CN109914841B - High-altitude curtain wall cleaning robot - Google Patents
High-altitude curtain wall cleaning robot Download PDFInfo
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- CN109914841B CN109914841B CN201811492051.5A CN201811492051A CN109914841B CN 109914841 B CN109914841 B CN 109914841B CN 201811492051 A CN201811492051 A CN 201811492051A CN 109914841 B CN109914841 B CN 109914841B
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Abstract
The invention discloses a high-altitude curtain wall cleaning robot, which is characterized by comprising the following components: the device comprises a driving device, a steering device, a wiping device and a dust removing and water washing device. The driving device is directly connected with the steering device, the front part of the robot is provided with a dust removal device, the middle part of the robot is provided with a driving and steering device, and the rear part of the robot is provided with a water washing and drying device. The driving device mainly comprises: the device comprises a driving wheel, a driven wheel, a rubber belt, a connecting frame, a rubber groove, a T-shaped table, a cavity, a metal table, a sealing sheet, a vent pipe and a vacuum generator; the steering device mainly includes: the device comprises a wheel shaft, a mounting plate, a stepping motor, a rack and a baffle plate; the dust removal and water washing device mainly comprises: the device comprises a box body, a fan, a dust sweeping wheel, a motor, a water tank, a water pump, a water outlet pipe and a cleaning wheel; the drying device mainly comprises: the wiping wheel, the connecting plate, the gear, the stepping motor, the water squeezing plate, the electric push rod and the extending plate. The automatic cleaning device is simple in structure, safe and reliable, can meet the requirement of cleaning the high-altitude curtain wall, greatly reduces the labor cost, realizes automatic cleaning operation, and improves the working efficiency.
Description
Technical Field
The invention relates to the field of high-altitude curtain wall cleaning, in particular to a high-altitude glass curtain wall cleaning robot.
Background
In cities, more and more high buildings and more glass curtain walls are beautiful and bright, but are always troublesome to clean. Workers are often required to clean the curtain wall by using the hanging baskets, and the method is low in efficiency, low in speed and high in danger coefficient, and often needs professional workers to be sufficient for the work.
The high-altitude curtain wall cleaning robot is of great importance, meets the requirements of development of the current building industry, can liberate manpower, improves efficiency, and is an inevitable requirement for future development.
Disclosure of Invention
The invention aims to solve the technical problem of providing the high-altitude curtain wall cleaning robot which is simple in structure, safe and reliable and can improve the working efficiency aiming at the defects of the prior art.
The technical scheme adopted by the invention is as follows: the utility model provides a high altitude curtain cleaning robot which characterized in that: comprises a driving device, a steering device, a dust removal and water washing device and a wiping device. The driving device is directly connected with the steering device, the dust removing device is distributed in front of the robot, and the water washing and wiping device is arranged behind the robot.
The driving device includes: the driving wheel, follow driving wheel, rubber tape, link, rubber groove, T shape platform, cavity, metal platform, gasket, breather pipe, vacuum generator.
The driving wheel can drive the rubber belt to rotate with the cooperation of following the driving wheel, a plurality of rubber grooves of evenly distributed on the rubber belt surface, the internal surface of rubber belt is T shape platform to the central point of every rubber groove has a through-hole to run through T shape platform, T shape platform and the T-slot cooperation of metal platform, has the gasket in the mating position.
The breather pipe is connected with a vacuum generator, and the vacuum generator can enable a space formed by the cavity and the rubber groove to form negative pressure, so that the rubber groove is tightly adsorbed on the wall surface, and the crawler wheels can walk on the wall surface.
The crawler wheel is fixed on the connecting rod, and the metal table is fixed in the middle of the connecting rod.
The steering device includes: the device comprises a wheel shaft, a mounting plate, a first stepping motor, a rack and a baffle.
One end of the wheel shaft is fixed on the connecting plate, and the other end of the wheel shaft is connected to the box body.
The mounting plate is welded on the box body, a first stepping motor is fixed on the mounting plate and matched with the rack, and the baffle plate is used for ensuring the gapless matching of the rack and the first stepping motor.
The dust removal and water washing device comprises: the cleaning device comprises a box body, a fan, a dust sweeping wheel, a first motor, a second motor, a water tank, a water pump, a water outlet pipe and a cleaning wheel.
The fan is installed on the box, the dust sweeping wheel is installed in front of the fan, and the dust sweeping wheel is powered by the first motor.
The water tank is arranged in the middle of the box body and is close to one side of the wall, the upper side and the lower side of the water tank are respectively provided with a water pipe connected with the water pump, the water pump pressurizes water and then sprays the water onto the cleaning wheel through the water outlet pipe, and the cleaning wheel is driven by the motor II to rotate so as to wipe off stubborn stains and dust on the curtain wall.
The wiping device includes: the wiping wheel, the connecting plate, the gear, the stepping motor II, the water squeezing plate, the electric push rod and the extending plate.
The two ends of the drying wheel are arranged on a connecting plate, and the connecting plate is arranged on the box body through a rotating shaft in the middle.
Furthermore, a gear is installed at the outer end of the rotating shaft of the connecting plate and is connected with a second stepping motor.
Furthermore, the wiping wheel is in contact with the curtain wall, excess water on the curtain wall can be sucked by virtue of the strong water absorption capacity of the wiping wheel, and most of the water can be squeezed off by the wiping wheel which can absorb enough water under the action of the water squeezing plate. The structure of the wringing plate is similar to that of a pair of scissors, one end of the wringing plate is opened and closed under the action of three electric push rods, the other end of the wringing plate extrudes the wiping wheel, and the wringing plate is fixed on the box body through two overhanging plates.
The invention has the beneficial effects that: 1, realizing mechanization of high-altitude curtain wall cleaning; 2, the cleaning efficiency is high, and manual injury is avoided; and 3, the curtain wall is cleaned more cleanly by various cleaning methods.
Drawings
Fig. 1 is an overall schematic diagram of the apparatus.
Fig. 2 is a schematic view of a track wheel.
Fig. 3 is a schematic diagram of a vacuum generator.
Fig. 4 is a schematic view of a drying apparatus.
In the figure: 11-driving wheel, 12-driven wheel, 13-rubber belt, 14-connecting frame, 15-rubber groove, 16-T-shaped table, 17-cavity, 18-metal table, 19-sealing sheet, 110-vent pipe, 111-air inlet, 112-air outlet, 113-vacuum pipe I, 114-vacuum pipe II, 21-wheel shaft, 22-mounting plate, 23-stepping motor I, 24-rack, 25-baffle, 31-box, 41-fan I, 42-fan II, 51-dust sweeping wheel, 52-motor I, 61-water tank, 62-water pump, 63-water outlet pipe, 64-cleaning wheel, 65-motor II, 71-drying wheel I, 72-drying wheel II and 73-connecting plate, 74-gear, 75-step motor II, 81-water squeezing plate, 82-electric push rod and 83-overhanging plate.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present embodiment provides an overhead curtain wall cleaning robot, which includes a driving device, a steering device, a dust removing and water washing device, and a wiping device.
As shown in fig. 1 and 2, in the driving device, a driving wheel 11 is driven by a motor of the driving device to be matched with a driven wheel 12 to drive a rubber belt 13 to rotate, a plurality of rubber grooves 15 are uniformly distributed on the outer surface of the rubber belt 13, a T-shaped table 16 is arranged on the inner surface of the rubber belt 13, and a through hole penetrates through the central position of the rubber groove 15 and the T-shaped table 16. The T-shaped table 16 is fitted into a T-shaped groove of the metal table 18, and a seal piece 19 is provided at the contact position to improve airtightness at that position. The connecting frame 14 is H-shaped, the upper end and the lower end are respectively fixed with the driving wheel 11 and the driven wheel 12, and a metal table 18 is arranged in the middle of the connecting frame 14.
The vent pipe 110 is connected with a vacuum generator, so that a negative pressure is formed in a space formed by the cavity 17 and the rubber groove 15, the rubber groove 15 is tightly adsorbed on the wall surface, and the crawler wheels can walk on the wall surface. The cavities 17 and the rubber grooves 15 form independent closed spaces, so that even if one closed space loses adsorption force on the wall surface due to air tightness, negative pressure generated by other closed spaces can enable the crawler wheels to be adsorbed on the wall surface. The space of the cavity 17 is large, so that the rubber groove 15 can maintain the adsorption force during the forward movement. Under the drive of the driving wheel 11, the plurality of rubber grooves 15 rotate to form a closed space with each cavity 17 in turn.
As shown in FIG. 3, the air inlet 111 of the vacuum generator is connected with an air compressor, the first vacuum pipe 113 and the second vacuum pipe 114 are distributed around the generator, and each vacuum pipe is communicated with the air inlet 111 and the air outlet 112 of the generator. When the air compressor works, compressed air is injected from the air inlet 111, high-speed air can carry out gas of the vacuum tubes I113 and II 114, so that the pressure of the vacuum tubes I113 and II 114 is reduced sharply, and the compressed gas is finally injected from the air outlet 112.
In the steering device, the crawler wheels and the case 31 are connected together by the wheel shaft 21, and the crawler wheels and the case can rotate relatively. The mounting plate 22 is welded on the box body 31, a first stepping motor 23 is fixed on the mounting plate, the first stepping motor 23 is matched with the rack 24, the rack 24 is mounted on the two crawler wheels, the rack is driven to move through the rotation of the motor, the crawler wheels swing, and therefore the steering effect is achieved. The purpose of the baffle 25 is to ensure that the rack 24 is in a clearance-free fit with the first stepper motor 23.
In the dust removal and water washing device, a first fan 41 and a second fan 42 are arranged on a box body 31, the two fans can generate larger wind power, and the wind power directions are opposite, so that dust swept by a dust sweeping wheel 51 can be blown away from a curtain wall. The dust-sweeping wheel 51 is mounted on the box 31 and is rotated by a first motor 52. The water tank 61 is installed at the middle position of the tank body 31 at the side close to the wall, and the upper and lower sides of the water tank 61 are respectively provided with a water pipe connected with the water pump 62. This is to consider that the water level in the water tank 61 is changed when the robot travels upward or downward, and water can always flow into the water pump 62 by using the upper and lower water pipes regardless of the change of the water level. The water pump 62 pressurizes water and sprays the water onto the cleaning wheel 64 through the water outlet pipe 63, and the cleaning wheel 64 is driven by the second motor 65 to rotate so as to wipe off stubborn stains and dust on the curtain wall.
As shown in fig. 4, in the drying device, two ends of a first drying wheel 71 and a second drying wheel 72 are respectively connected through a connecting plate 73, the connecting plate 73 is mounted on the box body 31 through a rotating shaft at the middle position, a gear 74 is mounted at the outer end of the rotating shaft, and the gear 74 is connected with a second stepping motor 75. Thus, when the second stepping motor 75 rotates, the first drying wheel 71 and the second drying wheel 72 are driven to rotate simultaneously. The wiping wheel is contacted with the curtain wall, and the water on the curtain wall can be sucked dry by virtue of the strong water absorption capacity of the wiping wheel. And after the wiping wheel which absorbs enough water and the wiping wheel which does not absorb water are changed in position under the action of the second stepping motor 75, most of water is squeezed out under the action of the water squeezing plate 81. The wringing plate 81 is similar to a pair of scissors in structure, one end of the wringing plate is opened and closed under the action of three electric push rods 82, and the other end of the wringing plate extrudes the wiping wheel. This structure is fixed to the case 31 by two overhanging plates 83.
The robot can be powered by a built-in storage battery; it can also be connected to the grid via a longer power line, which requires the use of a lighter weight power line.
The working principle of the invention is as follows:
the water tank 61 is first filled with water and then the air compressor in the drive unit is turned on to make the robot adhere to the wall. And then the driving wheels 11 are controlled to rotate, so that the robot walks on the curtain wall. And then the first motor 52, the second motor 65, the water pump 62, the first fan 41 and the second fan 42 are controlled to work. Therefore, dust on the curtain wall can be swept away firstly, then the dust is blown away by the fan, and then stubborn stains on the curtain wall are wiped off by the wet roller.
Finally, the first wiping wheel 71 and the second wiping wheel 72 are used for alternately sucking water on the curtain wall, and when one of the two wiping wheels is sucking water, the other wiping wheel needs to squeeze out more water under the action of the water squeezing plate 81. The two drying wheels are then switched in position by the second stepper motor 75.
When the robot needs to be controlled to turn, only the first stepping motor 23 needs to be controlled to move, and the turning amplitude of the robot can be controlled by controlling the number of turning circles of the first stepping motor 23.
While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that various changes may be made without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides a high altitude curtain cleaning robot which characterized in that: the device comprises a box body (31), wherein the box body (31) is provided with a driving device, a steering device, a wiping device and a dust removal and water washing device;
the driving device comprises a driving wheel (11), the driving wheel (11) and a driven wheel (12) are matched to drive a rubber belt (13) to rotate, a plurality of rubber grooves (15) are uniformly distributed on the outer surface of the rubber belt (13), a T-shaped table (16) is arranged on the inner surface of the rubber belt (13), a through hole penetrates through the T-shaped table (16) at the central position of the rubber groove (15), and the T-shaped table (16) is matched with the T-shaped groove of a metal table (18);
the steering device comprises a mounting plate (22), a first stepping motor (23), a rack (24) and a baffle (25), wherein the mounting plate (22) is fixed on a box body (31), the first stepping motor (23) is mounted on the mounting plate (22), the first stepping motor (23) is matched with the rack (24), two ends of the rack (24) are connected with two connecting frames (14), and the middle position of the rack (24) is matched with the baffle (25);
the water washing device comprises a water tank (61), the upper side and the lower side of the water tank are respectively provided with a water pipe (63) which is connected with a water pump (62), the water pump (62) sprays water to a washing wheel (64), and the washing wheel (64) is driven by a second motor (65) to rotate;
the drying device comprises a first drying wheel (71) and a second drying wheel (72), two ends of the first drying wheel (71) and two ends of the second drying wheel (72) are respectively connected together through a connecting plate (73), and the connecting plate (73) is arranged on the box body (31) through a rotating shaft in the middle;
the dust removal device comprises a dust sweeping wheel (51), the dust sweeping wheel (51) is powered by a first motor (52), and a first fan (41) and a second fan (42) are connected behind the dust sweeping wheel (51).
2. The high-altitude curtain wall cleaning robot as claimed in claim 1, wherein: the metal table (18) is provided with a cavity (17) and a vent pipe (110), the metal table (18) is fixed in the middle of the connecting frame (14), and the vent pipe (110) is connected with a vacuum generator.
3. The high-altitude curtain wall cleaning robot as claimed in claim 2, wherein: the connecting frame (14) is provided with a driving wheel (11) and a driven wheel (12), and the connecting frame (14) is connected to the box body (31) through a wheel shaft (21).
4. The high-altitude curtain wall cleaning robot as claimed in claim 1, wherein: a gear (74) is installed at the outer end of a rotating shaft of the connecting plate (73), the gear (74) is connected with a second stepping motor (75), and further, the first wiping wheel (71) and the second wiping wheel (72) squeeze water off under the action of a water squeezing plate (81).
5. The high-altitude curtain wall cleaning robot as claimed in claim 4, wherein: the structure of the water squeezing plate (81) is similar to that of a pair of scissors, one end of the water squeezing plate is opened and closed through an electric push rod (82), and the water squeezing plate is fixed on the box body (31) through two extending plates (83).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811492051.5A CN109914841B (en) | 2018-12-07 | 2018-12-07 | High-altitude curtain wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811492051.5A CN109914841B (en) | 2018-12-07 | 2018-12-07 | High-altitude curtain wall cleaning robot |
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| Publication Number | Publication Date |
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| CN109914841A CN109914841A (en) | 2019-06-21 |
| CN109914841B true CN109914841B (en) | 2020-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811492051.5A Active CN109914841B (en) | 2018-12-07 | 2018-12-07 | High-altitude curtain wall cleaning robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110432817B (en) * | 2019-09-19 | 2021-02-02 | 广东天宏玻璃科技有限公司 | Cleaning device for high-rise office building outdoor tempered glass |
| CN110565973B (en) * | 2019-10-17 | 2021-04-20 | 山东诚祥建设集团股份有限公司 | Building curtain wall cleaning device |
| CN111166258A (en) * | 2020-01-09 | 2020-05-19 | 重庆工程学院 | Outer wall glass cleaning system and method |
| CN113974496B (en) * | 2021-11-05 | 2023-03-03 | 江苏南高智能装备创新中心有限公司 | Multi-functional robot of sweeping floor based on internet of things |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20120009927A (en) * | 2010-07-22 | 2012-02-02 | 김용욱 | Robot for cleaner and control method using the same |
| CN205697516U (en) * | 2016-04-12 | 2016-11-23 | 王平安 | A kind of glass high-altitude dust arrester |
| CN106073623A (en) * | 2016-08-11 | 2016-11-09 | 广西大学 | Double-brush double crawler belt adds sucker Mobile domestic glass cleaning machine people |
| CN206979446U (en) * | 2017-01-23 | 2018-02-09 | 北京嘉寓门窗幕墙股份有限公司 | A kind of leaping over obstacles outside Wall Cleaning machine people |
| CN107049130B (en) * | 2017-06-21 | 2024-01-09 | 展视网（北京）科技有限公司 | Building outer wall glass surface cleaning robot |
| CN108158481A (en) * | 2017-12-27 | 2018-06-15 | 广东技术师范学院 | A kind of building glass cleaning robot |
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Effective date of registration: 20230518 Address after: Office Building, Quanzhou Construction Service Industrial Park, Building A10, Chengzhou Industrial Zone, Tongji Road, Fengze District, Quanzhou City, Fujian Province, 362000 Patentee after: Middle East Infrastructure Technology Group Robotics Co.,Ltd. Address before: 448000 Jingchu Institute of technology, 33 Xiangshan Avenue, Jingmen City, Hubei Province Patentee before: Song Shaoqi |