CN110101334A - A kind of suspension absorption type glass/photovoltaic curtain wall automatic rinser - Google Patents

A kind of suspension absorption type glass/photovoltaic curtain wall automatic rinser Download PDF

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Publication number
CN110101334A
CN110101334A CN201910504020.5A CN201910504020A CN110101334A CN 110101334 A CN110101334 A CN 110101334A CN 201910504020 A CN201910504020 A CN 201910504020A CN 110101334 A CN110101334 A CN 110101334A
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China
Prior art keywords
roller
curtain wall
running gear
gear
motor
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Granted
Application number
CN201910504020.5A
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Chinese (zh)
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CN110101334B (en
Inventor
刘仙萍
惠泽洁
杨江洲
洪佩玉
匡静怡
梁益桓
魏佳琪
胡沁儒
王深济
郝小礼
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Hunan University of Science and Technology
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Hunan University of Science and Technology
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Priority to CN201910504020.5A priority Critical patent/CN110101334B/en
Publication of CN110101334A publication Critical patent/CN110101334A/en
Application granted granted Critical
Publication of CN110101334B publication Critical patent/CN110101334B/en
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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00Cleaning windows
    • A47L1/02Power-driven machines or devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/4041Roll shaped surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408Means for supplying cleaning or surface treating agents
    • A47L11/4088Supply pumps; Spraying devices; Supply conduits
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00Working measures on existing buildings
    • E04G23/002Arrangements for cleaning building facades

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

The invention discloses a kind of suspension absorption type glass/photovoltaic curtain wall automatic rinsers, including rotary broom purging system, sucker running gear, hoist cable transmission system, control system;Rotary broom purging system includes roller, silica gel scraper plate, spray equipment, sewage collector and transmission device;Hairbrush is equipped on roller, the both ends of roller are mounted on rolling stand;Driving mechanism is installed, driving mechanism is connect by transmission device with roller brush on rolling stand;Silica gel scraper plate is separately installed with above and below roller;Sucker running gear can make the present invention clear the jumps;Hoist cable transmission system can control rolling stand and move up and down;Control system is connect with the driving mechanism of rotary broom purging system, sucker running gear, hoist cable transmission system.Present invention installation is simple and convenient, saves manpower, makes curtain cleaning efficient work, safety;Invention achieves the effects for liberating artificial, clean, safe, flexible, practical and cleaning effect real time monitoring.

Description

A kind of suspension absorption type glass/photovoltaic curtain wall automatic rinser
Technical field
The present invention relates to a kind of glass curtain wall cleaning devices, and in particular to a kind of suspension absorption type glass/photovoltaic curtain wall table Face automatic rinser.
Background technique
In construction industry, since the daylighting of glass is good, keeps the temperature, moisture-proof, and glass beauty is penetrating, and easy construction there emerged a Property space, therefore, glass architecture component by architect favor, more and more skyscrapers use glass curtain Wall construction, or glass shell covering is used to increase the aesthetic feeling of building;Meanwhile with photovoltaic and architecture-integral skill The development and propulsion of art, more and more building glass alien invasions are using photovoltaic and curtain wall integral structure, photovoltaic curtain Wall is using more and more extensive.In order to keep glass curtain wall appearance neatly beautiful, in order to keep the generating efficiency of photovoltaic curtain wall, need Glass and photovoltaic curtain wall surface are cleaned.
In the building curtain wall cleaning technique and related research result announced at present, such as related patents CN106917514A: Exterior wall cleanup crew (Spider-Man) is directly fixed on safety rope by hanging basket, slide plate and pulley by a kind of spider-man's lifting rope device On, belong to high-altitude dangerous operation, not only working efficiency is low, can also injure oneself, the safety of pedestrian;Further, since hanging basket is hung Although arm and auxiliary support bar use stable triangular structure, can not be made according to the variation of architectural construction corresponding Debugging, to have certain limitation.Such as related patents CN103536242A: host is directly fixed on by a kind of window cleaning equipment Ground delivers water into boom top using high pressure, controls cleaning brush by rotary extension cylinder and moves back and forth cleaning glass Each orientation spot, although solving staff human safety issues in above-mentioned spider-man's lifting rope device, there are still noises greatly, It does not wash clean clearly, is expensive, cannot be considered in terms of the problems such as spot in curtain wall gap.Such as related patents CN106725075A: one Kind has the slotting window machine of camera function, by turbine fan leaf from bottom air inlet, then from back outlet air, so that bottom inlet Subnormal ambient is formed, can tightly be adsorbed on glass surface, while can achieve the effect that heat dissipation.Although compact-sized, wipe Window effect is good, but its camera function is only capable of providing camera function, cannot achieve to cleaning effect not in conjunction with control system Real time monitoring.Such as related patents CN106245924B: a kind of glass curtain wall surface cleaning apparatus passes through the elongation of hydraulic cylinder piston And shortening, control hairbrush, which moves up and down, carries out curtain wall surface cleaning, it is dried up using hair dryer, but sewage recycling can not be solved, It cannot be guaranteed that glass surface leaves the spot left after sewage is dried, and hair dryer power consumption, therefore cleaning is not ensured that Effect and uneconomical cost-effective.Such as related patents CN107773145A: a kind of glass curtain wall cleaning machine device people, using hawser and sucker Curtain wall surface clean is carried out with hairbrush, dry tack free and sewage handling problem can not be solved, can not especially ensure that sucker does not occur It is hanging to be detached from, therefore encounter obstacle there are cleaning device and be unable to continuous work or sucker and be detached from curtain wall surface vacantly to send out The danger for splitting glass is hit in life.
Summary of the invention
The technical issues of in order to solve, the present invention provide the suspension that a kind of safety is good, multiple functional, adaptability is good and inhale Attached formula glass/photovoltaic curtain wall automatic rinser.
The technical solution adopted by the present invention is that: a kind of suspension absorption type glass/photovoltaic curtain wall automatic rinser, including roller Brush purging system, sucker running gear, hoist cable transmission system, control system;It is characterized by: the rotary broom purging system packet Include roller, silica gel scraper plate, spray equipment, sewage collector and transmission device;Hairiness is set on the cylindrical side of the roller Brush, the both ends of roller are mounted on rolling stand;Driving mechanism is installed on rolling stand, driving mechanism by transmission device with Roller connection, can drive roller to rotate;Silica gel scraper plate is separately installed with above and below the roller, below roller Silica gel scraper plate connects sewage collector;Spray equipment is mounted on above roller, and the spray port of spray equipment can spray hairbrush;
The sucker running gear includes sucker running gear bracket, mechanical arm and vacuum chuck;The sucker running gear Bracket is fixedly connected with rolling stand, and sucker running gear bracket two sides are separately installed with multiple mechanical arms, the end of mechanical arm Equipped with vacuum chuck, mechanical arm can support sucker running gear;
The hoist cable transmission system is connect by cable wire with rolling stand, can be controlled rolling stand and be moved up and down;
The control system and the driving mechanism of rotary broom purging system, the mechanical arm of sucker running gear, hoist cable power train System connection, and there is remote control function.
In above-mentioned suspension absorption type glass/photovoltaic curtain wall automatic rinser, the mechanical arm include forearm, middle arm, Large arm and bulb, the bulb include ball seat and sphere, and sphere is placed in ball seat, and sphere is equipped with fixed link, consolidating on ball seat Fixed pole bore dia is greater than the diameter of fixed link, and fixed link is fixedly mounted on sucker running gear bracket, the ball seat and big Arm connection, ball seat are equipped with lateral stake and longitudinal stake, and lateral stake and longitudinal stake are separately connected one end of two lead screw motors, two screw rods The other end of motor is connect with sucker running gear bracket, and the lead screw motor control large arm connecting with longitudinal stake is along curtain wall surface water Translation is dynamic, and the lead screw motor control large arm connecting with lateral stake is moved up and down along curtain wall surface vertical direction;Middle arm and large arm are cut with scissors It connects, is connected between middle arm and large arm by pen type motor, forearm and middle arm are hinged, and screw-type motor is equipped in forearm, can be adjusted Whole glass can be oriented movement when encountering barrier to the distance of equipment in a certain range, and the front end of forearm is equipped with Vacuum chuck;Screw-type motor difference in the pen type motor and forearm connected in the lead screw motor that is connected on bulb, middle arm It is connect with control system.
In above-mentioned suspension absorption type glass/photovoltaic curtain wall automatic rinser, the rotary broom purging system includes two Roller, two rollers are arranged in parallel, are located in the same vertical plane, and hairbrush is uniformly densely tightly placed in the periphery of roller, The both ends of two rollers are mounted on rolling stand, and the driving mechanism is mounted on rolling stand using motor, institute For the transmission device stated using belt driver, the output shaft of driving mechanism is equipped with the driving pulley of double flute, two rollers On be respectively equipped with the driven pulley of a single slot, driving pulley is connect by belt with driven pulley.
In above-mentioned suspension absorption type glass/photovoltaic curtain wall automatic rinser, spray equipment includes clear water adapter tube and cleaning Agent adapter tube, detergent adapter tube are located at the top of upper roller;Clear water adapter tube is located at the top of bottom roll;Clear water adapter tube and detergent connect Pipe sidewall bottom is distributed with clear water spray port and detergent spray port.
In above-mentioned suspension absorption type glass/photovoltaic curtain wall automatic rinser, the top of the roller, two rollers it Between and roller be respectively arranged below with a silica gel scraper plate, the silica gel scraper plate section of the top of roller is arch;Below roller The bottom of silica gel scraper plate is equipped with sewage pallet and sewage draining exit, and sewage draining exit is connected by blow-off line.
In above-mentioned suspension absorption type glass/photovoltaic curtain wall automatic rinser, the hoist cable transmission system includes steel knot Structure frame, variable speed electric motors, particularly, gear set, axis wheel group, cable wire and two groups of fixed pulley groups;The variable speed electric motors, particularly, gear set, fixed pulley Group, axis wheel group are fixedly mounted on steel structure frame, and the gear set includes pitch wheel I and gear II, mutually The bevel gear I and bevel gear II of engagement and intermeshing bevel gear III and bevel gear IV, bevel gear I and gear II are mounted on together In one shaft, bevel gear III and bevel gear II are mounted in same shaft, and the shaft of gear I is equipped with driven pulley, driven Belt pulley is connect by belt with the drive pulley on variable speed electric motors, particularly output shaft;It is equipped in the shaft of the bevel gear IV It is separately installed with axis wheel I in the shaft of three axis wheels II, gear I and gear II, one end of cable wire, steel are separately connected on axis wheel I The other end of rope connects around the fan-shaped suspension hook of corresponding fixed pulley group and rolling stand;It is equidistantly set on the fan-shaped suspension hook There are multiple cable wire holes.
In above-mentioned suspension absorption type glass/photovoltaic curtain wall automatic rinser, the steel structure frame is by rectangular steel plates Or channel steel welding or bolted mode are made, steel structure frame bottom is equipped with directive wheel;It is equipped at the top of steel structure frame clear Clean liquid reserve tank, the cleaning liquid reserve tank and detergent are connected to liquid pipe road one end, and detergent is bypassed to the other end in liquid pipe road The detergent of corresponding axis wheel II, fixed pulley group and spray equipment takes over connection;Detergent liquid reserve tank is made of transparent material.
It is equipped in above-mentioned suspension absorption type glass/photovoltaic curtain wall automatic rinser, at the top of the steel structure frame outstanding Arm, bottom are equipped with gravitational equilibrium bracket, and the direction that gravitational equilibrium bracket stretches out is stretched out contrary with cantilever.
In above-mentioned suspension absorption type glass/photovoltaic curtain wall automatic rinser, the directive wheel includes that four transverse directions are led To wheel and four longitudinally guiding wheels;The longitudinally guiding wheel includes directive wheel and screw rod, is inserted into steel construction frame by screw rod In the directive wheel mounting hole of frame;Screw rod is spirally connected with adjustment disk, and steel structure frame is supported on adjustment disk;It is same positioned at steel structure frame It is connected between two coaxial guide rollers of side by shaft, is fixedly connected with belt pulley, steel structure frame bottom in shaft Motor is installed, the output shaft of motor is equipped with drive pulley, and belt pulley is connect with drive pulley by belt, described Motor is connect with control system.
In above-mentioned suspension absorption type glass/photovoltaic curtain wall automatic rinser, the control system includes real time monitoring dress It sets, radar installations, limit switch and control module;There are two cameras for the real time monitoring apparatus, are separately positioned on roller Whether brush purging system mounting bracket top and sucker running gear mounting bracket bottom, monitoring curtain wall surface clean up;Institute The radar installations stated includes four groups of ultrasonic probes, is respectively installed on rotary broom purging system mounting bracket top, sucker row Walking system mounting bracket bottom and the left and right sides of sucker running gear mounting bracket, for detecting roller purging system and sucker Whether the surface of curtain wall up and down of running gear has barrier or hanging;The limit switch includes control box, chain sling And cable wire rope sling;Control box is bolted on the steel plate with fixed pulley group, and control box passes through chain sling and cable wire rope sling Connection, cable wire rope sling cover on the cable wire that fixed pulley drives;The control box of real time monitoring apparatus, radar installations and limit switch point It is not connect with control module;Control module is mounted on steel structure frame, the control module electricity with rotary broom purging system respectively Machine, sucker running gear mechanical arm on motor, the variable speed electric motors, particularly of hoist cable transmission system, steel structure frame driving motor connect It connects and radar installations is connected with photographic device, and there is remote control function.
Working principle of the present invention is as follows: the steel structure frame of automatic rinser is placed in the guide rail laid in advance On, horizontal distance of the cleaning machine apart from curtain wall is adjusted, detergent is matched, is added in detergent liquid reserve tank, running water pipe Access clear water feed pipe.The variable speed electric motors, particularly for starting hoist cable transmission system drives gear set rotation, hangs a left side for roller purging system Right two cable wires are realized flexible up and down by the axis wheel coaxial with the gear set, fixed pulley;Meanwhile the gear set band Dynamic the other three axis wheel, respectively around power supply flexible and signal wire, clear water feed pipe and detergent to liquid pipe, winding speed with Stretching speed is synchronous up and down for cable wire.Power supply is connected with signal wire is respectively connected to rotary broom purging system and sucker siphons away system Power supply and signal wire incoming end.The detergent that detergent is respectively connected to rotary broom purging system to liquid pipe and clear water feed pipe sprays Leaching mouth and clear water spray port, detergent spray port first spray detergent, after upper hairbrush soaks, wipe curtain wall surface Wash, while clear water spray port sprays clear water, lower hairbrush rinses curtain wall surface, thus realize the washing to curtain wall surface, Rinsing, achievees the purpose that cleaning, sewage is collected to ground by sewage pipe and focused on.The control of automatic control system Molding block realizes walk up and down speed and the cable wire of sucker running gear by the circuit control device of control sucker running gear Flexible speed sync up and down.Radar installations incudes sucker running gear in the extreme position up and down on curtain wall surface and special Barrier, and feed back to the control module of automatic control system: when sucker running gear runs to highest point or minimum point, control Molding block provides control signal respectively, and limit switch terminates cleaning machine automatically and walks up and down, and steel structure frame and sucker is made to walk System interlink, cleaning machine or so translation;Hanging curtain wall is vertically turned round side when sucker running gear runs to the sucker of side When edge, radar installations alarm terminates cleaning machine or so walking, and control module issues control signal to the circuit of sucker running gear Control device withdraws the middle brachiocylloosis of the side robot arm device, to ensure that cleaning machine is safely operated.In addition, the control Molding block has remote control program, encounters special surface interruptions in the robot arm device of sucker running gear and leads to not When continuing to run, remote handle manipulation mechanical arm leaping over obstacles can be carried out, cleaning machine is continued to run.
Compared with prior art, the beneficial effects of the present invention are:
1) cleaning machine of the invention integrally assembles at the scene according to the needs of cleaning, installs simple and convenient, cleaning process saving people Power makes curtain cleaning efficient work, safety;It is artificial, clean, safe, flexible, practical and clear invention achieves liberating Work can be improved using the device when glass to be carried out/photovoltaic curtain wall surface clean work in the effect for washing effect real time monitoring Make efficiency:
2) rotary broom purging system of the invention, two roller brush make to clean and rinse while carrying out, and closed brush hood prevents Sewage splashes, three pieces of silica gel scraper plates are close to curtain wall surface, scraping and collection sewage, and scrape dry curtain wall by rubbing action Surface, the above multiple action keep curtain wall surface clean effect sparkling clean, and clean process and sewage collecting processing simultaneously into Row, work efficiency is high.
3) present invention is equipped with camera and cleaning effect is monitored in real time and fed back, and judges whether to need secondary cleaning, The cleaning effect of cleaning machine is ensured.
4) the shape design camber or linear type of roller of the invention, roller brush and scraper plate, can be according to curtain The different geometries on wall surface are replaced, and enhance cleaning machine to the adaptability of different building curtain wall geometric shapes.
5) cable wire of the invention and the linkage of sucker running gear, make roller brush upstream or downstream work, or pause, this Invention be equipped with radar installations induction special obstacle object or curtain wall vertically whether sucker is hanging at turn edge, feed back to control system receipts Mechanical arm is returned, cable wire of the invention, sucker running gear and radar installations synergy have ensured the safety of cleaning machine.
6) control system of the invention ensures that sucker running gear can be in the walking of curtain wall surface flexibly, safe, and makes Cleaning machine coordinated operation.
7) present invention can be controlled remotely, realize the flexible control of cleaning machine, and ensure that cleaning machine is continuous, grasps safely Make.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is rotary broom purging system perspective view of the invention.
Fig. 3 is the roller and hairbrush perspective view of rotary broom purging system of the invention.
Fig. 4 is the perspective view of sucker running gear of the invention.
Fig. 5 is single mechanical arm structure chart of sucker running gear of the invention.
Fig. 6 is bulb internal structure chart of the invention.
Fig. 7 is motor distribution map in mechanical arm of the invention.
Fig. 8 is the perspective view of hoist cable transmission system of the invention.
Fig. 9 is the motor and gear set structure chart of hoist cable transmission system of the invention.
Figure 10 is the axis wheel group structure figure of hoist cable transmission system of the invention.
Figure 11 is the fixed pulley group structure chart of hoist cable transmission system of the invention.
Figure 12 is longitudinally guiding wheel construction figure of the invention.
Figure 13 is the structure chart that the directive wheel of steel structure frame of the invention is driven by motor.
Figure 14 is photographic device and radar installations structure chart of the invention.
Figure 15 is limit-switch positions structure chart of the invention.
Specific embodiment
Technical scheme of the present invention will be further described with reference to the accompanying drawing.
As shown in figs. 1-11, a kind of suspension absorption type glass/photovoltaic curtain wall automatic rinser solid provided by the invention View such as Fig. 1, including rotary broom purging system 1, sucker running gear 2, control system 3 and hoist cable transmission system 4.
As shown in Figure 2,3, the rotary broom purging system 1 includes two rollers 801,802, transmission system, three blocks of silica gel Scraper plate 1001,1002,1003, detergent and clear water spray equipment.Roller 801 and the vertical parallel setting of roller 802, roller 801 Above roller 802, hairbrush 701 and hairbrush 702, roller 801 and rolling are respectively installed on upper roller 801 and bottom roll 802 The both ends of cylinder 802 are separately mounted on rolling stand 13, and roller 801 and roller 802 are separately mounted in closed brush hood 12, Brush hood 12 is fixedly mounted on rolling stand 13.The rolling stand 13 is equipped with motor 14, on the output shaft of motor 14 Driven pulley 902, the driven pulley of single slot are respectively equipped on drive pulley 901 equipped with double flute, roller 801 and roller 802 903, driving pulley 901 is connect by belt with driven pulley 902,903, and motor 14 rotates, and can pass through belt drive unit It drives roller 801 and roller 802 to rotate, glass/photovoltaic curtain wall is cleaned.
Silica gel scraper plate 1001, silica gel scraper plate are respectively equipped between the top of roller 801, the lower section of roller 802 and two rollers 1003 and silica gel scraper plate 1002, the section of silica gel scraper plate 1001 is arch form, and silica gel scraper plate 1002 separates roller 801 and roller 802, The both ends of silica gel scraper plate 1002 are equipped with sewage routeway, and sewage is guided to silica gel by the sewage routeway at middle 1002 both ends of silica gel scraper plate and scrapes Plate 1003,1003 bottom of silica gel scraper plate connect sewage collector.Silica gel scraper plate 1001, silica gel scraper plate 1003 and silica gel scraper plate 1002 And the shape of roller 801 and roller 802 can be designed according to the shape of glass curtain wall, and cleaning equipment can be more bonded Curtain wall surface can adapt to the building of different geometry appearances.
The detergent and clear water spray equipment includes that clear water adapter tube 1501, detergent adapter tube 1502 and adapter tube are upper equal The spray port of even arrangement.Detergent adapter tube 1502 and clear water adapter tube 1501 protrude into brush hood, are located at roller 801 and roller 802 top, detergent adapter tube 1502 and clear water adapter tube 1501 are parallel to roller 801 and roller 802 is arranged, detergent adapter tube The bottom of 1502 side walls is evenly arranged equipped with detergent spray port 1101, can spray detergent to roller 801.Clear water adapter tube 1501 bottoms are evenly arranged equipped with clear water spray port 1102, can spray clear water to roller 802.Detergent is from detergent spray port After 1101 spray, upper roller 801 is started to work, while clear water spray port 1102 sprays clear water, rinses to roller 802.Rolling The bottom of the silica gel scraper plate 1003 of 802 lower section of cylinder is equipped with sewage pallet and sewage draining exit, and sewage draining exit is connected by blow-off line 28, will Sewage guides ground into.
As shown in Figure 4-Figure 7, the sucker running gear 2 includes sucker running gear bracket 16, mechanical arm 17 and vacuum Sucker 18.Sucker running gear bracket 16 is fixedly connected with rolling stand 13, the two sides of the sucker running gear bracket 16 It is respectively equipped with two mechanical arms.Mechanical arm includes forearm 1701, middle arm 1702, large arm 1703 and bulb 1704.Bulb 1704 For internal structure as shown in fig. 6, the bulb includes ball seat 1704A and sphere 1704D, sphere 1704D is placed in ball seat 1704A Interior, sphere 1704D is equipped with fixed link 1704C, and the fixed link bore dia on ball seat 1704A is greater than the diameter of fixed link 1704C, Gu Fixed pole 1704C is fixedly mounted on sucker running gear bracket 16, and the ball seat 1704A is connect with large arm, on ball seat 1704A Equipped with lateral stake 1706 and longitudinal stake 1705, lateral stake 1706 and longitudinal stake 1705 are separately connected two lead screw motors 1707,1708 One end, the other end of two lead screw motors 1707,1708 connect with sucker running gear bracket 16, connect with longitudinal stake 1705 Lead screw motor 1708 controls large arm and moves horizontally along curtain wall surface, and the lead screw motor 1707 connecting with lateral stake 1706 controls large arm Along curtain wall surface, vertical direction is moved up and down.Middle arm 1702 is hinged with large arm 1703, passes through between middle arm 1702 and large arm 1703 Pen type motor 1709 connects, and by the flexible of pen type motor 1709, can play a supporting role to mechanical arm, encounter obstacle It can control mechanical arm when object to beat straight or curve inwardly.Forearm 1701 and middle arm 1702 are hinged, and screw-type is equipped in forearm 1701 Motor 1710, can adjust glass to the distance of equipment in a certain range, and can be in a certain range when encountering barrier It is inside oriented movement, the front end of forearm is equipped with vacuum chuck 18.The screw-type motor 1707 and 1708 of bulb wiring pile connection, Screw-type motor 1710 in pen type motor 1709 and forearm 1701 is connect with control system respectively.Before entire mechanical arm Arm 1701, middle arm 1702, large arm 1703 and bulb 1704 cooperate jointly, and neatly araneiform four limbs are the same, continuous, coordination It walks on glass/photovoltaic curtain wall on ground.Sucker running gear is secured firmly to glass by the attached effect that vacuum inhales sucker 18 Or on photovoltaic curtain wall.
As Figure 8-Figure 10, the hoist cable transmission system includes cable wire, three groups of fixed pulley groups, axis wheel group, variable speed electric motors, particularly 22, gear set and steel structure frame;The variable speed electric motors, particularly 22, gear set, fixed pulley group, axis wheel group are fixedly mounted on steel construction On frame, the gear set includes pitch wheel I 2301 and gear II 2302, intermeshing bevel gear I 2303 With bevel gear II 2304 and intermeshing bevel gear III 2305 and bevel gear IV 2306, bevel gear I 2303 and gear II 2302 It is mounted in same shaft, bevel gear III 2305 and bevel gear II 2304 are mounted in same shaft 25, the shaft of gear I 2301 It is equipped with driven pulley, driven pulley is connect by belt with the drive pulley on 22 output shaft of variable speed electric motors, particularly, speed change Motor 22 is able to drive gear set rotation.There are three axis wheels II for installation in the shaft of the bevel gear IV 2306, are axis respectively Take turns II 2101, axis wheel II 2102, axis wheel II 2103.Three groups of fixed pulley groups include 9 fixed pulleys, are fixed pulley 2001 respectively, fixed Pulley 2002, fixed pulley 2004, fixed pulley 2005, fixed pulley 2006, fixed pulley 2007, fixed pulley 2008, is determined fixed pulley 2003 Pulley 2009, every group of three fixed pulleys;Wherein two groups of fixed pulley groups are for conveying two cable wires 1901,1902, one group of fixed pulley Group is for conveying detergent to liquid pipe road 2602, clear water feedwater piping 27 and power supply and signal wire 29.The gear I 2301 With axis wheel I 2104,2105 is separately installed in the shaft of gear II 2302, be separately connected steel on axis wheel I 2104, axis wheel I 2105 The other end of one end of rope 1901 and cable wire 1902, cable wire 1901 and cable wire 1902 is around corresponding fixed pulley group and roller branch The fan-shaped suspension hook 1903,1904 of the two of frame connects.Cable wire 1902 is stretched by the winding of axis wheel 2105, then is slided surely by one group Three fixed pulleys 2001,2002,2003 of wheel change force direction;With the same mechanism of cable wire 1902, cable wire 1901 is by axis wheel 2104 windings, then change force direction by three fixed pulleys 2004,2005,2006 of one group of fixed pulley.Cable wire 1901 with Cable wire 1902 hangs rotary broom purging system jointly, moves up and down roller purging system with the flexible of cable wire.Cable wire 1901 and the other end of cable wire 1902 pass through fan-shaped suspension hook 1903,1904 respectively and connect with the bracket 13 of roller purging system, such as Fig. 2.There is one group of equidistant drilling on the fan-shaped suspension hook 1903 and 1904 respectively, for adjusting installation deviation.
Another group of fixed pulley includes fixed pulley 2007, fixed pulley 2008, fixed pulley 2009, fixed pulley 2007, fixed pulley 2008, fixed pulley 2009 is coaxially disposed, and is corresponded respectively to axis wheel II 2101, axis wheel II 2102, axis wheel II 2103 and be arranged, fixed sliding Wheel 2007, fixed pulley 2008, fixed pulley 2009 and axis wheel II 2101, axis wheel II 2102, axis wheel II 2103 cooperate, and are respectively used to defeated Power transmission source and signal wire 29, clear water feedwater piping 27 and detergent are taken over to liquid pipe road 2602, clear water feedwater piping 27 and clear water 1501 connections.Detergent is connect by speed-variable pump with detergent liquid reserve tank 2601 to the one end in liquid pipe road 2602, detergent liquid storage Case 2601 is fixedly mounted on 3001 top of steel structure frame, and the other end is connect with detergent adapter tube 1502.
The detergent liquid reserve tank 2601 is the bulk containers of transparent material, and liquid level is visual, and liquid level ball-cock assembly is housed. Detergent, to liquid pipe road 2602, is transported to the upper of the rotary broom purging system from liquid reserve tank 2601, speed-variable pump and detergent The detergent connecting tube 1502 and detergent spray port 1101 of roller 801.Clear water is from running water pipe, speed-variable pump and clear water feed pipe Road 27 is transported to the clear water connecting tube 1501 and clear water spray port 1102 of the bottom roll 802 of the rotary broom purging system.Institute The clear water feedwater piping 27 and detergent stated are flexible duct to liquid pipe 2602, respectively wound on the axis wheel of hoist cable transmission system The axis wheel II 2102 of group on axis wheel II 2103, then by fixed pulley 2008, fixed pulley 2009 changes action direction, is separately connected To the connecting tube 1501 and 1502 of the roller purging system.The axis wheel II 2101 of power supply and signal wire 29 wound on axis wheel group On, then by the change force direction of fixed pulley 2007, it is respectively connected to the electricity of rotary broom purging system and sucker running gear Source line and control line terminals.
As depicted in figs. 11-12, the steel structure frame 3001 passes through weldering by the rectangular steel plates or channel steel of stainless steel material It the modes such as connects or is bolted to be assembled, cantilever 3002 and detergent liquid reserve tank are equipped at the top of the steel structure frame 3001 2601, detergent liquid reserve tank 2601 is made of clear material, and can monitor liquid level.3001 bottom of steel structure frame is equipped with balance weight The bracket 3003 of power and four guide rollers 3101 and four longitudinally guiding wheels 3102.Guide roller 3101 and longitudinally guiding Wheel 3102 is mounted at four angles of the bottom of the steel structure frame 3001, and directive wheel is flat along the track of roofing It moves.Guide roller 3101 is fixedly connected on the bottom of steel structure frame 3001, and guide roller 3101 is main production orientation wheel. The longitudinally guiding wheel 3102 includes directive wheel and screw rod, is installed by the directive wheel that screw rod is inserted into steel structure frame 3001 In hole;Screw rod is spirally connected with adjustment disk 32, and steel structure frame 3001 is supported on adjustment disk 32.Adjustment disk 32 can adjust vertical up and down To the mounting height of directive wheel 3102, the conversion of guide roller 3101 and longitudinally guiding wheel 3102 is realized.Cleaning starting At the beginning of, when assembly cleaning machine, when needing to adjust the horizontal distance of cleaning machine and curtain wall, adjustment disk 32 makes guide roller 3101 outstanding Sky makes longitudinally guiding wheel 3102 be down to long rails;When guide roller 3101 is in working track, adjustment disk 32 makes longitudinal lead It is promoted to vacantly to wheel 3102.The structure that the guide roller 3101 of steel structure frame 3001 is driven by motor is as shown in figure 13. The bottom of steel structure frame 3001 is equipped with a longitudinal plate 3101A, is equipped with motor 3101B on longitudinal plate 3101A, is located at steel construction frame It is connected between two ipsilateral coaxial guide rollers 3101 of frame 3001 by shaft 3101C, is fixedly connected on shaft 3101C The output shaft of belt pulley 3101D, motor 3101B are equipped with drive pulley, and belt pulley 3101D and drive pulley pass through belt 3101E connection, the motor 3101B are connect with control system.Motor 3101B drives connecting rod by belt drive unit 3101C rotation is advanced so that guide roller be driven to roll.
As shown in Figure 14,15, the control system 3 includes real time monitoring apparatus, radar installations 34 and control module 35, limit Bit switch.The real time monitoring apparatus is made of camera 3301 and camera 3302 and its control route, is separately positioned on Rotary broom purging system mounting bracket top and sucker running gear mounting bracket bottom, it is dry whether monitoring curtain wall surface is cleaned Only, camera 3301 and camera 3302 are connect with control module 35.The radar installations includes four groups of ultrasonic probes, point The ultrasonic probe 3401 on rotary broom purging system mounting bracket top Wei be installed on, be installed on sucker running gear installation branch The ultrasonic probe 3402 of frame bottom, be respectively arranged in sucker running gear mounting bracket left and right ends two ultrasonic waves visit First 3403,3404, radar installations are connect with control module 35.The ultrasonic probe 3401-3404 is used to detect roller clear Whether the surface of curtain wall up and down for sweeping system and sucker running gear has barrier or hanging, and the case where monitoring is anti- It is fed in control module 35.Limit switch includes control box 3601, chain sling 3602, cable wire rope sling 3603;Control box 3601 passes through It is bolted on the steel plate with fixed pulley group, control box 3601 is connect by chain sling 3602 with cable wire rope sling 3603, cable wire 3603 sets of rope sling on the cable wire that fixed pulley 2006 drives.The movement of cleaning machine is set according to the vertical height of curtain cleaning operation Distance, when cleaning machine upstream or downstream are to distance limits, cable wire rope sling 3603 triggers limit switch cutting by chain sling 3602 The power supply of variable speed electric motors, particularly 22 keeps cleaning machine out of service, prevents security risk.The control module of the control system 3 35 are mounted on steel structure frame 3001.Contain integrated numerical-control circuit in the control module 35, therefrom pulls out six strands Road: the motor 14 of rotary broom purging system 1 is accessed on the first strand road, for controlling and roller being driven to rotate.Second strand road connects Enter the screw-type speed regulating motor 1707 and 1708, penholder motor 1709 and lead screw motor of the mechanical arm of sucker running gear 2 1710, for driving the mechanical arm coordinated movement of various economic factors.The variable speed electric motors, particularly 22 and limit switch of third strand road access hoist cable transmission system Control box 3601, for control rotary broom purging system 1 go up and down.The driving motor of 4th strand road access guide roller 3101B, for controlling the transverse shifting of steel structure frame 3001.Ultrasonic probe 3401-3404 is accessed on 5th strand road, is used for Whether the surface of curtain wall up and down of detection roller purging system and sucker running gear has barrier or hanging, ensures cleaning Machine safe operation.Camera 3301 and 3302 is accessed on 6th strand road, for monitoring and feeding back cleaning effect.
The present invention is in use, the steel structure frame 3001 of automatic rinser is placed on the guide rail laid in advance, tune Horizontal distance of the whole cleaning machine apart from curtain wall, when cleaning machine is adjusted to the operating position needed, fixed and steel structure frame 3001 directive wheel.Detergent is matched, is added in detergent liquid reserve tank 2601, running water pipe accesses clear water feed pipe. The variable speed electric motors, particularly 22 for starting hoist cable transmission system 4 drives gear set rotation, hangs the cable wire of left and right two of roller purging system 1 1901,1902 is flexible up and down by the axis wheel coaxial with the gear set, two groups of fixed pulleys realizations.Meanwhile the gear Group drives the other three axis wheel, respectively around power supply flexible and signal wire 29, clear water feedwater piping 27 and detergent to liquid pipe Road 2602, stretching speed is synchronous up and down with cable wire for winding speed.Power supply and signal wire 29 are respectively connected to rotary broom purging system The power supply and signal wire incoming end of system are siphoned away with sucker.Detergent is respectively connected to roll to liquid pipe 2602 and clear water feed pipe 27 The detergent spray port 1502 and clear water spray port 1501 of cylinder brush purging system, detergent spray port first spray detergent, to After the hairbrush of upper roller soaks, curtain wall surface is cleaned, while clear water spray port sprays clear water, the hairbrush of bottom roll is to curtain Wall surface is rinsed, to realize the washing to curtain wall surface, rinsing, achievees the purpose that cleaning, sewage is by sewage drainage pipe It collects to ground and is focused in road.
When hoist cable transmission system variable speed electric motors, particularly 22 start when, band running wire 1901,1902 with corresponding speed transfer or on It rises, one route of control module 35 makes the upper of sucker running gear 2 by the circuit control device of control sucker running gear The lower speed of travel is synchronous with the speed holding that the cable wire of hoist cable transmission system 4 moves up and down.When sucker running gear 2 is run to most When high point or minimum point, control module 35 provides control signal, the variable speed electric motors, particularly of limit switch linked suspension transmission system respectively 22 termination cleaning machines walk up and down, while steel structure frame 3001 and sucker running gear being made to link, and realize that cleaning machine or so is flat It moves.When sucker running gear 2 runs to the sucker of side for hanging curtain wall vertically turn edge, radar installations alarm, eventually Only cleaning machine or so is walked, and control module 35 issues control signal to the circuit control device of sucker running gear, makes the side machine The middle brachiocylloosis of tool arm assembly is withdrawn, to ensure that cleaning machine is safely operated.In addition, the control module 35 is with long-range distant Program is controlled, it, can be with when the robot arm device of sucker running gear encounters special surface interruptions and leads to not continue to run It carries out remote handle and manipulates mechanical arm leaping over obstacles, continue to run cleaning machine.

Claims (10)

1. a kind of suspension absorption type glass/photovoltaic curtain wall automatic rinser, including rotary broom purging system, sucker running gear, Hoist cable transmission system, control system;It is characterized by: the rotary broom purging system includes roller, silica gel scraper plate, spray dress It sets, sewage collector and transmission device;Hairbrush is set on the cylindrical side of the roller, the both ends of roller are mounted on roller On bracket;Driving mechanism is installed, driving mechanism is connect by transmission device with roller, and roller can be driven to turn on rolling stand It is dynamic;Silica gel scraper plate is separately installed with above and below the roller, the silica gel scraper plate below roller connects sewage collector; Spray equipment is mounted on above roller, and the spray port of spray equipment can spray hairbrush;
The sucker running gear includes sucker running gear bracket, mechanical arm and vacuum chuck;The sucker running gear Bracket is fixedly connected with rolling stand, and sucker running gear bracket two sides are separately installed with multiple mechanical arms, the end of mechanical arm Equipped with vacuum chuck, mechanical arm can support sucker running gear;
The hoist cable transmission system is connect by cable wire with rolling stand, can be controlled rolling stand and be moved up and down;
The control system and the driving mechanism of rotary broom purging system, the mechanical arm of sucker running gear, hoist cable power train System connection, and there is remote control function.
2. suspension absorption type glass/photovoltaic curtain wall automatic rinser according to claim 1, it is characterized in that: the machine Tool arm includes forearm, middle arm, large arm and bulb, and the bulb includes ball seat and sphere, and sphere is placed in ball seat, and sphere is equipped with Fixed link, the fixed link bore dia on ball seat are greater than the diameter of fixed link, and fixed link is fixedly mounted on sucker running gear bracket On, the ball seat is connect with large arm, and ball seat is equipped with lateral stake and longitudinal stake, and lateral stake and longitudinal stake are separately connected two screw rods The other end of one end of motor, two lead screw motors is connect with sucker running gear bracket, the lead screw motor control connecting with longitudinal stake Large arm processed is moved horizontally along curtain wall surface, and the lead screw motor control large arm connecting with lateral stake is above and below the vertical direction of curtain wall surface It is mobile;Middle arm and large arm are hinged, are connected between middle arm and large arm by pen type motor, and forearm and middle arm are hinged, set in forearm There is screw-type motor, glass can be adjusted to the distance of equipment, shifting can be oriented in a certain range when encountering barrier Dynamic, the front end of forearm is equipped with vacuum chuck;In the pen type motor and forearm connected in the lead screw motor that is connected on bulb, middle arm Screw-type motor connect respectively with control system.
3. suspension absorption type glass/photovoltaic curtain wall automatic rinser according to claim 1, it is characterized in that: the roller Brush purging system includes two rollers, and two rollers are arranged in parallel, are located in the same vertical plane, and hairbrush is uniformly densely fixed It is mounted on rolling stand at the both ends of the periphery of roller, two rollers, the driving mechanism is using motor, peace On rolling stand, the transmission device is equipped with double flute using belt driver, the output shaft of driving mechanism Driving pulley, the driven pulley of a single slot is respectively equipped on two rollers, and driving pulley is connect by belt with driven pulley.
4. suspension absorption type glass/photovoltaic curtain wall automatic rinser according to claim 1, characterized in that spray equipment Including clear water adapter tube and detergent adapter tube, detergent adapter tube is located at the top of upper roller;Clear water adapter tube is located at the top of bottom roll; Clear water adapter tube and detergent adapter tube sidewall bottom are distributed with clear water spray port and detergent spray port.
5. suspension absorption type glass/photovoltaic curtain wall automatic rinser according to claim 1, it is characterized in that: the rolling The top of cylinder, between two rollers and roller is respectively arranged below with a silica gel scraper plate, the silica gel scraper plate of the top of roller cuts Face is arch;The bottom of silica gel scraper plate below roller is equipped with sewage pallet and sewage draining exit, and sewage draining exit is connected by blow-off line.
6. suspension absorption type glass/photovoltaic curtain wall automatic rinser according to claim 1, it is characterized in that: described hangs Rope transmission system includes steel structure frame, variable speed electric motors, particularly, gear set, axis wheel group, cable wire and two groups of fixed pulley groups;The speed change Motor, gear set, fixed pulley group, axis wheel group are fixedly mounted on steel structure frame, and the gear set includes intermeshing Gear I and gear II, intermeshing bevel gear I and bevel gear II and intermeshing bevel gear III and bevel gear IV bore tooth Wheel I is mounted in same shaft with gear II, and bevel gear III and bevel gear II are mounted in same shaft, in the shaft of gear I Equipped with driven pulley, driven pulley is connect by belt with the drive pulley on variable speed electric motors, particularly output shaft;The cone It is separately installed with axis wheel I in the shaft of axis wheel II there are three installations in the shaft of gear IV, gear I and gear II, divides on axis wheel I Not Lian Jie cable wire one end, the other end of cable wire connects around the fan-shaped suspension hook of corresponding fixed pulley group and rolling stand;Institute Multiple cable wire holes are equidistantly equipped on the fan-shaped suspension hook stated.
7. suspension absorption type glass/photovoltaic curtain wall automatic rinser according to claim 1, it is characterized in that: the steel Structural framing is made of rectangular steel plates or channel steel welding or bolted mode, and steel structure frame bottom is equipped with directive wheel;Steel Cleaning liquid reserve tank is equipped at the top of structural framing, the cleaning liquid reserve tank and detergent are connected to liquid pipe road one end, and detergent is given The other end in liquid pipe road takes over connection around the detergent of corresponding axis wheel II, fixed pulley group and spray equipment;Detergent storage Liquid case is made of transparent material.
8. suspension absorption type glass/photovoltaic curtain wall automatic rinser according to claim 9, it is characterized in that: the steel Cantilever is equipped at the top of structural framing, bottom is equipped with gravitational equilibrium bracket, what the direction and cantilever that gravitational equilibrium bracket stretches out were stretched out It is contrary.
9. suspension absorption type glass/photovoltaic curtain wall automatic rinser according to claim 9, it is characterized in that: described leads It include four guide rollers and four longitudinally guiding wheels to wheel;The longitudinally guiding wheel includes directive wheel and screw rod, is passed through Screw rod is inserted into the directive wheel mounting hole of steel structure frame;Screw rod is spirally connected with adjustment disk, and steel structure frame is supported on adjustment disk On;It is connected between two coaxial guide rollers ipsilateral positioned at steel structure frame by shaft, is fixedly connected with skin in shaft Belt wheel, steel structure frame bottom are equipped with motor, and the output shaft of motor is equipped with drive pulley, belt pulley and drive pulley It is connected by belt, the motor is connect with control system.
10. suspension absorption type glass/photovoltaic curtain wall automatic rinser according to claim 1, it is characterized in that: the control System includes real time monitoring apparatus, radar installations, limit switch and control module;There are two camera shootings for the real time monitoring apparatus Head is separately positioned on rotary broom purging system mounting bracket top and sucker running gear mounting bracket bottom, monitors curtain wall table Whether face cleans up;The radar installations includes four groups of ultrasonic probes, is respectively installed on rotary broom purging system peace The left and right sides of cantilever tip, sucker running gear mounting bracket bottom and sucker running gear mounting bracket is filled, for detecting Whether the surface of curtain wall up and down of roller purging system and sucker running gear has barrier or hanging;The limit is opened Close includes control box, chain sling and cable wire rope sling;Control box is bolted on the steel plate with fixed pulley group, and control box is logical It crosses chain sling to connect with cable wire rope sling, cable wire rope sling covers on the cable wire that fixed pulley drives;Real time monitoring apparatus, radar installations and limit The control box of bit switch is connect with control module respectively;Control module is mounted on steel structure frame, control module respectively with rolling The cylinder motor of brush purging system, sucker running gear mechanical arm on motor, hoist cable transmission system variable speed electric motors, particularly, steel construction The driving motor of frame connects and radar installations is connected with photographic device, and has remote control function.
CN201910504020.5A 2019-06-12 2019-06-12 Suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine Active CN110101334B (en)

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CN110558892B (en) * 2019-08-27 2021-06-08 霍山知行信息科技有限公司 Balcony window intelligence cleaning device
CN110558892A (en) * 2019-08-27 2019-12-13 霍山知行信息科技有限公司 Balcony window intelligence cleaning device
CN110682306A (en) * 2019-10-21 2020-01-14 温州伊诺韦特科技有限公司 Window cleaning robot with good cleaning effect and control system and method thereof
CN110876590A (en) * 2019-11-22 2020-03-13 中国十七冶集团有限公司 Large steel structure workshop wall panel cleaning device and using method
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CN111134564A (en) * 2020-02-20 2020-05-12 广西信旺机电设备安装工程有限公司 High-altitude glass vacuum automatic cleaning machine
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CN112932316B (en) * 2021-03-06 2022-04-12 山东阅航环保科技有限公司 High-speed belt cleaning device of cavity glass for high-rise building
CN113229739A (en) * 2021-04-19 2021-08-10 中交二公局第三工程有限公司 Glass curtain wall cleaning system capable of cleaning and transversely moving again
CN114305253A (en) * 2021-12-30 2022-04-12 广东博智林机器人有限公司 Cleaning device and cleaning equipment
CN115281556A (en) * 2022-08-04 2022-11-04 河南峰帆安装工程有限公司 Image processing-based self-adaptive special-shaped glass curtain wall cleaning device
CN115281556B (en) * 2022-08-04 2024-05-24 河南峰帆安装工程有限公司 Self-adaptive special-shaped glass curtain wall cleaning device based on image processing

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