove, and the lower end surface of the first fixture block is mounted on third spring；First moving mass upper end is provided on two sides First inclined-plane；First moving mass is mounted in third square groove, and the first inclined-plane in first moving mass is distributed upwards；First pushes Second inclined-plane there are two symmetrically being opened on block lower end surface；First pushing block is mounted on the 5th curved track by fixed block, and first Inclined-plane and the second contact of incline plane cooperate；Two the first guide blocks are separately mounted on two periphery of the 6th curved track；6th curved track Pass through being fitted on the 5th curved track for the first guide block and the second arc guide barrel；Second T-shaped block one end is mounted on the 6th arc On lower end surface of the shape rail far from the 5th curved track side；Second T-shaped block is slidably matched with the second T-slot；Second spring is mounted on In second T-slot, second spring one end is mounted on the second T-shaped block end face, and the other end is mounted on the second T-slot end face；The Two triggering block one end are mounted on the 6th curved track periphery, and the second triggering block is distributed close to the second T-shaped block；First triggering block One end is mounted on the 4th curved track periphery, and the first triggering block is distributed close to sliding block；

Above-mentioned first circular hole, the second circular hole, third circular hole, gas passage pass through pipeline and are connected with vacuum plant；Sensing device It is connected by electric line with the first motor and the second motor；When third curved track and the second curved track do not move out first When curved track, first at this time drives the teeth opened on gear and the lower end surface of third curved track to engage；Second driving gear It is engaged with the teeth opened on the first curved track lower end surface；The coefficient of elasticity of return spring and second spring is all larger than the first spring Coefficient of elasticity；Return spring is identical with the coefficient of elasticity of second spring.

2. a kind of high building exterior wall glass cleaning machine people based on vacuum chuck control according to claim 1, feature Be: there are frictional force effects between above-mentioned first moving mass and third square groove；It is deposited between second moving mass and the 4th square groove There is frictional force effect.

3. a kind of high building exterior wall glass cleaning machine people based on vacuum chuck control according to claim 1, feature Be: above-mentioned first sucker, the second sucker, third sucker, the size of the 4th sucker are identical.

4. a kind of high building exterior wall glass cleaning machine people based on vacuum chuck control according to claim 1, feature Be: above-mentioned third spring and the 4th spring are compressed spring；First spring is extension spring.

5. a kind of high building exterior wall glass cleaning machine people based on vacuum chuck control according to claim 1, feature Be: above-mentioned fixing axle is mounted on hold-down support by bearing.

6. a kind of high building exterior wall glass cleaning machine people based on vacuum chuck control according to claim 1, feature It is: is coated with solid lubrication oil between above-mentioned first T-slot and rectangular-ambulatory-plane T-bar.