CN109717786A - A glass curtain wall cleaning robot system - Google Patents
A glass curtain wall cleaning robot system Download PDFInfo
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- CN109717786A CN109717786A CN201910099584.5A CN201910099584A CN109717786A CN 109717786 A CN109717786 A CN 109717786A CN 201910099584 A CN201910099584 A CN 201910099584A CN 109717786 A CN109717786 A CN 109717786A
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- curtain wall
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- glass curtain
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- wall cleaning
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Abstract
The invention discloses a glass curtain wall cleaning robot system, which belongs to the technical field of automatic cleaning in special environments and comprises a robot body, a mobile platform and a lifting device, wherein the lifting device is provided with a direct current motor, a winding bar, a winding wheel, a soft rope, a fixed pulley and a bearing seat; the robot body comprises a supporting chassis, a cleaning device, an adsorption device, a dust collection device and a camera pan-tilt, wherein the supporting chassis is fixedly connected with the cleaning device and the adsorption device through connecting pieces, and the dust collection device is fixedly connected with a control circuit, a power supply voltage stabilizing device, a sensing measurement device and a structural accessory; the bottom frame of the moving platform is provided with two advancing wheels, two universal wheels, a battery, a motor and a control module, four angle steels are arranged at four corners of the bottom frame, and the upper ends of the four angle steels are horizontally and fixedly connected with the four angle steels to form a bottom platform of the lifting device. The cleaning robot has the advantages of compact and small structure, easy control, breakthrough of small and special-shaped glass window frames which can not be cleaned by most cleaning robots with large volume, improvement of cleaning efficiency and reduction of cleaning cost.
Description
Technical field
The present invention relates to special environments to automate technical field of keeping a public place clean, in particular to a kind of glass curtain wall cleaning machine device
People system.
Background technique
Water stain difficult, machine dimensions are necessarily large and bulky, are high after the current generally existing cleaning of glass curtain wall cleaning machine device people
Safety and the problems such as poor universality when idle job.Due to limiting above, glass curtain wall cleaning in high-altitude is kept a public place clean in operation at present still
Mainly by the way of manually cleaning, and as the continuous improvement of human cost and people get over the attention degree of operation safety
Come higher, the alternative artificial cleaning robot for being badly in need of a kind of automation occurs, to solve current high-altitude glass curtain wall cleaning
Practical outstanding problem.
Summary of the invention
For the deficiencies in the prior art, the present invention uses more exquisite design, simplifies structure, realizes small-sized
Change lightweight, it is not only versatile, the glass frame occasion of various sizes can be adapted to, and due to compact-sized, be easy to control
System, can also greatly improve cleaning efficiency by Multi computer cooperation；It is simplified by the way of anhydrous cleaning and manual imitation cleaning
Cleaning process improves cleaning effect, and there is modularized design and flexibility to design, easy to use, reduces costs.
In order to solve the above-mentioned technical problem, specifically, technical scheme is as follows:
A kind of glass curtain wall cleaning machine device people's system, including robot body, mobile platform, lifting device, the promotion
Device is equipped with direct current generator, wire rod, reel, tightrope, fixed pulley and bearing block；The robot body includes support bottom
Disk, cleaning device, adsorbent equipment, dust exhaust apparatus and camera head, the support chassis are connected the cleaning by connector
Device and the adsorbent equipment, the dust exhaust apparatus are connected control circuit, power supply pressure stabilizing, sensing measurement and structural acessory；Institute
Stating dress on mobile platform chassis, there are two feeder wheel, two universal wheels and battery, motor and control module, the chassis four corners
Equipped with four angle steel, four angle steel upper end levels are connected four angle steel, form the bottom platform of the lifting device.
Further, the support chassis is based on one piece of bottom plate, and be connected promotion connector and shell.
Further, the cleaning device is mounted on the upper and lower ends of the support chassis lower surface, the gabarit of clean disk
Tangent with the support chassis outermost end, the clean disk is two and is connected simultaneously by two direct current generators by connector
It is cased with cleaning rag.
Further, the adsorbent equipment includes ducted fan and is correspondingly connected with part and is mounted on the two of the support chassis
Close to edge, the ducted fan is four with part is correspondingly connected with for side.
Further, the dust exhaust apparatus is mounted on the upper surface top of the support chassis, is provided with absorption dust
Vacuum pump adsorbs the excess dust of cleaning into the dust exhaust apparatus.
Further, the camera head is mounted on the upper surface top of the support chassis, by steering wheel motor, steering wheel,
Upright bar, link mechanism and the depth camera as visual sensor form, and the steering wheel motor, the steering wheel and the upright bar are
It is bolted, the upright bar and the connecting rod are pin connection, and the connecting rod is that screw is connect with camera.
Further, the structural acessory include for ranging ultrasonic sensor, control ducted fan electronics
Governor, host computer, slave computer, relay attachment.
Further, fixation is bolted in the chassis and the motor, and the battery is fixed on the electricity on chassis
In the box of pond, described two feeder wheels are direct-connected by shaft coupling with the motor projecting shaft, are mounted on the front end two sides of the chassis,
Described two universal wheels are mounted on the rear end sides of chassis.
Further, the direct current generator, which is bolted, is fixed on the mobile platform, and the direct current generator is defeated
Shaft connect synchronous rotation with the wire rod, and the reel is attached on the wire rod, and the wire rod is nested in
To guarantee enough rigidity in bearing block, the tightrope is wound on reel described in the wire rod two sides, determines cunning by described
It rotates to end is respectively connected with the robot body both ends.
Further,
The utility model has the advantages that by adopting the above technical scheme, not only compact-sized miniaturization is easily controllable, but also can break through majority
Small-sized, the non-conventional glass window frame that the biggish cleaning robot of volume can not clean；In addition, due to the spy for having light-type miniaturization
Point can reduce the human cost in operation of keeping a public place clean with Multi computer cooperation to greatly improve cleaning efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is glass curtain wall cleaning machine device people overall system architecture schematic diagram provided by the invention；
Fig. 2 is glass curtain wall cleaning machine device people system improving apparatus structure schematic diagram provided by the invention；
Fig. 3 is glass curtain wall robot body external structure schematic diagram provided by the invention；
Fig. 4 is glass curtain wall robot body schematic diagram of internal structure provided by the invention；
Fig. 5 is glass curtain wall robot body internal structure schematical top view provided by the invention；
Fig. 6 is glass curtain wall robot body adsorbent equipment schematic diagram provided by the invention；
Fig. 7 is glass curtain wall robot body camera head schematic diagram provided by the invention；
Fig. 8 is glass curtain wall robot body cleaning device schematic diagram provided by the invention；
Fig. 9 is the coupling part Fig. 8 provided by the invention partial enlarged view；
Figure 10 is glass curtain wall robot body cleaning schematic illustration provided by the invention；
Figure 11 is that glass curtain wall cleaning machine device people system Multi computer cooperation provided by the invention cleans flow chart.
In above-mentioned attached drawing, 00, mobile platform；01, robot body；02, lifting device；In lifting device: 021, direct current
Motor；022, reel；023, bearing block；024, wire rod；025, tightrope；026, fixed pulley；In robot body: 1, duct
Fan；2, shell；3, ultrasonic sensor；4, connector is promoted；5, vacuum pump；6, DC brushless motor is cleaned；7, STM32 is controlled
Making sheet；8, communication switching plate；9, NVIDIA TX2 control panel；10, transformer；11, circuit junction board；12, electricity adjusts box；13, electric
Sub- governor；14, bolt；15, fan connector one；16, fan connector two；17, steering wheel motor；18, camera upright bar；19,
Camera connector two；20, visual sensing camera；21, adsorbent equipment；22, control circuit；23, camera head；24, bottom plate；25,
Clean disk and cleaning cloth；26, disk connector is cleaned；27, cleaning device.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Fig. 1~Figure 11, the embodiment of the present invention provides a kind of glass curtain wall cleaning machine device people's system, including mobile flat
Platform, lifting device and robot body, mainly comprising support chassis, cleaning device, adsorbent equipment, dust suction dress in robot body
It sets and camera head；
Mobile platform is the AGV moving trolley of design, on the chassis of the structure mainly dress there are two feeder wheel, two it is universal
Wheel and battery, motor and control module, chassis four corners are equipped with four angle steel, and four angle steel upper end levels are connected four angle steel,
Form the bottom platform of lifting device；
Lifting device is the hoisting mechanism of autonomous Design, which, which is bolted, is connected in mobile platform upper end, dress
Direct current generator, wire rod, reel, tightrope, fixed pulley and bearing spider are installed in setting；
Support chassis in robot body, the structure be connected promoted connector, protect internal structure shell and from
The connector of connection each section device of main design；Adsorbent equipment, ducted fan and guarantee including generating lift and negative pressure
The ducted fan connector of its relative position, ducted fan are mounted on the two sides of support chassis close to edge；Cleaning device contains
There are two direct current generators, are connected by the connector and clean disk of design, described device is equipped with upper and lower two clean disks, clean disk
Outer layer covers one layer of cleaning cloth being conveniently replaceable, two clean disks it is tight with glass curtain wall under the pressure that adsorbent equipment generates
Contiguity is touched, and opposite direction rotating above and below two clean disks completes cleaning action；Dust exhaust apparatus, being equipped in support chassis lower part can inhale
The vacuum pump of attached dust adsorbs the excess dust of cleaning into described device；Camera head is mounted on the upper of support chassis
Surface top is mainly made of steering wheel motor, steering wheel, camera upright bar, link mechanism and depth camera as visual sensor；
Structural acessory, mainly include for ranging ultrasonic sensor, control the electron speed regulator of ducted fan, host computer, under
Position machine, relay attachment.
The glass curtain wall robot body and the lifting device of upper end are connected using two point form tightrope, pass through lifting device
The traveling campaign of upper and lower, left and right four direction is realized with mobile platform；The ducted fan for choosing four stepless speed regulation, using X
Shape structural arrangement method makes robot upper by wind-force of the control action on glass curtain wall to control opposition
It holds and crosses frame on curtain wall under the extraction of rope and hinder, complete robot negative-pressure adsorption on glass and ascend to heaven and cross window frame barrier
The movement hindered；Realize that control cleaning device, corresponding two direct current generators of cleaning device are logical by microprocessor control circuit
Connector and the clean disk for crossing autonomous Design are direct-connected, and outer layer completes cleaning by friction with the clean disk and curtain wall for cleaning rag
Function, the micronic dust and impurity cleaned by vacuum pump absorption clean disk.It is automatic by the visual sensing module on camera head
It identifying front obstacle, measures obstacle distance and be automatically performed movement avoidance, camera head has the function of 180 degree rotation,
Camera pitch angle can manually adjust optimum position, the rotational angle of holder can be controlled by steering engine, to ring locating for robot
Border is shot, then computer analysis is transferred to handle, to realize barrier avoiding function.
Referring to Fig.1-9, it the present invention provides a kind of glass curtain wall cleaning machine device people's system, including mobile platform (00), mentions
Rise device (02) and robot body (01), robot body (01) mainly include support chassis, cleaning device, adsorbent equipment,
Dust exhaust apparatus and camera head.In the present embodiment, mobile platform (00) is an integrated AGV moving trolley；Lifting device
It (02) is the hoisting mechanism of autonomous Design, by direct current generator (021), reel (022) two, bearing block (023) four, coiling
Stick (024), tightrope (025) and (026) two, fixed pulley；In robot body (01), support chassis is by bottom plate (24) and shell
(2) it constitutes；Adsorbent equipment is made of ducted fan (1), fan connector one (15), fan connector two (16)；Control circuit
It is made of STM32 control panel (7), communication switching plate (8), NVIDIA TX2 control panel (9), electron speed regulator (13)；Power supply mould
Block is made of transformer (10), circuit junction board (11)；Cleaning device is by cleaning DC brushless motor (6), cleaning disk and cleaning
Cloth (25), cleaning disk connector (26), vacuum pump constitute (5)；Camera head by ultrasonic sensor (3), steering wheel motor (17),
Camera upright bar (18), camera connector two (19), visual sensing camera (20) are constituted.
In the present embodiment, the robot body (01) is connected with the lifting device of upper end using two point form tightrope (025)
It connects, mobile platform (00) is established can be in the moving trolley of autonomous control, and lifting device (02) is placed in the mobile platform
(00) top.The back-and-forth motion of mobile platform (00) can drive robot body (01) to realize and move left and right, and control lifting device
(02) direct current generator (021) rotation in drives reel (022) rotation being connected on wire rod (024), is wrapped in coiling
Tightrope (025) coiling on wheel (022) realizes moving up and down for robot with unwrapping wire.Eventually by mobile platform (00) and promoted
The traveling campaign of device (02) realization robot body (01) upper and lower, left and right four direction.It is noted that the present embodiment
Though the four direction movement being only referred in, is not limited solely to this, can pass through the control of combination lifting device and mobile platform
Mode processed completes resultant motion on two-dimensional surface, to realize more complicated movement needs.
In the present embodiment, support chassis mainly serves for ensuring adsorbent equipment (21), control circuit (22), cleaning device
(27), camera head (23), promoted connector (4) relative position.
In the present embodiment, it by control circuit (22), realizes the control to adsorbent equipment (21), completes fan positive and negative rotation
Movement to generate negative-pressure adsorption power or power of ascending to heaven, and then realizes robot negative-pressure adsorption in glass surface or flies up and leave glass
The movement in glass face.
In the present embodiment, it by camera head (23), identifies robot front obstacle, measures range information, in turn
The driving to adsorbent equipment (21) and cleaning device (27) is realized by control circuit (22).
In the present embodiment, by control circuit (22), cleaning device (27) work is driven, is produced in conjunction with adsorbent equipment (21)
Raw negative pressure and metope forms CONTACT WITH FRICTION, is wiped by the artificial rag of the motion mimics of hoisting mechanism；Two cleaning disks revolve in opposite directions
Turn to be adsorbed away the excess dust cleaned by the air inlet in the middle part of chassis, and by vacuum pump (5) absorption cleaning
Dust.
In the present embodiment, when camera head (23) works, visual sensing camera (20) is to realize obstacle detouring and barrier avoiding function
Real-time working condition data are provided；Steering wheel motor (17) drives steering wheel rotation, and steering wheel drives camera upright bar (18) rotation, realizes that vision passes
Feel within the scope of the horizontal 180 degree of camera (20) and rotating, thus window frame height, degree of cleaning environment ginseng within the scope of acquisition scans
Number；Camera connector two (19) can be rotated around camera upright bar (18) upper end, adjusted rotation angle by holding screw, realized manual
Adjust camera pitch angle.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (9)
1. a kind of glass curtain wall cleaning machine device people's system, including robot body, mobile platform, lifting device, which is characterized in that
The lifting device is equipped with direct current generator, wire rod, reel, tightrope, fixed pulley and bearing block；The robot body packet
Support chassis, cleaning device, adsorbent equipment, dust exhaust apparatus and camera head are included, the support chassis is connected by connector
The cleaning device and the adsorbent equipment, the dust exhaust apparatus are connected control circuit, power supply pressure stabilizing, sensing measurement and structure
Attachment；There are two feeder wheel, two universal wheels and battery, motor and control module, the bottoms for dress on the mobile platform chassis
Frame four corners are equipped with four angle steel, and four angle steel upper end levels are connected four angle steel, form the bottom of the lifting device
Platform.
2. a kind of glass curtain wall cleaning machine device people's system according to claim 1, which is characterized in that the support chassis with
Based on one piece of bottom plate, be connected promotion connector and shell.
3. a kind of glass curtain wall cleaning machine device people's system according to claim 1, which is characterized in that the cleaning device peace
Upper and lower ends mounted in the support chassis lower surface, the gabarit of clean disk and the support chassis outermost end are tangent, described clear
Disk is swept to be two and be connected by two direct current generators by connector and be cased with cleaning rag.
4. a kind of glass curtain wall cleaning machine device people's system according to claim 1, which is characterized in that the adsorbent equipment packet
It includes ducted fan and is correspondingly connected with part and is mounted on the two sides of the support chassis close to edge, the ducted fan and correspondence
Connector is respectively four.
5. a kind of glass curtain wall cleaning machine device people's system according to claim 1, which is characterized in that the dust exhaust apparatus peace
Mounted in the upper surface top of the support chassis, it is provided with the vacuum pump of absorption dust, the excess dust of cleaning is adsorbed
Into the dust exhaust apparatus.
6. a kind of glass curtain wall cleaning machine device people's system according to claim 1, which is characterized in that the camera head peace
Mounted in the upper surface top of the support chassis, by steering wheel motor, steering wheel, upright bar, link mechanism and as visual sensor
Depth camera composition, the steering wheel motor, the steering wheel are to be bolted with the upright bar, and the upright bar and the connecting rod are pin
Connection, the connecting rod are that screw is connect with camera.
7. a kind of glass curtain wall cleaning machine device people's system according to claim 1, which is characterized in that the structural acessory packet
Electron speed regulator, host computer, slave computer, the relay attachment for including the ultrasonic sensor for ranging, controlling ducted fan.
8. glass curtain wall cleaning machine device people's system according to claim 1, which is characterized in that the chassis and the motor
Fixation is bolted, the battery is fixed in the battery case on chassis, and described two feeder wheels and the motor stretch out
Axis is direct-connected by shaft coupling, is mounted on the front end two sides of the chassis, described two universal wheels are mounted on the rear end sides of chassis.
9. glass curtain wall cleaning machine device people's system according to claim 1, which is characterized in that the direct current generator passes through spiral shell
Bolt is fastened on the mobile platform, and the direct current generator output shaft connect synchronous rotation with the wire rod, it is described around
Line wheel is attached on the wire rod, and the wire rod is nested in bearing block to guarantee enough rigidity, the tightrope around
On the reel described in the wire rod two sides, by the fixed pulley turn to, end with the robot body both ends respectively
It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099584.5A CN109717786A (en) | 2019-01-31 | 2019-01-31 | A glass curtain wall cleaning robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099584.5A CN109717786A (en) | 2019-01-31 | 2019-01-31 | A glass curtain wall cleaning robot system |
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| CN109717786A true CN109717786A (en) | 2019-05-07 |
Family
ID=66300938
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| CN201910099584.5A Pending CN109717786A (en) | 2019-01-31 | 2019-01-31 | A glass curtain wall cleaning robot system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110565973A (en) * | 2019-10-17 | 2019-12-13 | 郭帅 | A building curtain wall cleaning device |
| CN110897563A (en) * | 2019-11-20 | 2020-03-24 | 王昕� | A soaring glass curtain wall cleaning robot |
| CN113520207A (en) * | 2021-08-12 | 2021-10-22 | 同济大学 | Cleaning robot with curtain wall surface detection function and working method |
| CN114532915A (en) * | 2022-03-04 | 2022-05-27 | 阿郎装饰股份有限公司 | Hidden frame glass curtain wall cleaning device |
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| CN114532915A (en) * | 2022-03-04 | 2022-05-27 | 阿郎装饰股份有限公司 | Hidden frame glass curtain wall cleaning device |
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| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 518000 15 / F, block a, building 6, Shenzhen International Innovation Valley, Dashi 1st Road, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Wang Xin Address before: 518000 Building D, Harbin Institute of Technology campus, Xili University Town, Nanshan District, Shenzhen City, Guangdong Province Applicant before: Wang Xin |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190507 |
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| RJ01 | Rejection of invention patent application after publication |