CN110074713A - A kind of climb type curtain cleaning robot - Google Patents
A kind of climb type curtain cleaning robot Download PDFInfo
- Publication number
- CN110074713A CN110074713A CN201910416568.4A CN201910416568A CN110074713A CN 110074713 A CN110074713 A CN 110074713A CN 201910416568 A CN201910416568 A CN 201910416568A CN 110074713 A CN110074713 A CN 110074713A
- Authority
- CN
- China
- Prior art keywords
- mounting plate
- main mounting
- plate
- sucker
- round brush
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention discloses a kind of climb type curtain cleaning robot, including main mounting plate, running gear and cleaning operation device, the running gear and cleaning operation device connect setting with the main mounting plate；The main mounting plate is arranged in cuboid structure；The running gear includes four suckers, and four Angle Positions of the main mounting plate are arranged in four suckers, and the running gear further includes the power mechanism for being arranged on the main mounting plate for each sucker and being used to drive the sucker movement；The cleaning operation device includes atomising mechanism, rolling brush mechanism and disc brush mechanism, and the disc brush mechanism is arranged between the rolling brush mechanism and atomising mechanism.It further include roof tower crane system and follow-up trolley, the roof tower crane system includes hoist engine, and the safety rope of the hoist engine is fixedly connected by pulley with the main mounting plate.Robot has light weight, cleannes high, and walking is stablized, the advantage of adsorption capacity foot.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of climb type curtain cleaning robot.
Background technique
Glass curtain wall is as building external envelope structure, because it is from heavy and light, overall effect is good, has many advantages, such as that sense of the times is wide
General to be applied to current building, curtain wall is also at the indispensable decorative form of modern architecture.Increasingly incline in modern city building
To in using glass curtain wall structure as external wall, make the building built in this way due to glass it is long-term it is exposed outside,
It is needed using there are the traces that dust etc. exposes to wind and rain after certain time limit in order to guarantee the external handsome in appearance of curtain buildings
It is periodically scrubbed.
The task of country's external wall of high-rise building washing and cleaning operation on high-altitude mainly in a manner of manually being cleaned at present
Based on, not only cost of labor is big for this mode, low efficiency, and has very big hidden danger to the personal safety of operating worker.Can be with
In the modernized society for solving these safety problems with automated arm, artificial use should be reduced to the greatest extent, avoid the occurrence of " spider
The case where people ".Curtain wall for high rise building cleaning robot is increasingly focused on by people in high-wall operation, because it not only can be with
Instead of the operation mode of this danger of artificial high altitude operation, it can also effectively increase high altitude operation efficiency.
Existing glass curtain wall clean robot is small home currently on the market, and large-scale glass curtain wall is clear
The robot for washing operation is universal not yet.Existing glass curtain wall cleaning equipment can only mostly adsorb shifting on smooth glass surface
It is dynamic, if when thing fluted or raised on glass surface the adsorptivity of sucker can be reduced, so that there are adsorption capacity sizes
It is not enough to the problem of robot is adsorbed on curtain wall.Therefore this kind of robot not only has no idea to there is also across groove
The danger fallen, the use scope very limit, operating efficiency are lower.
Summary of the invention
In view of the above shortcomings of the prior art, the technical problems to be solved by the present invention are: how to provide a kind of cleannes
Height can overcome the shortcomings of existing suction type, improve the adsorption capacity with curtain wall, can get over the climb type curtain wall of barrier or groove
Cleaning robot.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions:
A kind of climb type curtain cleaning robot, including main mounting plate, running gear and cleaning operation device, the walking
Device and cleaning operation device connect setting with the main mounting plate；The main mounting plate is arranged in cuboid structure；The row
Walking apparatus includes four suckers, and four Angle Positions of the main mounting plate are arranged in four suckers, and the running gear is also
Including the power mechanism on the main mounting plate and for driving the sucker movement is arranged in for each sucker；It is described
Cleaning operation device includes atomising mechanism, rolling brush mechanism and disc brush mechanism, the disc brush mechanism setting in the rolling brush mechanism and
Between atomising mechanism.
Further, the power mechanism includes two erection supports being fixedly mounted on the main mounting plate, and two
The concave surface of the erection support face forms sliding slot in long strip, and spring guiding is fixedly installed in the sliding slot
Bar further includes the plate that is slidably installed, and perforation is provided on the plate that is slidably installed, and the spring conductor rod is slidably fitted in described wear
In hole, vertically arranged direct-installation electric cylinders are fixedly installed on the plate that is slidably installed, the direct-installation electric cylinders
Piston rod is passed down through the plate setting that is slidably installed, and the piston rod of the direct-installation electric cylinders is fixedly connected with downwards installation
Bar, the mounting rod are fixedly connected with the installation end of the sucker, and the absorption end of the sucker is down-set, the main mounting plate
The elongated slot for allowing the piston rod of the direct-installation electric cylinders to slide, the main peace are provided between two erection supports of upper correspondence
It is additionally provided with the pushing mechanism for driving the plate movement that is slidably installed in loading board, is additionally provided with and is used on the main mounting plate
Be slidably installed the resetting-mechanism of sheet reset described in drive.
Further, the pushing mechanism includes the L-shaped installing plate for being fixedly mounted on the main mounting plate lower surface, described
Horizontally disposed indirect installing type electric cylinders, the piston rod end of the indirect installing type electric cylinders are fixedly installed in L-shaped installing plate
It is fixedly installed with vertically arranged baffle, the baffle corresponds to the mounting rod setting.
Further, the resetting-mechanism includes the compressed spring being socketed on the outside of the spring conductor rod, the sliding
Mounting plate is arranged between the compressed spring and the L-shaped installing plate.
Further, the atomising mechanism includes the water tank being fixedly mounted on the main mounting plate and connect with water tank
The atomizing generator of setting, the atomizing generator are connected with spray head, the spray head be located at the main mounting plate lower end and
It is down-set.
Further, the disc brush mechanism includes driving motor and disc brush, and the driving motor is fixed by mounting flange
It is mounted on the main mounting plate, the output shaft of the driving motor is down-set and passes through the main mounting plate and the disc brush
Installation end be fixedly connected.
Further, the rolling brush mechanism includes round brush and round brush mounting base；The round brush is fixedly mounted axially outward
There is round brush support rod, the round brush support rod is hinged with round brush connecting rod, and two round brush connecting rods pass through round brush mounting rod
It is fixedly connected, the round brush installation boom end is hinged in the round brush mounting base, and the round brush mounting base is fixedly mounted on institute
State main mounting plate lower end.
Further, the rolling brush mechanism further includes damper and damper mounting stand；Two round brush connecting rods it
Between be fixedly installed with damper connecting rod, described damper one end is fixedly mounted in the damper connecting rod, and the other end is logical
It crosses bolt and is fixedly connected with damper circle connector, the damper circle connector is hinged on the damper mounting stand
On, the damper mounting stand is fixedly mounted on main mounting plate lower end.
Further, the disc brush mechanism is provided with 2, sets between the disc brush mechanism of the rolling brush mechanism face two
It sets.
It further, further include roof suspension apparatus, the roof tower crane device includes roof tower crane system and is servo-actuated small
Vehicle, roof surrounding install guide rail, and the follow-up trolley can be moved along the guide rail；The roof tower crane system includes elevator
The safety rope of machine, the hoist engine is fixedly connected by pulley with the main mounting plate.
This climb type curtain cleaning robot has the advantages that
1. driving sucker to walk using electric cylinders, adsorption capacity can be improved with obstacle detouring；
2. washing and cleaning operation device includes rolling brush mechanism and disc brush mechanism, cleaning capacity can be improved, rolling brush mechanism can be right
The region of not cleaning of disc brush mechanism is cleaned, and cleaning is comprehensive.
3. walking mechanism is cooperated using direct-installation electric cylinders and indirect installing type electric cylinders and compressed spring, stable structure
Reliably.
4. roof tower crane device carries out safeguard protection to robot, avoid falling, follow-up trolley can drive Robot
Horizontal direction is mobile, and running gear drives Robot vertical direction mobile.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of climb type curtain cleaning robot described in the specific embodiment of the invention；
Fig. 2 is Fig. 1 main view；
Fig. 3 is the structure enlargement diagram of the running gear in Fig. 1；
Fig. 4 is the structure enlargement diagram of washing and cleaning operation device in Fig. 2.
Specific embodiment
The 1-4 present invention is described in further detail with reference to the accompanying drawing.
A kind of climb type curtain cleaning robot, including main mounting plate 1, running gear 2 and cleaning operation device, the row
Walking apparatus 2 and cleaning operation device connect setting with the main mounting plate 1；The main mounting plate 1 is arranged in cuboid structure；Institute
Stating running gear 2 includes four suckers 21, and four Angle Positions of the main mounting plate 1 are arranged in four suckers 21, described
Running gear 2 further includes being arranged on the main mounting plate 1 for each sucker 21 and for driving the sucker 21 to transport
Dynamic power mechanism；The cleaning operation device includes atomising mechanism, rolling brush mechanism 4 and disc brush mechanism 3, the disc brush mechanism 3
It is arranged between the rolling brush mechanism 4 and atomising mechanism.In this way, walked using device band mobile robot is siphoned away, using clear
Clean apparatus for work cleans curtain wall, is installed and born using main mounting plate to load.Power mechanism drives sucker fortune
It is dynamic, realize the walking of robot, stable structure is reliable, stable absorption can be provided to robot ambulation with obstacle detouring and more groove
Power.
Further, the power mechanism includes two erection supports 22 being fixedly mounted on the main mounting plate 1, and two
The concave surface of a 22 face of the erection support forms sliding slot in long strip, is fixedly installed with spring in the sliding slot and leads
Further include the plate 23 that is slidably installed to bar 27, perforation is provided on the plate 23 that is slidably installed, the sliding of spring conductor rod 27 is matched
It closes in the perforation, vertically arranged direct-installation electric cylinders 24 is fixedly installed on the plate 23 that is slidably installed, it is described straight
The piston rod for connecing installing type electric cylinders 24 is passed down through the setting of plate 23 that is slidably installed, the piston of the direct-installation electric cylinders 24
Bar is fixedly connected with downwards mounting rod, and the mounting rod is fixedly connected with the installation end of the sucker 21, the suction of the sucker 21
Attached end is down-set, and being provided between corresponding two erection supports 22 on the main mounting plate 1 allows the direct-installation electricity
The elongated slot of the piston rod sliding of cylinder 24 is additionally provided on the main mounting plate 1 for driving the movement of plate 23 that is slidably installed
Pushing mechanism is additionally provided with the resetting-mechanism for driving the reset of plate 23 that is slidably installed on the main mounting plate 1.
In this way, the movement of direct-installation electric cylinders is realized the absorption with curtain wall and is divided by mounting rod drive sucker movement
From.Sucker and curtain wall be in discrete state, and pushing mechanism promotion is slidably installed plate along spring conductor rod sliding, posterior sucker and curtain
Wall is in adsorbed state, and resetting-mechanism drives main installation sheet reset, and pushing mechanism moves in conjunction with resetting-mechanism, realizes robot
Walking movement.
Further, the pushing mechanism includes the L-shaped installing plate 25 for being fixedly mounted on 1 lower surface of main mounting plate,
Horizontally disposed indirect installing type electric cylinders 26 are fixedly installed in the L-shaped installing plate 25, the indirect installing type electric cylinders 26
Piston rod end is fixedly installed with vertically arranged baffle 29, the corresponding mounting rod setting of the baffle 29.
In this way, sucker and curtain wall are in discrete state, indirect installing type electric cylinders movement drives baffle movement, baffle is to peace
Dress bar is pushed, and then drives the plate movement that is slidably installed.
Further, the resetting-mechanism includes the compressed spring 28 for being socketed in 27 outside of spring conductor rod, described
The plate 23 that is slidably installed is arranged between the compressed spring 28 and the L-shaped installing plate 25.
In this way, being slidably installed after seat movement, compressed spring is compressed, compressed spring resets, and drives main mounting plate
It is mobile, and then realize the movement of robot, posterior sucker and curtain wall adsorb.
Further, the atomising mechanism include the water tank 5 being fixedly mounted on the main mounting plate 1 and with water tank 5
The atomizing generator of setting is connected, the atomizing generator is connected with spray head 51, and the spray head 51 is located at the main installation
1 lower end of plate and down-set.
In this way, atomizing generator sprays to form impact moisture film to curtain wall by spray head, rolling brush mechanism and disc brush are then utilized
Mechanism cleans curtain wall.
Further, the disc brush mechanism 3 includes driving motor 31 and disc brush 32, and the driving motor 31 passes through Method for Installation
Orchid is fixedly mounted on the main mounting plate 1, and the output shaft of the driving motor 31 is down-set and passes through the main mounting plate 1
It is fixedly connected with the installation end of the disc brush 32.
In this way, driving motor acts, disc brush rotation is driven, curtain wall is cleared up.
Further, the rolling brush mechanism 4 includes round brush 41 and round brush mounting base 42；The round brush 41 is solid axially outward
Dingan County is equipped with round brush support rod 43, and the round brush support rod 43 is hinged with round brush connecting rod 44, two round brush connecting rods 44
It is fixedly connected by round brush mounting rod 45,45 end of round brush mounting rod is hinged in the round brush mounting base 42, the rolling
Brush mounting base 42 is fixedly mounted on 1 lower end of main mounting plate.
In this way, round brush rotates, curtain wall is cleaned.
Further, the rolling brush mechanism 2 further includes damper 6 and damper mounting stand 61；Two round brush connections
Damper connecting rod 62 is fixedly installed between bar 44, described 6 one end of damper is fixedly mounted on the damper connecting rod 62
On, the other end has been bolted to connection damper circle connector 63, and the damper circle connector 63 is hinged on institute
It states on damper mounting stand 61, the damper mounting stand 61 is fixedly mounted on main 1 lower end of mounting plate.
In this way, being provided with damper, process can be cleaned to round brush and buffered, improve stability.
Further, the disc brush mechanism 3 is provided with 2, described 4 face of rolling brush mechanism, two disc brush mechanisms 3 it
Between be arranged.
In this way, cleaning area can be improved, rolling brush mechanism can be cleared up cleaning part non-between disc brush mechanism.
It further, further include roof suspension apparatus, the roof tower crane device includes roof tower crane system and is servo-actuated small
Vehicle, roof surrounding install guide rail, and the follow-up trolley can be moved along the guide rail；The roof tower crane system includes elevator
The safety rope of machine, the hoist engine is fixedly connected by pulley with the main mounting plate 1.
In this way, follow-up trolley moves, Robot horizontal motion is driven, is provided with safety rope, improves security performance,
It avoids falling.
Further, sucker connect setting with cylinder, and vacuum generator is fixedly installed on the main mounting plate, described true
Empty generator connect setting with cylinder by tracheae.When cylinder is in running order, sucker and curtain wall are at adsorption-like
State is then in disengaged position when cylinder, which is in, does not work (not air-breathing) state.This refers to be in disengaged position when sucker
When, electric cylinders just can be carried out promotion or stretching, and otherwise the torque of electric cylinders is not enough to pull sucker under adsorbed state.
Specifically, robot operating principle is as follows:
One, disposes track in roof surrounding, and follow-up trolley can be moved around surrounding in orbit, guarantees that robot can be clear
The safety rope of every one side of the mansion Jie Dao, hoist engine is connected on the i.e. main mounting plate of robot body by pulley.Glass curtain wall
Clean robot is continuously moved in the vertical direction with fixed electric cylinders stroke or customized stroke, and transverse shifting then passes through
The transverse shifting of roof suspension system and roof follow-up trolley, while assisting to be positioned manually.
The walking manner of two, suckers can be divided into following four step:
1) direct-installation electric cylinders lift sucker；
2) and then indirect installing type electric cylinders are by sucker forward impelling, while sucker can compress compressed spring；
3) direct-installation electric cylinders are fallen sucker suction on wall surface；
4) last installing type electric cylinders indirectly restore compression travel, are adsorbed on curtain wall since sucker is stable,
The main mounting plate of process that compressed spring actively resiles passively is pushed ahead by stabilization.
Three, cleaning systems use two sets of cleaning systems of disc brush mechanism and rolling brush mechanism.Two height and angle first
The spray head of the atomizing generator of adjusting generates atomized steam and is injected in glass surface, water vapor injection uniformly and broad covered area, then
Disc brush first carries out first pass cleaning, and for uncovered area among two disc brushes, round brush carries out secondary cleaning, for local stubbornness
Spot can be stayed for some time with remote-controlled robot, local emphasis cleaning be carried out, to reach satisfied cleaning effect.It is repeatedly clear
After washing operation, robot be may return on ground, lasting to guarantee by manually being replaced or being cleaned round brush and disc brush
Carry out washing and cleaning operation.
The walking manner of four, robots can be divided into following five parts: (carrying out defined below: it is same to be located at main mounting plate
Sucker on diagonal line is the first sucker group, and the sucker on another diagonal line of main mounting plate is the second sucker group.)
(1) when original state, the first sucker group is adsorbed in curtain wall, and the second sucker group is detached from curtain wall, the first sucker group
Direct-installation electric cylinders are in elongation state, and indirect installing type electric cylinders are in compressive state, and compressed spring is in and is not pressed normally
Contracting state.
(2) then any variation do not occur for the first sucker group, and the indirect installing type electric cylinders of the second sucker group are by the second sucker
The sucker of group is moved forward along mounting bracket, and then the direct-installation electric cylinders of the second sucker group push the suction of the second sucker group
Disk touches glass curtain wall namely direct, the indirect installing type electric cylinders of the second sucker group all move to extreme position, and at this time second
The compressed spring of sucker group is equally compressed to extreme position, controls the absorption that the cylinder operation of the second sucker group consolidates sucker
On glass curtain wall.
(3) followed by that the sucker standing of the second sucker group is constant, the sucker group that the cylinder of the first sucker group is controlled will
It is communicated with the atmosphere, the first sucker group is no longer adsorbed with glass curtain wall, therefore the first sucker group direct-installation electric cylinders are shunk, indirectly
Installing type electric cylinders and compressed spring are constant.But in this process, the compressed spring of the second sucker group can be extensive from compressive state
Again be prototype, due to the second sucker group absorption position is constant and the first sucker group there is no adsorption capacity, compressed spring drives
Robot is integrally moved along.
(4) then the second sucker group is integrally constant, and the indirect installing type electric cylinders of the first sucker group push forward hanging suction
Disk, then direct-installation electric cylinders push sucker to adsorb to glass curtain wall, so that compressed spring is to extreme position, cylinder pressure at this time
Contracting air is adsorbed on what the sucker of the first sucker group consolidated on glass surface.
(5) last first sucker group is stood constant, and the second sucker group repeats the movement of the first sucker group in third step, i.e.,
Second sucker group is detached from glass curtain wall, while the compressed spring of the first sucker group restores prototype and pushes robot forward, and first
Sucker group is still adsorbed on curtain wall, returns to initial position, and above procedure is a motion cycle.
Two groups of sucker alternating sorbents, drive entire robot vertically moving, while ensure that fuselage apart from glass
Curtain wall distance remains unchanged.Glass curtain wall clean robot uses integral frame-type structure in the application, and robot itself can be real
Existing vertical direction movement, the follow-up trolley realization carried by roof suspension system move horizontally, this scheme can simplify walking mechanism
Complexity, reduce the quality of robot body, while the stability and load capacity of robot also can be improved.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that；It still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement；And these are modified or replaceed, the model for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses, should all cover within the scope of the claims and the description of the invention.
Claims (10)
1. a kind of climb type curtain cleaning robot, which is characterized in that filled including main mounting plate, running gear and cleaning operation
It sets, the running gear and cleaning operation device connect setting with the main mounting plate；
The main mounting plate is arranged in cuboid structure；
The running gear includes four suckers, and four Angle Positions of the main mounting plate are arranged in four suckers, described
Running gear further includes being arranged on the main mounting plate for each sucker and for driving the dynamic of the sucker movement
Force mechanisms；
The cleaning operation device includes atomising mechanism, rolling brush mechanism and disc brush mechanism, and the disc brush mechanism is arranged in the rolling
Between brush mechanism and atomising mechanism.
2. a kind of climb type curtain cleaning robot according to claim 1, it is characterised in that: the power mechanism includes
The concave surface of two erection supports being fixedly mounted on the main mounting plate, two erection support faces is formed in length
The sliding slot of strip is fixedly installed with spring conductor rod in the sliding slot, further includes the plate that is slidably installed, described to be slidably installed on plate
It is provided with perforation, the spring conductor rod is slidably fitted in the perforation, is fixedly installed on the plate that is slidably installed vertical
The direct-installation electric cylinders of setting, the piston rod of the direct-installation electric cylinders are passed down through the plate setting that is slidably installed, institute
The piston rod for stating direct-installation electric cylinders is fixedly connected with downwards mounting rod, and the installation end of the mounting rod and the sucker is fixed
Connection, the absorption end of the sucker is down-set, and being provided between corresponding two erection supports on the main mounting plate allows institute
The elongated slot of the piston rod sliding of direct-installation electric cylinders is stated, is additionally provided on the main mounting plate for driving described be slidably installed
The pushing mechanism of plate movement is additionally provided with the resetting-mechanism for driving the sheet reset that is slidably installed on the main mounting plate.
3. a kind of climb type curtain cleaning robot according to claim 2, it is characterised in that: the pushing mechanism includes
It is fixedly mounted on the L-shaped installing plate of the main mounting plate lower surface, is fixedly installed with horizontally disposed in the L-shaped installing plate
Installing type electric cylinders are connect, the piston rod end of the indirect installing type electric cylinders is fixedly installed with vertically arranged baffle, the baffle
The corresponding mounting rod setting.
4. a kind of climb type curtain cleaning robot according to claim 3, it is characterised in that: the resetting-mechanism includes
The compressed spring being socketed on the outside of the spring conductor rod, the plate that is slidably installed are arranged in the compressed spring and the L shape
Between mounting plate.
5. a kind of climb type curtain cleaning robot according to claim 3, it is characterised in that: the atomising mechanism includes
The water tank that is fixedly mounted on the main mounting plate and the atomizing generator that setting is connect with water tank, the atomizing generator connect
It connects and is provided with spray head, the spray head is located at the main mounting plate lower end and down-set.
6. a kind of climb type curtain cleaning robot according to claim 5, it is characterised in that: the disc brush mechanism includes
Driving motor and disc brush, the driving motor are fixedly mounted on the main mounting plate by mounting flange, the driving motor
Output shaft it is down-set and pass through the main mounting plate be fixedly connected with the installation end of the disc brush.
7. a kind of climb type curtain cleaning robot according to claim 6, it is characterised in that: the rolling brush mechanism includes
Round brush and round brush mounting base；The round brush is fixedly installed with round brush support rod axially outward, and the round brush support rod is hinged with
Round brush connecting rod, two round brush connecting rods are fixedly connected by round brush mounting rod, and the round brush installation boom end is hinged on
In the round brush mounting base, the round brush mounting base is fixedly mounted on the main mounting plate lower end.
8. a kind of climb type curtain cleaning robot according to claim 7, it is characterised in that: the rolling brush mechanism also wraps
Include damper and damper mounting stand；Damper connecting rod, the damping are fixedly installed between two round brush connecting rods
Device one end is fixedly mounted in the damper connecting rod, and the other end has been bolted to connection damper circle connector,
The damper circle connector is hinged on the damper mounting stand, and the damper mounting stand is fixedly mounted on main installation
Plate lower end.
9. a kind of climb type curtain cleaning robot according to claim 8, it is characterised in that: the disc brush mechanism setting
There are 2, is arranged between the disc brush mechanism of the rolling brush mechanism face two.
10. a kind of climb type curtain cleaning robot according to claim 9, it is characterised in that: further include roof suspention
Device, the roof tower crane device include roof tower crane system and follow-up trolley, and roof surrounding installs guide rail, the follow-up trolley
It can be moved along the guide rail；The roof tower crane system includes hoist engine, and the safety rope of the hoist engine passes through pulley and institute
Main mounting plate is stated to be fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416568.4A CN110074713A (en) | 2019-05-20 | 2019-05-20 | A kind of climb type curtain cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416568.4A CN110074713A (en) | 2019-05-20 | 2019-05-20 | A kind of climb type curtain cleaning robot |
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| Publication Number | Publication Date |
|---|---|
| CN110074713A true CN110074713A (en) | 2019-08-02 |
Family
ID=67420762
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910416568.4A Pending CN110074713A (en) | 2019-05-20 | 2019-05-20 | A kind of climb type curtain cleaning robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110326996A (en) * | 2019-08-09 | 2019-10-15 | 嵊州摩天自动化设备有限公司 | A kind of glass metope scouring cleaning machine for high altitude operation |
| CN113520205A (en) * | 2021-07-19 | 2021-10-22 | 广州理工学院 | Glass curtain wall cleaning robot |
| CN114766957A (en) * | 2022-03-11 | 2022-07-22 | 沈阳航空航天大学 | Full-automatic glass curtain wall cleaning robot |
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| CN206598905U (en) * | 2017-04-05 | 2017-10-31 | 北华航天工业学院 | Four-footed sucked type automatic travelling device |
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