CN109259653B - Single brush glass curtain wall cleaning equipment - Google Patents
Single brush glass curtain wall cleaning equipment Download PDFInfo
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- CN109259653B CN109259653B CN201810622418.4A CN201810622418A CN109259653B CN 109259653 B CN109259653 B CN 109259653B CN 201810622418 A CN201810622418 A CN 201810622418A CN 109259653 B CN109259653 B CN 109259653B
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- main controller
- curtain wall
- controls
- glass curtain
- cleaning
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- Cleaning In General (AREA)
Abstract
The invention discloses single-brush glass curtain wall cleaning equipment, and belongs to the technical field of automatic cleaning equipment for glass outer walls. The single-brush glass curtain wall cleaning equipment comprises a frame (1), a control system (2) arranged on the frame (1), at least one pair of track suckers (3) arranged on the frame (1) and a first balance type cleaner (4) arranged on the frame (1); wherein: at least one row of soft rubber suction cups (302) are arranged on the walking crawler (301) of the crawler suction cup (3). Compared with the prior art, the invention has the characteristics of simple structure, reliable performance, high cost performance and the like.
Description
Technical Field
The invention belongs to the technical field of automatic cleaning equipment for glass outer walls, and particularly relates to single-brush glass curtain wall cleaning equipment.
Background
The curtain wall glass in the prior art has good lighting property, good heat preservation and moisture resistance and beautiful use, so the curtain wall structure of the building represented by the glass curtain wall gradually deducts as a gorgeous urban coat, and becomes a beautiful landscape of the modern urban. In order to ensure the clean and beautiful appearance of the building, the glass curtain wall needs to be cleaned regularly to beautify the urban appearance. At present, the cleaning work of the glass curtain wall of the building is mainly finished by taking a hanging basket or a waist rope by a cleaning worker, the mode completely depends on manpower, the labor intensity is high, the working efficiency is low, the working efficiency is extremely dangerous, the glass curtain wall belongs to high-altitude limit operation, people casualties are reported each year, and the personal safety of the worker is the biggest hidden trouble of the cleaning industry of the high-rise building. Therefore, a robot for replacing manual cleaning operation on the glass curtain wall of the building will certainly promote the rapid development of the cleaning industry of the high building.
With the advancement of mobile robot technology, robots have been increasingly applied to practical work. The cleaning robot has wide application, and can be applied to cleaning of the glass curtain wall, so that the danger of human operation can be reduced, and the cleaning efficiency and the intelligent level of the glass curtain wall can be improved. The curtain wall adsorption fixing mode and the cleaning process are key technologies of a cleaning robot, and the vacuum negative pressure adsorption mode robot is complex in structure and poor in obstacle crossing capability; based on the bionic principle, the sucker climbing robot has a complex mechanical structure, a slow moving speed and low cleaning efficiency; aiming at the moving speed problem, the cleaning robot in a moving guide rail fixing mode is high in installation cost, difficult to apply to the surface of a special-shaped building and poor in practicability.
Disclosure of Invention
The invention provides a method for effectively solving the technical problems.
The invention discloses single-brush glass curtain wall cleaning equipment which is characterized by comprising a frame, a control system arranged on the frame, at least one pair of crawler suction cups arranged on the frame and a first balance type cleaner arranged on the frame; wherein: at least one row of soft rubber suction cups are arranged on the walking track of the track suction cups.
Compared with the prior art, the invention has the characteristics of simple structure, reliable performance, high cost performance and the like.
Drawings
FIG. 1A is a schematic diagram of a control structure of a single brush glass curtain wall cleaning apparatus of the present invention;
FIG. 1B is a schematic diagram of a control flow of a single brush glass curtain wall cleaning apparatus of the present invention;
FIG. 1C is a schematic diagram of a control structure of a dual brush glass curtain wall cleaning apparatus of the present invention;
FIG. 1D is a schematic diagram of a control flow of a dual brush glass curtain wall cleaning apparatus of the present invention;
FIG. 1E is a schematic diagram of the control structure of the three-brush glass curtain wall cleaning apparatus of the present invention;
FIG. 1F is a schematic diagram of a control flow of a three brush glass curtain wall cleaning apparatus of the present invention;
FIG. 2A is a schematic structural view of a single brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 2B is a schematic diagram of a single brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 2C is a schematic diagram III of a single brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 2D is a schematic diagram of a single brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 3A is a schematic structural view of a double-brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 3B is a schematic diagram of a double-brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 3C is a schematic diagram III of a double-brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 3D is a schematic diagram of a double-brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 4A is a schematic structural view of a three-brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 4B is a schematic diagram II of a three-brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 4C is a schematic diagram III of a three brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 4D is a schematic structural view of a three-brush glass curtain wall cleaning apparatus according to the present invention;
FIG. 5A is a schematic view of a glass curtain wall cleaning apparatus according to the present invention;
fig. 5B is a second schematic view of a glass curtain wall cleaning apparatus according to the present invention.
Description of the reference numerals
Detailed Description
Embodiment 1
FIGS. 1A and 1B are a schematic structural view and a control flow chart of a single-brush glass curtain wall cleaning device of the invention; FIGS. 2A, 2B, 2C, 2D are schematic structural views of a single brush glass curtain wall cleaning apparatus of the present invention; fig. 5A is a schematic view of a single brush glass curtain wall cleaning apparatus of the present invention in a hoisted position.
The glass curtain wall cleaning equipment comprises a frame 1, a control system 2 arranged on the frame 1, at least one pair of track suckers 3 arranged on the frame 1 and at least one first balance type cleaner 4 arranged on the frame 1; wherein: at least one row of soft rubber suction cups 302 and a balanced cleaning brush 4 are arranged on the walking crawler 301 of the crawler suction cup 3. The track sucker 3 is provided with a walking track 301, the walking track 301 is provided with a soft rubber sucker 302, and the glass curtain wall cleaning device walks along the vertical direction of the glass curtain wall under the hoisting of a steel wire rope, and the soft rubber sucker 302 is used for being attracted with the glass curtain wall.
The control system 2 comprises a main controller 201, at least one first roller brush motor 2021, at least one first horizontal push rod motor 2031, at least one first contact switch 2041, at least one first obstacle detection sensor 2051; the main controller 201 is electrically connected to the first roller brush motor 2021, the first horizontal push rod motor 2031, the first contact switch 2041, and the first obstacle detection sensor 2051, respectively.
The control system 2 further includes a second roller brush motor 2022, a second horizontal push rod motor 2032, a second contact switch 2042, a second obstacle detection sensor 2052; the main controller 201 is electrically connected with the second rolling brush motor 2022, the second horizontal push rod motor 2032, the second contact switch 2042 and the second obstacle detection sensor 2052 respectively;
the control system 2 also includes a third roller brush motor 2023, a third horizontal push rod motor 2033, a third contact switch 2043, a third obstacle detection sensor 2053; the main controller 201 is electrically connected to a third roller brush motor 2023, a third horizontal push rod motor 2033, a third contact switch 2043, and a third obstacle detection sensor 2053, respectively.
A first frequency converter 2061 is arranged between the main controller 201 and the first rolling brush motor 2021, and the main controller 201 controls the first rolling brush motor 2021 through the first frequency converter 2061; a first isolation relay 2071 and a first resistance ruler 2081 are arranged in parallel between the main controller 201 and the first horizontal push rod motor 2031, the main controller 201 controls the first horizontal push rod motor 2031 to be turned on and off through the first isolation relay 2071, and the main controller 201 precisely controls the advancing process of the first horizontal push rod motor 2031 through the first resistance ruler 2081. The first contact switch 2041 and the first obstacle detection sensor 2051 are respectively electrically connected to the main controller 201, and when the first cleaning roller brush 401 may encounter an obstacle, the first contact switch 2041 and the first obstacle detection sensor 2051 are used for detecting the obstacle and feeding back to the main controller 201, and the main controller 201 performs corresponding control on the first roller brush motor 2021 and the first horizontal push rod motor 2031 to avoid the obstacle.
The first balance type cleaner 4 comprises a first cleaning rolling brush 401, a first telescopic weight box 402, a first horizontal movement guide surface 403 and a first telescopic weight connecting rod 404, the first telescopic weight connecting rod 404 drives the first telescopic weight box 402 to move in a telescopic manner, two first telescopic weight connecting rods 404 can be symmetrically arranged on the first balance type cleaner 4, and the two first telescopic weight connecting rods 404 are respectively connected with two ends of the first telescopic weight box 402. The first balance type cleaner 4 is arranged in the frame 1 through a horizontal movement guide surface 403, and the cleaning rolling brush 401 and the telescopic weight box 402 move along the horizontal movement guide surface 403 in opposite directions; the horizontal moving guide surface 403 is matched with the moving guide rail 101 on the frame 1, and the first horizontal push rod motor 2031 drives the horizontal moving guide surface 4031 to reciprocate along the moving guide rail 101 on the frame 1.
The first rolling brush motor 2021 is arranged above the first horizontal movement guide rail surface 403 of the first balanced type cleaner 4, the first cleaning rolling brush 401 is connected with the first rolling brush motor 2021 through a transmission belt, the first rolling brush motor 2021 drives the first cleaning rolling brush 401 to rotate, and the first cleaning rolling brush 401 cleans the glass curtain wall. The first horizontal movement guide surface 403 is connected to the first horizontal push rod motor 2031, and the first horizontal push rod motor 2031 drives the first horizontal movement guide surface 403 to reciprocate, thereby driving the first cleaning roller brush 401 and the first telescopic weight box 402 to symmetrically move.
Under the action of the first horizontal push rod motor 2031, the first cleaning rolling brush 401 and the first telescopic weight box 402 symmetrically move towards each other, the first horizontal movement guide surface 403 drives the first cleaning rolling brush 401 to extend outwards, the first telescopic weight box 402 arranged on the first telescopic weight connecting rod 404 also extends outwards, the first rolling brush motor 2021 arranged on the first horizontal movement guide surface 403 drives the first cleaning rolling brush 401 to rotate through a belt pulley so as to clean the glass curtain wall, the moments of the first telescopic weight box 402 and the first cleaning rolling brush 401 relative to the center of the cleaning device are mutually offset, and the first telescopic weight box 402 and the first cleaning rolling brush 401 extend outwards so that the cleaning device body is always in a movement balance state, so that the track sucker 3 on the glass curtain wall cleaning device can be stably attached to the glass curtain wall to move in the ascending or descending movement process.
The frame 1 is provided with a water tank 1010, the water tank 1010 is connected with a spraying system, the spraying system is used for spraying water to the glass curtain wall, and the spraying system sprays water mist to the glass curtain wall after the glass curtain wall cleaning equipment is started; the frame 1 is connected with the winding motor 703 through a steel wire rope in a winding drum connected with the winding motor 703, and a winding frequency converter 702 can be arranged between the controller 701 and the winding motor 703; the main controller 201 sends a control command to the slave controller 701 through a communication network, the main controller 201 controls the winch motor 703 through the slave controller 701 to drive the glass curtain wall cleaning device to move up or down, the main controller 201 presets the glass curtain wall cleaning device to move up or down when in operation, the main controller 201 feeds back the preset glass curtain wall cleaning device to the slave controller 701 through the communication network, and the slave controller 701 controls the glass curtain wall cleaning device to move up or down according to the control command of the main controller 201.
The hard disk video recorder 10 is used for recording the image information recorded by the camera 9, the slave controller 701, the operation remote controller 8, the recording camera 9 and the hard disk video recorder 10 are in wireless communication with the main controller 201 through a wireless communication network, and the slave controller 701, the operation remote controller 8, the recording camera 9 and the hard disk video recorder 10 can also be in wired communication with the main controller 201 through a wired communication mode according to actual use conditions.
The method for controlling the single-brush glass curtain wall cleaning equipment of the embodiment comprises the following steps:
s1: the main controller 201 presets the wall-separating distance of the rolling brush and the washing rotating speed of the rolling brush in the glass curtain wall cleaning equipment; the main controller 201 presets the ascending motion or the descending motion of the glass curtain wall cleaning device;
s2: the main controller 201 controls the first horizontal push rod motor 2031 to drive the first cleaning rolling brush 401 to extend, and the main controller 201 controls the first rolling brush motor 2021 to drive the first cleaning rolling brush 401 to rotate and roll; the main controller 201 controls the glass curtain wall cleaning apparatus to perform the rising movement or the falling movement preset in step S1;
s3: if the first obstacle detecting sensor 2051 detects that the first cleaning roller brush 401 encounters an obstacle and immediately feeds the obstacle back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning device to stop executing the preset ascending movement or descending movement in the step S1, controls the first roller brush motor 2021 to drive the first cleaning roller brush 401 to stop rotating, and controls the horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to horizontally retract; if the first obstacle detecting sensor 2051 does not detect that the first cleaning roller brush 401 encounters an obstacle, the main controller 201 controls the glass curtain wall cleaning device to perform the rising movement or the falling movement preset in step S1;
s4: if the first obstacle detecting sensor 2051 detects that the first cleaning roller brush 401 is retracted to the safety distance and immediately fed back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning apparatus to perform the ascending movement or the descending movement in step S2; if the first obstacle detecting sensor 2051 does not detect that the first drum brush 4011 is retracted to the safe distance, the main controller 201 controls the first cleaning drum brush 401 to continue to be retracted;
s5: if the first obstacle detecting sensor 2051 detects that the first cleaning roller brush 401 completes obstacle crossing movement, the main controller 201 controls the glass curtain wall cleaning device to stop moving, and the main controller 201 controls the horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to extend to move to the preset wall distance in the step S1;
s6: if the main controller 201 controls the horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to extend to the preset wall-separating distance in step S1, the main controller 201 controls the first roller brush motor 2021 to drive the first cleaning roller brush 401 to rotate and roll, and the main controller 201 controls the glass curtain wall cleaning apparatus to execute the preset ascending movement or descending movement in step S1.
Preferred embodiment 2
FIGS. 1C and 1D are a schematic structural view and a control flow chart of a double-brush glass curtain wall cleaning device of the present invention; FIGS. 3A, 3B, 3C and 3D are schematic structural views of a double-brush glass curtain wall cleaning apparatus of the present invention; fig. 5B is a schematic view of a dual brush glass curtain wall cleaning apparatus according to the present invention.
The glass curtain wall cleaning equipment comprises a frame 1, a control system 2 arranged on the frame 1, at least one pair of track suckers 3 arranged on the frame 1 and at least one first balance type cleaner 4 arranged on the frame 1; wherein: at least one row of soft rubber suction cups 302 and a balanced cleaning brush 4 are arranged on the walking crawler 301 of the crawler suction cup 3. The track sucker 3 is provided with a walking track 301, the walking track 301 is provided with a soft rubber sucker 302, and the glass curtain wall cleaning device walks along the vertical direction of the glass curtain wall under the hoisting of a steel wire rope, and the soft rubber sucker 302 is used for being attracted with the glass curtain wall.
The control system 2 comprises a main controller 201, at least one first roller brush motor 2021, at least one first horizontal push rod motor 2031, at least one first contact switch 2041, at least one first obstacle detection sensor 2051; the main controller 201 is electrically connected to the first roller brush motor 2021, the first horizontal push rod motor 2031, the first contact switch 2041, and the first obstacle detection sensor 2051, respectively.
The control system 2 further includes a second roller brush motor 2022, a second horizontal push rod motor 2032, a second contact switch 2042, a second obstacle detection sensor 2052; the main controller 201 is electrically connected with the second rolling brush motor 2022, the second horizontal push rod motor 2032, the second contact switch 2042 and the second obstacle detection sensor 2052 respectively;
a second frequency converter 2062 is arranged between the main controller 201 and the second rolling brush motor 2022, and the main controller 201 controls the second rolling brush motor 2022 through the second frequency converter 2062; a second isolation relay 2072 and a second resistance ruler 2082 are arranged in parallel between the main controller 201 and the second horizontal push rod motor 2032, the main controller 201 controls the opening and closing of the second horizontal push rod motor 2032 through the second isolation relay 2072, and the main controller 201 precisely controls the advancing process of the second horizontal push rod motor 2032 through the second resistance ruler 2082. The second contact switch 2042 and the second obstacle detection sensor 2052 are respectively electrically connected to the main controller 201, and when the second cleaning roller 501 may encounter an obstacle, the second contact switch 2042 and the second obstacle detection sensor 2052 are used to detect the obstacle and feed back to the main controller 201, and the main controller 201 performs corresponding control on the second roller motor 2022 and the second horizontal push rod motor 2032 to avoid the obstacle.
A second balance type cleaner 5 parallel to the first balance type cleaner 4 is also arranged on the frame 1, and the working principle and technical effects of the second balance type cleaner 5 and the first balance type cleaner 4 are the same. The second balance type cleaner 5 comprises a second cleaning rolling brush 501, a second telescopic weight box 502, a second horizontal movement guide surface 503 and a second telescopic weight connecting rod 504; the second balance type cleaner 5 is arranged in the frame 1 through a horizontal movement guide surface 503, and the cleaning rolling brush 501 and the telescopic weight box 502 move along the horizontal movement guide surface 503 in opposite directions; the horizontal moving guide surface 503 is matched with the moving guide rail 101 on the frame 1, and the second horizontal push rod motor 2032 drives the second horizontal moving guide surface 503 to reciprocate along the moving guide rail 101 on the frame 1.
The frame 1 is provided with a water tank 1010, the water tank 1010 is connected with a spraying system, the spraying system is used for spraying water to the glass curtain wall, and the spraying system sprays water mist to the glass curtain wall after the glass curtain wall cleaning equipment is started; the frame 1 is connected with the winding motor 703 through a steel wire rope in a winding drum connected with the winding motor 703, and a winding frequency converter 702 can be arranged between the controller 701 and the winding motor 703; the main controller 201 sends a control command to the slave controller 701 through a communication network, the main controller 201 controls the winch motor 703 through the slave controller 701 to drive the glass curtain wall cleaning device to move up or down, the main controller 201 presets the glass curtain wall cleaning device to move up or down when in operation, the main controller 201 feeds back the preset glass curtain wall cleaning device to the slave controller 701 through the communication network, and the slave controller 701 controls the glass curtain wall cleaning device to move up or down according to the control command of the main controller 201.
The hard disk video recorder 10 is used for recording the image information recorded by the camera 9, the slave controller 701, the operation remote controller 8, the recording camera 9 and the hard disk video recorder 10 are in wireless communication with the main controller 201 through a wireless communication network, and the slave controller 701, the operation remote controller 8, the recording camera 9 and the hard disk video recorder 10 can also be in wired communication with the main controller 201 through a wired communication mode according to actual use conditions.
The method for controlling the single-brush glass curtain wall cleaning equipment of the embodiment comprises the following steps:
s1: the main controller 201 presets the wall-separating distance of the rolling brush and the washing rotating speed of the rolling brush in the glass curtain wall cleaning equipment; the main controller 201 presets the ascending motion or the descending motion of the glass curtain wall cleaning device;
s2: the main controller 201 controls the first horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to extend and move, controls the second horizontal push rod motor 2032 to drive the second cleaning roller brush 501 to extend and move, and controls the first roller brush motor 2021 to drive the first cleaning roller brush 401 to rotate and roll, and controls the second roller brush motor 2022 to drive the second cleaning roller brush 501 to rotate and roll; the main controller 201 controls the glass curtain wall cleaning apparatus to perform the rising movement or the falling movement preset in step S1;
s3: if the first obstacle detecting sensor 2051 detects that the first cleaning roller brush 401 encounters an obstacle and immediately feeds the obstacle back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning device to stop executing the rising motion or the falling motion preset in the step S1, controls the first roller brush motor 2021 to drive the first cleaning roller brush 401 to stop rotating, and controls the first horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to horizontally retract; if the first obstacle detecting sensor 2051 does not detect that the first cleaning roller brush 401 encounters an obstacle, the main controller 201 controls the glass curtain wall cleaning device to perform the rising movement or the falling movement preset in step S1;
s4: if the first obstacle detecting sensor 2051 detects that the first cleaning roller brush 401 is retracted to the safety distance and immediately fed back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning apparatus to perform the ascending movement or the descending movement in step S2; if the first obstacle detecting sensor 2051 does not detect that the first cleaning brush 401 is retracted to the safety distance, the main controller 201 controls the first cleaning brush 4012 to continue to be retracted;
s5: if the first obstacle detecting sensor 2051 detects that the first cleaning roller brush 401 completes obstacle crossing movement, the main controller 201 controls the glass curtain wall cleaning device to stop moving, and the main controller 201 controls the first horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to extend to move to the wall distance preset in the step S1;
s6: if the main controller 201 controls the first horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to extend to a preset wall-separating distance in step S1, the main controller 201 controls the first roller brush motor 2021 to drive the first cleaning roller brush 401 to rotate and roll, and the main controller 201 controls the glass curtain wall cleaning device to execute a preset ascending motion or a preset descending motion in step S1;
s7: if the second obstacle detecting sensor 2052 detects that the second cleaning roller brush 501 encounters an obstacle and immediately feeds the obstacle back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning device to stop executing the rising motion or the falling motion preset in the step S1, controls the second roller brush motor 2022 to drive the second cleaning roller brush 501 to stop rotating, and controls the second horizontal push rod motor 2032 to drive the second cleaning roller brush 501 to horizontally retract; if the second obstacle detecting sensor 2052 does not detect that the second cleaning roller brush 501 encounters an obstacle, the main controller 201 controls the glass curtain wall cleaning apparatus to perform the rising movement or the falling movement preset in step S1;
s8: if the second obstacle detecting sensor 2052 detects that the second cleaning roller brush 501 is retracted to the safety distance and immediately fed back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning apparatus to perform the ascending movement or the descending movement in step S2; if the second obstacle detecting sensor 2052 does not detect that the second washing roller 501 is retracted to the safe distance, the main controller 201 controls the second washing roller 501 to continue to be retracted;
s9: if the second obstacle detecting sensor 2052 detects that the second cleaning roller brush 501 completes obstacle crossing movement, the main controller 201 controls the glass curtain wall cleaning device to stop moving, and the main controller 201 controls the second horizontal push rod motor 2032 to drive the second cleaning roller brush 501 to extend to move to the preset wall distance in step S1;
s10: if the main controller 201 controls the second horizontal push rod motor 2032 to drive the second cleaning roller brush 501 to extend to a preset wall-separating distance in step S1, the main controller 201 controls the second roller brush motor 2022 to drive the second cleaning roller brush 501 to rotate and roll, and the main controller 201 controls the glass curtain wall cleaning apparatus to execute a preset ascending motion or a preset descending motion in step S1.
Best mode for carrying out the invention 3
FIGS. 1E and 1F are a schematic structural view and a control flow chart of a three-brush glass curtain wall cleaning device of the present invention; FIGS. 4A, 4B, 4C and 4D are schematic structural views of a three-brush glass curtain wall cleaning apparatus of the present invention;
the glass curtain wall cleaning equipment comprises a frame 1, a control system 2 arranged on the frame 1, at least one pair of track suckers 3 arranged on the frame 1 and at least one first balance type cleaner 4 arranged on the frame 1; wherein: at least one row of soft rubber suction cups 302 and a balanced cleaning brush 4 are arranged on the walking crawler 301 of the crawler suction cup 3. The track sucker 3 is provided with a walking track 301, the walking track 301 is provided with a soft rubber sucker 302, and the glass curtain wall cleaning device walks along the vertical direction of the glass curtain wall under the hoisting of a steel wire rope, and the soft rubber sucker 302 is used for being attracted with the glass curtain wall.
The control system 2 comprises a main controller 201, at least one first roller brush motor 2021, at least one first horizontal push rod motor 2031, at least one first contact switch 2041, at least one first obstacle detection sensor 2051; the main controller 201 is electrically connected to the first roller brush motor 2021, the first horizontal push rod motor 2031, the first contact switch 2041, and the first obstacle detection sensor 2051, respectively.
The control system 2 further includes a second roller brush motor 2022, a second horizontal push rod motor 2032, a second contact switch 2042, a second obstacle detection sensor 2052; the main controller 201 is electrically connected with the second rolling brush motor 2022, the second horizontal push rod motor 2032, the second contact switch 2042 and the second obstacle detection sensor 2052 respectively;
the control system 2 also includes a third roller brush motor 2023, a third horizontal push rod motor 2033, a third contact switch 2043, a third obstacle detection sensor 2053; the main controller 201 is electrically connected to a third roller brush motor 2023, a third horizontal push rod motor 2033, a third contact switch 2043, and a third obstacle detection sensor 2053, respectively.
A third frequency converter 2063 is arranged between the main controller 201 and the third rolling brush motor 2023, and the main controller 201 controls the third rolling brush motor 2023 through the third frequency converter 2063; a third isolation relay 2073 and a third resistance ruler 2083 are arranged in parallel between the main controller 201 and the third horizontal push rod motor 2033, the main controller 201 controls the opening and closing of the third horizontal push rod motor 2033 through the third isolation relay 2073, and the main controller 201 precisely controls the advancing process of the third horizontal push rod motor 2033 through the third resistance ruler 2083. The third contact switch 2043 and the third obstacle detection sensor 2053 are respectively electrically connected to the main controller 201, and when the third cleaning roller 601 may encounter an obstacle, the third contact switch 2043 and the third obstacle detection sensor 2053 are used to detect the obstacle and feed back to the main controller 201, and the main controller 201 performs corresponding control on the third roller motor 2023 and the third horizontal push rod motor 2033 to avoid the obstacle.
The frame 1 is also provided with a second balance type cleaner 5 and a third balance type cleaner 6 which are parallel to the first balance type cleaner 4, and the working principle and technical effects of the second balance type cleaner 5 and the third balance type cleaner 6 are the same as those of the first balance type cleaner 4. The second balance type cleaner 5 comprises a second cleaning rolling brush 501, a second telescopic weight box 502, a second horizontal movement guide surface 503 and a second telescopic weight connecting rod 504; the second balance type cleaner 5 is arranged in the frame 1 through a horizontal movement guide surface 503, and the cleaning rolling brush 501 and the telescopic weight box 502 move along the horizontal movement guide surface 503 in opposite directions; the horizontal moving guide surface 503 is matched with the moving guide rail 101 on the frame 1, and the second horizontal push rod motor 2032 drives the second horizontal moving guide surface 503 to reciprocate along the moving guide rail 101 on the frame 1. The third balance type cleaner 6 comprises a third cleaning rolling brush 601, a third telescopic weight box 602, a third horizontal movement guide surface 603 and a third telescopic weight connecting rod 604; the third balance washer 6 is arranged in the frame 1 through a third horizontal movement guide surface 603, and the third cleaning rolling brush 601 and the third telescopic weight box 602 move along the third horizontal movement guide surface 603 in opposite directions; the third horizontal moving guide surface 603 is matched with the moving guide rail 101 on the machine frame 1, and the third horizontal push rod motor 2033 drives the third horizontal moving guide surface 603 to reciprocate along the moving guide rail 101 on the machine frame 1.
The frame 1 is provided with a water tank 1010, the water tank 1010 is connected with a spraying system, the spraying system is used for spraying water to the glass curtain wall, and the spraying system sprays water mist to the glass curtain wall after the glass curtain wall cleaning equipment is started; the frame 1 is connected with the winding motor 703 through a steel wire rope in a winding drum connected with the winding motor 703, and a winding frequency converter 702 can be arranged between the controller 701 and the winding motor 703; the main controller 201 sends a control command to the slave controller 701 through a communication network, the main controller 201 controls the winch motor 703 through the slave controller 701 to drive the glass curtain wall cleaning device to move up or down, the main controller 201 presets the glass curtain wall cleaning device to move up or down when in operation, the main controller 201 feeds back the preset glass curtain wall cleaning device to the slave controller 701 through the communication network, and the slave controller 701 controls the glass curtain wall cleaning device to move up or down according to the control command of the main controller 201.
The hard disk video recorder 10 is used for recording the image information recorded by the camera 9, the slave controller 701, the operation remote controller 8, the recording camera 9 and the hard disk video recorder 10 are in wireless communication with the main controller 201 through a wireless communication network, and the slave controller 701, the operation remote controller 8, the recording camera 9 and the hard disk video recorder 10 can also be in wired communication with the main controller 201 through a wired communication mode according to actual use conditions.
The method for controlling the single-brush glass curtain wall cleaning equipment of the embodiment comprises the following steps:
s1: the main controller 201 presets the wall-separating distance of the rolling brush and the washing rotating speed of the rolling brush in the glass curtain wall cleaning equipment; the main controller 201 presets the ascending motion or the descending motion of the glass curtain wall cleaning device;
s2: the main controller 201 controls the first horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to stretch out, controls the second horizontal push rod motor 2032 to drive the second cleaning roller brush 501 to stretch out, controls the third horizontal push rod motor 2033 to drive the third cleaning roller brush 601 to stretch out, controls the first roller brush motor 2021 to drive the first cleaning roller brush 401 to rotate and roll, controls the second roller brush motor 2022 to drive the second cleaning roller brush 501 to rotate and roll, and controls the third roller brush motor 2023 to drive the third cleaning roller brush 601 to rotate and roll; the main controller 201 controls the glass curtain wall cleaning apparatus to perform the rising movement or the falling movement preset in step S1;
s3: if the first obstacle detecting sensor 2051 detects that the first cleaning roller brush 401 encounters an obstacle and immediately feeds the obstacle back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning device to stop executing the rising motion or the falling motion preset in the step S1, controls the first roller brush motor 2021 to drive the first cleaning roller brush 401 to stop rotating, and controls the first horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to horizontally retract; if the first obstacle detecting sensor 2051 does not detect that the first cleaning roller brush 401 encounters an obstacle, the main controller 201 controls the glass curtain wall cleaning device to perform the rising movement or the falling movement preset in step S1;
s4: if the first obstacle detecting sensor 2051 detects that the first cleaning roller brush 401 is retracted to the safety distance and immediately fed back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning apparatus to perform the ascending movement or the descending movement in step S2; if the first obstacle detecting sensor 2051 does not detect that the first cleaning brush 401 is retracted to the safety distance, the main controller 201 controls the first cleaning brush 4012 to continue to be retracted;
s5: if the first obstacle detecting sensor 2051 detects that the first cleaning roller brush 401 completes obstacle crossing movement, the main controller 201 controls the glass curtain wall cleaning device to stop moving, and the main controller 201 controls the first horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to extend to move to the wall distance preset in the step S1;
s6: if the main controller 201 controls the first horizontal push rod motor 2031 to drive the first cleaning roller brush 401 to extend to a preset wall-separating distance in step S1, the main controller 201 controls the first roller brush motor 2021 to drive the first cleaning roller brush 401 to rotate and roll, and the main controller 201 controls the glass curtain wall cleaning device to execute a preset ascending motion or a preset descending motion in step S1;
s7: if the second obstacle detecting sensor 2052 detects that the second cleaning roller brush 501 encounters an obstacle and immediately feeds the obstacle back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning device to stop executing the rising motion or the falling motion preset in the step S1, controls the second roller brush motor 2022 to drive the second cleaning roller brush 501 to stop rotating, and controls the second horizontal push rod motor 2032 to drive the second cleaning roller brush 501 to horizontally retract; if the second obstacle detecting sensor 2052 does not detect that the second cleaning roller brush 501 encounters an obstacle, the main controller 201 controls the glass curtain wall cleaning apparatus to perform the rising movement or the falling movement preset in step S1;
s8: if the second obstacle detecting sensor 2052 detects that the second cleaning roller brush 501 is retracted to the safety distance and immediately fed back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning apparatus to perform the ascending movement or the descending movement in step S2; if the second obstacle detecting sensor 2052) does not detect that the second washing roller 501) is retracted to a safe distance, the main controller 201) controls the second washing roller 501 to continue to be retracted;
s9: if the second obstacle detecting sensor 2052 detects that the second cleaning roller brush 501 completes obstacle crossing movement, the main controller 201 controls the glass curtain wall cleaning device to stop moving, and the main controller 201 controls the second horizontal push rod motor 2032 to drive the second cleaning roller brush 501 to extend to move to the preset wall distance in step S1;
s10: if the main controller 201 controls the second horizontal push rod motor 2032 to drive the second cleaning roller brush 501 to extend to a preset wall-separating distance in step S1, the main controller 201 controls the second roller brush motor 2022 to drive the second cleaning roller brush 501 to rotate and roll, and the main controller 201 controls the glass curtain wall cleaning equipment to execute preset ascending movement or descending movement in step S1;
s11: if the third obstacle detecting sensor 2053 detects that the third cleaning roller brush 601 encounters an obstacle and immediately feeds the obstacle back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning device to stop executing the preset ascending motion or descending motion in the step S1, controls the third roller brush motor 2023 to drive the third cleaning roller brush 601 to stop rotating, and controls the third horizontal push rod motor 2033 to drive the third cleaning roller brush 601 to horizontally retract; if the third obstacle detecting sensor 2053 does not detect that the third cleaning roller brush 601 encounters an obstacle, the main controller 201 controls the glass curtain wall cleaning device to perform the rising movement or the falling movement preset in step S1;
s12: if the third obstacle detecting sensor 2053 detects that the third cleaning roller brush 601 is retracted to the safety distance and immediately fed back to the main controller 201, the main controller 201 controls the glass curtain wall cleaning apparatus to perform the ascending movement or the descending movement in step S2; if the third obstacle detecting sensor 2051 does not detect that the third cleaning brush 601 is retracted to the safety distance, the main controller 201 controls the third cleaning brush 601 to continue retraction;
s13: if the third obstacle detecting sensor 2053 detects that the third cleaning roller brush 601 completes obstacle crossing movement, the main controller 201 controls the glass curtain wall cleaning device to stop moving, and the main controller 201 controls the third horizontal push rod motor 2033 to drive the third cleaning roller brush 601 to stretch out to move to the wall distance preset in the step S1;
s14: if the main controller 201 controls the third horizontal push rod motor 2033 to drive the third cleaning roller 601 to extend to a preset wall-separating distance in step S1, the main controller 201 controls the third roller brush motor 2023 to drive the third cleaning roller 601 to rotate and roll, and the main controller 201 controls the glass curtain wall cleaning apparatus to execute a preset ascending motion or a preset descending motion in step S1.
Claims (1)
1. The single-brush glass curtain wall cleaning equipment is characterized by comprising a frame (1), a control system (2) arranged on the frame (1), at least one pair of crawler suction cups (3) arranged on the frame (1), and a first balance type cleaner (4) arranged on the frame (1); wherein: at least one row of soft rubber suction cups (302) are arranged on the walking crawler (301) of the crawler suction cup (3);
the control system (2) comprises a main controller (201), a first rolling brush motor (2021), a first horizontal push rod motor (2031), a first contact switch (2041) and a first obstacle detection sensor (2051); the main controller (201) is respectively and electrically connected with the first rolling brush motor (2021), the first horizontal push rod motor (2031), the first contact switch (2041) and the first obstacle detection sensor (2051);
a first frequency converter (2061) is arranged between the main controller (201) and the first rolling brush motor (2021), and a first isolation relay (2071) and a first resistance ruler (2081) are arranged in parallel between the main controller (201) and the first horizontal push rod motor (2031);
the first balance type cleaner (4) comprises a first cleaning rolling brush (401), a first telescopic weight box (402), a first horizontal movement guide surface (403) and a first telescopic weight connecting rod (404); the first balance type cleaner (4) is arranged in the frame (1) through a first horizontal movement guide surface (403), and the first cleaning rolling brush (401) and the first telescopic weight box (402) move along the first horizontal movement guide surface (403) in opposite directions; the first horizontal movement guide surface (403) is matched with the movement guide rail (101) on the frame (1), and the first horizontal push rod motor (2031) drives the first horizontal movement guide surface (403) to reciprocate along the movement guide rail (101) on the frame (1);
the method for controlling the single-brush glass curtain wall cleaning equipment comprises the following steps:
s1: the main controller (201) presets the wall-separating distance of the rolling brush and the washing rotating speed of the rolling brush in the glass curtain wall cleaning equipment; the main controller (201) presets the ascending movement or the descending movement of the glass curtain wall cleaning equipment;
s2: the main controller (201) controls the first horizontal push rod motor (2031) to drive the first cleaning rolling brush (401) to extend, and the main controller (201) controls the first rolling brush motor (2021) to drive the first cleaning rolling brush (401) to rotate and roll; the main controller (201) controls the glass curtain wall cleaning device to execute the ascending motion or the descending motion preset in the step S1;
s3: if the first obstacle detection sensor (2051) detects that the first cleaning rolling brush (401) encounters an obstacle and immediately feeds the obstacle back to the main controller (201), the main controller (201) controls the glass curtain wall cleaning device to stop executing the preset ascending motion or descending motion in the step S1, controls the first rolling brush motor (2021) to drive the first cleaning rolling brush (401) to stop rotating, and controls the first horizontal push rod motor (2031) to drive the first cleaning rolling brush (401) to horizontally retract; if the first obstacle detection sensor (2051) does not detect that the first cleaning rolling brush (401) encounters an obstacle, the main controller (201) controls the glass curtain wall cleaning device to execute the rising movement or the falling movement preset in the step S1;
s4: if the first obstacle detection sensor (2051) detects that the first cleaning roller brush (401) is retracted to a safe distance and immediately feeds the safe distance back to the main controller (201), the main controller (201) controls the glass curtain wall cleaning device to perform the ascending motion or the descending motion in the step S2; if the first obstacle detection sensor (2051) does not detect that the first cleaning roller brush (401) is retracted to the safety distance, the main controller (201) controls the first cleaning roller brush (401) to continue to retract;
s5: if the first obstacle detection sensor (2051) detects that the first cleaning rolling brush (401) completes obstacle crossing movement, the main controller (201) controls the glass curtain wall cleaning equipment to stop moving, and the main controller (201) controls the first horizontal push rod motor (2031) to drive the first cleaning rolling brush (401) to extend to a preset wall-separating distance in the step S1;
s6: if the main controller (201) controls the first horizontal push rod motor (2031) to drive the first cleaning rolling brush (401) to extend to a preset wall-separating distance in the step S1, the main controller (201) controls the first rolling brush motor (2021) to drive the first cleaning rolling brush (401) to rotate and roll, and the main controller (201) controls the glass curtain wall cleaning equipment to execute preset ascending movement or descending movement in the step S1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810622418.4A CN109259653B (en) | 2018-06-15 | 2018-06-15 | Single brush glass curtain wall cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810622418.4A CN109259653B (en) | 2018-06-15 | 2018-06-15 | Single brush glass curtain wall cleaning equipment |
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| Publication Number | Publication Date |
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| CN109259653A CN109259653A (en) | 2019-01-25 |
| CN109259653B true CN109259653B (en) | 2023-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810622418.4A Active CN109259653B (en) | 2018-06-15 | 2018-06-15 | Single brush glass curtain wall cleaning equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114098503B (en) * | 2021-10-29 | 2022-11-18 | 安徽理工大学 | Glass curtain wall terminal surface cleans machine people based on 5G |
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| JP2003516792A (en) * | 1999-12-16 | 2003-05-20 | ターンネル、ユリアス | Building surface cleaning equipment |
| CN102053867A (en) * | 2009-10-28 | 2011-05-11 | 腾讯科技（深圳）有限公司 | Method and device for dynamically switching pictures |
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