CN110123191B - Window cleaning robot system and cleaning method - Google Patents
Window cleaning robot system and cleaning method Download PDFInfo
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- CN110123191B CN110123191B CN201910407339.6A CN201910407339A CN110123191B CN 110123191 B CN110123191 B CN 110123191B CN 201910407339 A CN201910407339 A CN 201910407339A CN 110123191 B CN110123191 B CN 110123191B
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- window cleaning
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- window
- building
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
Abstract
The invention relates to the technical field of robots, in particular to a window cleaning robot system and a cleaning method. A window cleaning robot system comprises at least two window cleaning robots, wherein the at least two window cleaning robots are connected in series through flexible connecting pieces to form a closed structure which can be sleeved outside a building. The window cleaning robot is sleeved outside the building through the at least two window cleaning robots in series to form a closed structure, the window cleaning robot is fixed outside the building through the tension force of the flexible connecting piece, an adsorption device is not needed, the structure of the window cleaning robot is simplified, the safety performance is high, and the utilization rate of energy sources is improved. Solves the problems of low safety performance and complex structure of the window cleaning robot in the prior art.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a window cleaning robot system and a cleaning method.
Background
Along with the rapid, stable and healthy development of Chinese national economy, more and more high-rise and super-high-rise buildings are pulled out from cities, in order to increase lighting, light transmission, heat preservation, heat insulation and attractive appearance of outer walls in the buildings, a heat preservation and heat insulation double-layer glass curtain wall structure is often selected for the modern super-high-rise building outer walls, and the glass curtain of the building outer walls needs to be cleaned regularly in order to keep the long-term cleanness and attractive appearance of the building outer walls, so that popularization and application of high-rise window cleaning equipment in China are accelerated.
With the rapid development of modern society science and technology, the necessity of using window cleaning robots for high-rise and super-high-rise glass curtain buildings has been widely accepted, and the window cleaning robots are the safest and practical special equipment for high-altitude operation. However, the existing window cleaning robots generally have the following problems: the safety performance is low, the structure is complex, the energy utilization rate and the working efficiency are low; convex and concave parts exist on the wall surface and cannot pass through, and obstacle crossing capability is low.
Disclosure of Invention
The invention provides a window cleaning robot system and a cleaning method, which solve the problems of low safety performance and complex structure of a window cleaning robot in the prior art. The technical scheme of the invention is as follows:
a window cleaning robot system comprises at least two window cleaning robots, wherein the at least two window cleaning robots are connected in series through flexible connecting pieces to form a closed structure which can be sleeved outside a building.
Further, the window cleaning robot comprises a crawler walking unit, a vehicle body and a cleaning unit, wherein the crawler walking unit drives the vehicle body to move, the crawler walking unit can rotate relative to the vehicle body, and the cleaning unit is installed on the vehicle body.
Further, the crawler traveling unit comprises two traveling crawlers arranged in parallel, the crawler traveling units are connected through an axle, and the axle supports the vehicle body through a turret unit.
Further, a two-way hoisting unit is arranged on the vehicle body and used for winding and unwinding the flexible connecting pieces on two sides of the window cleaning robot.
Further, the bidirectional housing unit comprises a driving device and two reels, wherein the driving device is used for driving one of the reels through a worm gear and a worm, the two reels are in gear transmission, and the two reels are respectively used for winding and unwinding the flexible connecting pieces on two sides of the window cleaning robot.
Further, the cleaning unit is arranged on the vehicle body through a folding arm, one end of the folding arm is connected with the vehicle body, the other end of the folding arm is connected with the cleaning unit, and the folding arm drives the cleaning unit to contact or separate from the outer surface of the building under the pushing action of the push rod assembly.
A cleaning method of a window cleaning robot adopts the window cleaning robot system, and comprises the following steps:
s1, sleeving a window cleaning robot system outside a building;
s2, a cleaning unit on the window cleaning robot contacts with the outer surface of the building, and all the window cleaning robots move horizontally to clean the outer surface of the building;
s3, a cleaning unit on the window cleaning robot is separated from the outer surface of the building, and all the window cleaning robots synchronously and vertically move to drive the window cleaning robot system to integrally lift;
s4, repeating the steps S2 and S3 until the cleaning is finished;
the order of the step S2 and the step S3 is adjustable.
Further, when the window cleaning robot moves horizontally, the crawler traveling unit of the window cleaning robot is parallel to the flexible connecting piece; when the window cleaning robot moves vertically, the crawler traveling unit of the window cleaning robot is perpendicular to the flexible connecting piece.
Further, the crawler traveling unit of the window cleaning robot is connected with the vehicle body through a turret unit, and the turret unit realizes steering through differential motion of two traveling crawlers of the crawler traveling unit.
Further, in step S2, under the condition that all the window cleaning robots move asynchronously, the crawler traveling units of the window cleaning robots are operated in cooperation with the bidirectional winch units, and each window cleaning robot moves horizontally on the plane on which the window cleaning robot is located.
Based on the technical scheme, the invention has the following technical effects:
1. according to the window cleaning robot system and the cleaning method, at least two window cleaning robots are connected in series to form a closed structure and are sleeved outside the building to clean the building, the window cleaning robots are fixed outside the building through the tension force of the flexible connecting piece, an adsorption device is not needed, the structure of the window cleaning robot is simplified, the safety performance is high, and the energy utilization rate is improved;
2. according to the window cleaning robot system and the cleaning method, the contact area between the window cleaning robot and the glass curtain wall on a building can be enlarged by arranging the manual track walking unit of the window cleaning robot, the pressure on the glass curtain wall is reduced, the friction force between the track and the glass curtain wall can be increased by further arranging the track made of rubber and the like, and the safety performance is improved; in addition, the crawler belt walking unit has strong obstacle crossing capability and can easily cross the concave-convex structure on the outer surface of the building;
3. according to the window cleaning robot system and the cleaning method, the turret unit is used for supporting the vehicle body, so that the vehicle body and the crawler travelling unit can mutually rotate, and the vehicle body can be independently driven to rotate; the turret unit realizes steering by utilizing differential motion of walking tracks on two sides of the track walking unit, so that the control is convenient;
4. according to the window cleaning robot system and the cleaning method, the flexible connecting pieces on two sides of the window cleaning robot are tensioned through the bidirectional winch unit, a certain pretightening force is provided, and the safety performance of the window cleaning robot is improved;
5. according to the cleaning method of the window cleaning robot, the window cleaning robot can clean the window in the horizontal direction through the horizontal movement of the window cleaning robot, and then the window cleaning robot can lift the window cleaning robot system integrally through the vertical movement of the window cleaning robot until the window cleaning is finished, so that the window cleaning robot can clean the building automatically and completely; in addition, the steering between the horizontal movement and the vertical movement of the window cleaning robot is realized through the differential movement of the two walking tracks, so that the adjustment is convenient, and the cleaning unit can realize the cleaning of the building without deflection in the whole process, thereby being very convenient and efficient;
6. according to the cleaning method of the window cleaning robot, under the condition that the window cleaning robot cleans horizontally, the crawler traveling unit of the window cleaning robot and the bidirectional winch unit operate cooperatively, so that the flexible connecting piece keeps pretightening force in the horizontal cleaning process of the window cleaning robot, the window cleaning robot is tightly attached to a building, and the safety performance is improved.
Drawings
FIG. 1 is a state diagram of the window cleaning robotic system of the present invention in operation;
FIG. 2 is a front view of the window cleaning robot of the present invention with the crawler travel unit parallel to the flexible connection;
FIG. 3 is a top view of the window cleaning robot of the present invention with the crawler travel unit parallel to the flexible connection;
FIG. 4 is a top view of the window cleaning robot of the present invention with the crawler travel unit perpendicular to the flexible connection;
FIG. 5 is a schematic view of the structure of the window cleaning robot of the present invention;
FIG. 6 is a schematic view of a window cleaning robot in another configuration of the cleaning elements;
in the figure: 1-a window cleaning robot; 11-a crawler travel unit; 111-walking tracks; 12-vehicle body; 13-a cleaning unit; 131-cleaning member; 14-a turret unit; 15-a bidirectional hoisting unit; 151-winding drum; 152-driving means; 153-gear; 154-baffle; 16-folding arms; 161-a first connecting arm; 162-a second connecting arm; 163-pushrod assembly; 17-axle; 18-a supporting seat; 2-a flexible connection; 3-building.
Detailed Description
The invention is further described below with reference to the drawings. In the description of the present invention, it should be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "disposed," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 to 6, the present embodiment provides a window cleaning robot system, which includes at least two window cleaning robots 1, wherein the at least two window cleaning robots 1 are connected in series through flexible connectors 2 to form a closed structure capable of being sleeved outside a building 3, and the outside of the building 3 is cleaned through the overall movement of the window cleaning robots 1. The flexible connecting piece 2 has certain tensioning force, and the window cleaning robot 1 is guaranteed to be clung to the outer surface of the building 3, so that the window cleaning robot 1 can be clung to the outer surface of the building 3 without an adsorption structure.
During cleaning, the window cleaning robots 1 are distributed on the to-be-cleaned planes outside the building 3, at least one window cleaning robot 1 is distributed on each to-be-cleaned plane, and the window cleaning robots 1 only need to clean the to-be-cleaned planes where the window cleaning robots are located. The window cleaning robot 1 comprises a crawler traveling unit 11, a vehicle body 12, a cleaning unit 13 and a bidirectional hoisting unit 15, wherein the crawler traveling unit 11 drives the vehicle body 12 to move, the crawler traveling unit 11 can rotate relative to the vehicle body 12, and the cleaning unit 13 and the bidirectional hoisting unit 15 are supported on the vehicle body 12.
Specifically, the crawler travel unit 11 includes two parallel and symmetrically disposed travel tracks 111, the two travel tracks 111 being connected by an axle 17, the axle 17 supporting the vehicle body 12. Further, the two walking tracks 111 are driven by two driving motors respectively, the two driving motors respectively drive driving sprockets of the two walking tracks 111, the driving sprockets drive driven wheels to rotate, and when the two walking tracks 111 move in a normal linear manner, the two driving motors drive the two walking tracks 111 to move in the same speed, so that linear movement is realized; when steering is needed, the two walking tracks 111 are driven to do differential motion through the two driving motors to realize steering. Preferably, rubber is used as the track material, which can reduce the unit pressure to the glass curtain and increase friction, thereby improving the safety performance.
The axle 17 is connected to the vehicle body 12 via the turret unit 14, and by providing the turret unit 14, the crawler travel unit 11 can be steered relative to the vehicle body 12, and the steering of the vehicle body 12 can be controlled individually. The turret unit 14 is formed by combining an inner gear and an outer gear, wherein the larger outer gear of the inner gear is larger, screw holes distributed circumferentially are arranged on the inner gear, the inner gear is connected with an axle 17 through screws, a bearing is arranged at the center of the outer gear, the outer gear is connected with the vehicle body 12 through a shaft, axial positioning is realized by adopting a shaft shoulder and screw fixing gears, concave-convex grooves are formed in the inner gear and the outer gear, so that the inner gear and the outer gear are meshed reliably, when the crawler unit 11 runs in a differential speed mode, relative rotation is realized between the inner gear and the outer gear, and steering of the crawler unit 11 is realized.
The vehicle body 12 is provided with a cleaning unit 13, and the cleaning unit 13 is used for cleaning a plane to be cleaned of the building 3. The cleaning unit 13 includes at least one cleaning member 131, and the cleaning member 131 includes, but is not limited to, a cleaning brush, a cleaning drum. The cleaning piece 131 is connected to the vehicle body 12 through the folding arm 16, one end of the folding arm 16 is connected with the vehicle body 12, the other end of the folding arm 16 is connected with the cleaning piece 131, and the folding arm 16 drives the cleaning piece 131 to swing relative to the vehicle body 12, so that the cleaning piece can contact with or separate from the building 3. Specifically, the folding arm 16 includes at least one connecting arm, and when the folding arm 16 includes one connecting arm, one end of the connecting arm is hinged with the vehicle body 12, and the other end of the connecting arm is connected with the cleaning member 131, and the cleaning member 131 is driven to swing up and down by the push rod assembly. In this embodiment, the folding arm 16 includes a first connecting arm 161 and a second connecting arm 162, one end of the first connecting arm 161 is hinged to the pillar of the vehicle body 12, the other end of the first connecting arm 161 is hinged to the second connecting arm 162, and the free end of the second connecting arm 162 is connected to the cleaning member 131. The fixed end of the push rod assembly 163 is hinged with the vehicle body 12, and the telescopic end of the push rod assembly 163 is hinged with the second connecting arm 162, so as to push the second connecting arm 162 to swing up and down relative to the first connecting arm 161, thereby realizing contact and separation with the building 3. The push rod assembly 163 is optional but not limited to an electric push rod.
Further, as shown in fig. 2 to 5, the cleaning member 131 employs a cleaning roller which is driven to rotate by a driving motor. Specifically, the driving motor is arranged on the central shaft of the cleaning roller, the pinion is arranged on the output shaft of the driving motor, the internal gear is arranged on the inner wall of the cleaning roller body, the planetary gear is arranged between the pinion and the internal gear and supported by the planet carrier, the rotation of the external roller is realized by utilizing the meshed planetary gear, and the two ends of the cleaning roller are supported by the bearings so as to ensure the rotation operation of the cleaning roller. Fig. 6 shows a schematic structure of the cleaning member 131 as a cleaning brush.
The car body 12 is also provided with a bidirectional hoisting unit 15, and the bidirectional hoisting unit 15 is used for winding and unwinding flexible connecting pieces 2 on two sides of the window cleaning robot 1. The bidirectional winding unit 15 comprises two winding drums 151 and a driving device 152, the flexible connecting pieces 2 on two sides of the window cleaning robot 1 are respectively wound on the two winding drums 151, and the winding and unwinding of the flexible connecting pieces 2 are realized by clockwise or anticlockwise rotating the winding drums 151. The driving device drives one of the reels 151 to rotate, two gears 153 which are meshed with each other are arranged at the other ends of the two reels 151 far away from the driving device 152, and the two reels 151 are connected through gear transmission, so that the simultaneous work of the two reels 151 is realized, and the retraction and the release of the flexible connecting pieces 2 at the two sides of the window cleaning robot 1 are realized. Preferably, the bi-directional hoisting unit 15 is mounted on the car body 12 by means of a bearing block 18, the bearing block 18 being optionally but not limited to a channel steel, the bearing block 18 being fastened to the car body 12 by means of screws. The driving device 152 is optional but not limited to a motor, and the motor can realize bidirectional operation to realize retraction and extension of the flexible connecting piece 2. The two ends of the winding drum 151 are rotatably mounted on the support blocks by bearings, which are optionally but not limited to angular contact ball bearings, to reduce axial forces and to maintain the stability of the bi-directional hoisting unit. Preferably, the two ends of the spool 151 are provided with baffles 154 to prevent the flexible connection from being pulled out of the spool 151.
The device is further provided with a speed reduction module, wherein the speed reduction module comprises a worm and gear structure and a bevel gear structure, a driving shaft of the driving device is connected with a worm through a coupler, and the worm and gear is arranged at 90 degrees, so that primary speed reduction and self-locking are realized; the worm wheel and a smaller bevel gear in the secondary bevel gear speed reducing mechanism are arranged on the connecting shaft together, and a larger bevel gear is meshed with the smaller bevel gear and is arranged in parallel with the connecting shaft, so that secondary speed reduction is realized; the shaft where the larger bevel gear is positioned is an output shaft, and the inclination direction of each gear is based on the reduction of the axial force born by the shaft; the two ends of each shaft are rotatably arranged on the supporting seat through bearings, and the bearings are optional but not limited to angular contact ball bearings, so that the axial acting force is reduced, and the stability of the speed reduction module is maintained.
The body 12 is also provided with an energy module, a control module and a water storage module. The energy module provides power supply power for the whole vehicle; the control module controls the whole vehicle to realize climbing and descending of the whole system and cleaning operation; the water storage module provides enough water source for cleaning operation, and the water in the water storage module is conveyed to the cleaning piece 131 through the water pipe for cleaning.
The flexible connecting piece 2 connects at least two window cleaning robots 1 in series to form a closed structure which can be sleeved outside the building 3, and in the working process, the flexible connecting piece 2 keeps a certain tension force, so that the window cleaning robots 1 can be close to the outside of the building 3. The flexible connection 2 is optionally but not limited to a flexible strap.
The embodiment also provides a cleaning method of the window cleaning robot system, which comprises the following steps:
s1, sleeving a window cleaning robot system outside a building;
s2, a cleaning unit 13 on the window cleaning robot 1 contacts with the outer surface of the building 3, and all the window cleaning robots 1 horizontally move to clean the outer surface of the building 3;
s3, the cleaning units 13 on the window cleaning robots 1 are separated from the outer surface of the building 3, and all the window cleaning robots 1 synchronously and vertically move to drive the window cleaning robot system to integrally lift;
s4, repeating the steps S2 and S3 until the cleaning is finished;
the order of steps S2 and S3 is adjustable.
In step S1, the window cleaning robot system is sleeved outside the building 3, and at least one window cleaning robot 1 is distributed on the surface to be cleaned of the building 3.
In step S2, the cleaning units 13 on the window cleaning robots 1 contact the outer surface of the building under the action of the folding arms 16, and at least two window cleaning robots 1 move horizontally to clean the plane in which they are located. Preferably, the crawler travel unit 11 of the window cleaning robot 1 is parallel to the flexible connection member 2 when the window cleaning robot 1 moves horizontally. Further preferably, when the single window cleaning robot 1 moves horizontally, the crawler travel unit 11 of the window cleaning robot 1 operates simultaneously with the bidirectional winding unit 15; when all the window cleaning robots 1 move horizontally in synchronization, the crawler traveling units 11 of all the window cleaning robots 1 operate synchronously, and the bidirectional winding unit 15 may not need to work. In addition, the window cleaning robot 1 is matched with the bidirectional winch unit 15, so that the window cleaning robot 1 is tightly attached to the outside of the building 3.
After the window cleaning robot 1 completes cleaning in the horizontal direction by the horizontal movement, the vertical movement reaches another cleaning height. In step S3, all the window cleaning robots 1 move vertically synchronously to drive the window cleaning robot system to lift integrally, and in the lifting process, the cleaning unit 13 is separated from the outer surface of the building 3 under the action of the folding arm 16. Preferably, the crawler travel unit 11 of the window cleaning robot 1 is perpendicular to the flexible connection member 2 when the window cleaning robot 1 moves vertically. By controlling the relative positions of the crawler travel unit 11 and the vehicle body 12, the operation of the window cleaning robot 1 can be ensured, and the surface to be cleaned outside the building 3 can be completely cleaned without missing a cleaning area.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (1)
1. A cleaning method of a window cleaning robot system is characterized in that,
the window cleaning robot system comprises at least two window cleaning robots (1), wherein the at least two window cleaning robots (1) are connected in series through flexible connecting pieces (2) to form a closed structure which can be sleeved outside a building (3);
the window cleaning robots (1) are distributed on a plane to be cleaned outside the building (3), and at least one window cleaning robot (1) is distributed on each plane to be cleaned;
the window cleaning robot (1) comprises a crawler walking unit (11), a vehicle body (12) and a cleaning unit (13), wherein the crawler walking unit (11) drives the vehicle body (12) to move, the crawler walking unit (11) can rotate relative to the vehicle body (12), and the cleaning unit is a cleaning unit
A member (13) mounted on the vehicle body (12);
the crawler traveling unit (11) comprises two traveling crawlers (111) which are arranged in parallel, the crawler traveling units (11) are connected through axles (17), and the axles (17) support the vehicle body (12) through a turret unit (14);
the vehicle body (12) is provided with a bidirectional hoisting unit (15), and the bidirectional hoisting unit (15) is used for winding and unwinding the flexible connecting pieces (2) on two sides of the window cleaning robot (1) where the bidirectional hoisting unit is positioned;
the cleaning unit (13) is arranged on the vehicle body (12) through a folding arm (16), one end of the folding arm (16) is connected with the vehicle body (12), the other end of the folding arm (16) is connected with the cleaning unit (13), and the folding arm (16) drives the cleaning unit (13) to contact or separate from the outer surface of the building (3) under the pushing action of a push rod assembly (163);
the method specifically comprises the following steps:
s1, sleeving a window cleaning robot system outside a building;
s2, a cleaning unit (13) on the window cleaning robot (1) is contacted with the outer surface of the building (3), and all the window cleaning robots (1) horizontally move to clean the outer surface of the building (3);
s3, a cleaning unit (13) on the window cleaning robot (1) is separated from the outer surface of the building (3), and all the window cleaning robots (1) synchronously and vertically move to drive the window cleaning robot system to integrally lift;
s4, repeating the steps S2 and S3 until the cleaning is finished;
the sequence of the step S2 and the step S3 is adjustable;
when the window cleaning robot (1) moves horizontally, a crawler traveling unit (11) of the window cleaning robot (1) is parallel to the flexible connecting piece (2); when the window cleaning robot (1) moves vertically, a crawler traveling unit (11) of the window cleaning robot (1) is perpendicular to the flexible connecting piece (2);
the crawler traveling unit (11) of the window cleaning robot (1) is connected with the vehicle body (12) through the turret unit (14), and the turret unit (14) realizes steering through differential motion of two traveling crawlers (111) of the crawler traveling unit (11);
in step S2, under the condition that all the window cleaning robots (1) do not move synchronously, the crawler traveling units (11) of the window cleaning robots (1) and the bidirectional hoisting units (15) operate cooperatively, and each window cleaning robot (1) moves horizontally on the plane where the window cleaning robot is located.
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| CN201910407339.6A CN110123191B (en) | 2019-05-15 | 2019-05-15 | Window cleaning robot system and cleaning method |
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| CN201910407339.6A CN110123191B (en) | 2019-05-15 | 2019-05-15 | Window cleaning robot system and cleaning method |
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| CN110123191B true CN110123191B (en) | 2023-09-22 |
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