CN110547719A - Automatic cleaning robot for glass curtain wall - Google Patents
Automatic cleaning robot for glass curtain wall Download PDFInfo
- Publication number
- CN110547719A CN110547719A CN201910933873.0A CN201910933873A CN110547719A CN 110547719 A CN110547719 A CN 110547719A CN 201910933873 A CN201910933873 A CN 201910933873A CN 110547719 A CN110547719 A CN 110547719A
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- Prior art keywords
- climbing device
- device body
- module
- glass curtain
- cleaning robot
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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
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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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
- 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
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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 By Liquid Or Steam (AREA)
Abstract
The invention discloses an automatic cleaning robot for a glass curtain wall, which comprises a climbing device, load equipment, a camera and a signal lamp, wherein the climbing device comprises a climbing device body, the middle part of the front surface of the climbing device body is provided with a first movable gripping arm and a second movable gripping arm, the extending ends of the first gripping arm and the second gripping arm are respectively provided with a buffer type sucker group, the middle position of the back surface of the climbing device body is provided with a fixedly-installed type sucker group, sucker joints in the fixedly-installed type sucker group and the buffer type sucker group are respectively communicated with a vacuum generator through air pipes, the camera and the signal lamp are respectively arranged at the top position of the climbing device body, the load equipment is a sprayer and a wiper mechanism, and the sprayers are two groups which are respectively and fixedly arranged on corresponding straight pipes; the wiper mechanism is arranged at the upper end and the lower end of the back of the climbing device through the rack sliding groove. The invention has the advantages of high speed, high efficiency, low water consumption, high cleaning speed, low cleaning equipment cost, safety of cleaning personnel and the like.
Description
The technical field is as follows:
The invention relates to the field of cleaning of glass curtain walls of high-rise buildings, in particular to an automatic cleaning robot for the glass curtain walls.
Background art:
The cleaning of high-altitude glass curtain walls is a manual cleaning technology for outer glass curtain walls of high-rise buildings, and the outer glass curtain walls in cities or factories are subjected to wind, rain and sun all the year round and are usually adhered to the surfaces by dust in the air. In order to beautify the whole city and enterprise, the cleaning agent is a new industry in the modern society and is used for high-altitude cleaning. Personnel in the industry are specialized and trained overhead operators, and use overhead operation ropes, safety ropes and overhead seat plates (or hanging plates, hanging baskets and the like) to brush cleaning agents and clean dirt and dust from top to bottom aiming at building exterior wall materials. This work is extremely risky, so safety is of importance, and therefore of course
The invention provides an automatic cleaning robot for a glass curtain wall, which solves the problems.
The invention content is as follows:
The invention aims to make up for the defects of the prior art, and provides an automatic glass curtain wall cleaning robot to solve the problems that under the condition of the prior art, when a high-rise building glass curtain wall needs to be cleaned, places which cannot be cleaned by common manpower, or dangerous situations of manpower use, or timely and effective cleaning operation cannot be carried out due to site space limitation, and then the cleaning requirements cannot be met.
The invention is realized by the following technical scheme:
the utility model provides a glass curtain wall self-cleaning robot which characterized in that: the climbing device comprises a climbing device body, load equipment, a camera and a signal lamp, wherein the climbing device body comprises a climbing device body, a first movable gripping arm and a second movable gripping arm are installed in the middle of the front side of the climbing device body, the first gripping arm vertically moves, a linear guide rail type vertical module is arranged in the length direction of the first gripping arm and drives the second gripping arm to transversely move, the second gripping arm is driven by a linear guide rail type transverse module, buffer type sucker groups are installed at the extending ends of the first gripping arm and the second gripping arm respectively, a fixed installation type sucker group is installed in the middle position of the back side of the climbing device body, sucker joints in the fixed installation type sucker group and the buffer type sucker group are communicated with a vacuum generator through air pipes respectively, the vacuum generator is installed on the front side of the climbing device body, the camera and the signal lamp are installed at the top position of the climbing device body respectively, the load equipment is a spray head and a wiper mechanism, the two groups of spray heads are respectively and fixedly arranged on corresponding water pipe straight pipes, and the water pipe straight pipes are parallelly fixed at the middle position of the back side of the climbing device; the windscreen wiper mechanism is installed at the upper end and the lower end of the back of the climbing device through the rack sliding grooves, the whole windscreen wiper mechanism can move up and down under the action of the air cylinder, two racks which are correspondingly matched are installed on two sides of the groove of the rack sliding grooves respectively, teeth are distributed on the inner side surfaces of the racks, the two racks are connected through gear transmission, the gears are driven by a motor in the middle of the rack sliding grooves, windscreen wipers are clamped at the bottom ends of the racks through clamping grooves, and the two windscreen wipers are driven to stretch out and draw back through the gear rack transmission driven by the motor in forward rotation or reverse rotation.
The climbing device is of a box type structure, a cover plate is fixedly mounted on the front face of the climbing device body, the vertical module and the horizontal module of the wire linear guide rail type are both located in the box body, and two ends of a screw rod of the vertical module and two ends of a screw rod of the horizontal module are respectively rotatably mounted on supports at two ends of the front face of the climbing device body.
the left side and the right side of the climbing device body are respectively provided with a sliding chute, two ends of the first grabbing arm and the second grabbing arm respectively penetrate through the corresponding matched sliding chutes, and the first grabbing arm and the second grabbing arm can move along the sliding chutes under the driving of the screw rods corresponding to the vertical module or the horizontal module.
The buffer type sucker group is arranged on the connecting plate through an adjustable nut, mounting plates are respectively arranged at two ends of the grabbing arm, an air cylinder is arranged in the middle of each mounting plate and used for driving the connecting plate to move back and forth, and the connecting plate moves to drive the buffer type sucker group to move; the fixed mounting type sucker group is directly fixed on the back of the climbing device body through a mounting hole, and one or more suckers in the grabbing and buffering type sucker group are arranged.
The middle five spray heads in the two groups of spray heads are vertical to the back of the climbing device and face towards the inner side, two spray heads which face towards the outer side at an angle of 45 degrees are arranged on two sides of the climbing device respectively, the water pipe straight pipe is connected with a ground water source through an automatic pressure regulating valve, and the spray heads can be installed in various different types.
the upper end face of the rack sliding groove is provided with two mounting holes, the rack sliding groove is fixed on the back face of the climbing device body through bolts inserted into the mounting holes, the climbing device body is further provided with two driving cylinders for driving the whole windscreen wiper mechanism to move back and forth in a small distance, and the rack can be guided in the rack sliding groove.
The prime mover of the linear module type transverse module and the vertical module can be an electric motor or an electric motor
To be a hydraulic motor; the module can be a screw rod module, a synchronous belt module and an electromagnetic module.
the power supply required by the climbing device control cabinet can be an external ground power supply or can be supplied with power by a storage battery, a connection controller is installed in the control cabinet, and the controller is connected with the power supply through a wire.
The climbing device is characterized in that a cylinder for driving the whole wiper is connected to an air inlet pipe, the air inlet pipe is connected with a pressure stabilizing tank of a ground compressor, and the wiper mechanism can be adjusted to a certain range at will to adapt to different cleaning environments.
The other group of climbing devices are arranged above the climbing device body and form a 90-degree included angle with the climbing device body, so that the climbing robot capable of moving in four directions, namely up, down, left and right can be formed, and the nozzles and the wipers of different specifications and models can be installed on equipment carried on the back of the climbing device.
The invention has the advantages that:
The glass curtain wall cleaning device has reasonable structural design, realizes the front-back left-right movement of the climbing device on the glass curtain wall by the matching of the linear transverse module and the vertical module of the screw rod, the first gripper arm, the second gripper arm, the fixed sucker group and the buffer sucker group and the matching of the cylinder and the vacuum generator, is matched with corresponding load equipment, has the advantages of high speed, high efficiency, extremely low water consumption, extremely high cleaning speed, extremely low cleaning equipment cost, safety of cleaning personnel and the like, and meets the cleaning requirements of a large number of high-altitude glass curtain walls.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the present invention with the cover plate removed.
fig. 3 is a front view of fig. 1.
fig. 4 is a rear view of fig. 1.
Fig. 5 is a side view of fig. 1.
Fig. 6 is a schematic view of the internal mechanism of fig. 1.
fig. 7 is a schematic structural view of the wiper mechanism.
Fig. 8 is a schematic view of an installation structure of the wiper mechanism.
Fig. 9 is an internal plan view of the wiper mechanism.
Fig. 10 is a front view of the wiper structure.
FIG. 11 is a schematic view of the connection plate and the buffer chuck set.
The specific implementation mode is as follows:
See the drawings.
An automatic cleaning robot for a glass curtain wall comprises a climbing device, load equipment, a camera 4 and a signal lamp 14, wherein the climbing device comprises a climbing device body 1, the middle part of the front surface of the climbing device body 1 is provided with a first movable gripping arm 2 and a second movable gripping arm 3, the first gripping arm 2 vertically moves and is driven by a linear guide rail type vertical module 10 arranged in the length direction, the second gripping arm 3 transversely moves and is driven by a linear guide rail type transverse module 11, the extending ends of the first gripping arm 2 and the second gripping arm 3 are respectively provided with a buffer type sucker group 5, the middle position of the back surface of the climbing device body 1 is provided with a fixedly-mounted sucker group 7, sucker joints in the fixedly-mounted sucker group 7 and the buffer type sucker group 5 are respectively communicated with a vacuum generator 30 through air pipes, and the vacuum generator is arranged on the front surface of the climbing device body 1, the camera 4 is installed at the top of the climbing device body through the camera support 6, the signal lamp 14 is installed at the top of the climbing device body 1, the load devices are a spray head 27 and a wiper mechanism which are installed on the reverse side of the climbing device body 1, the spray heads 27 are two groups and are respectively and fixedly installed on corresponding water pipe straight pipes 26, and the water pipe straight pipes 26 are parallelly fixed at the middle position of the back side of the climbing device; the windscreen wiper mechanism is arranged at the upper end and the lower end of the back of the climbing device through a rack sliding groove 22, the whole windscreen wiper mechanism can move up and down under the action of an air cylinder 20, two corresponding and matched racks 23 are respectively arranged on two sides in the groove of the rack sliding groove 22, teeth are distributed on the inner side faces of the racks 23, the two racks 23 are in transmission connection through a gear 24, the gear 24 is driven by a motor 21 in the middle of the rack sliding groove, a windscreen wiper 25 is clamped at the bottom end of the rack 23 through a clamping groove, and the two windscreen wipers are driven to stretch out and draw back through the gear rack transmission driven by the motor 21 in forward rotation or reverse rotation.
The climbing device is of a box type structure, a cover plate is fixedly mounted on the front face of the climbing device body 1, the vertical module and the horizontal module of the wire linear guide rail type are both located in the box body, and two ends of a screw rod of the vertical module and two ends of a screw rod of the horizontal module are respectively rotatably mounted on supports at two ends of the front face of the climbing device body.
The left side and the right side of the climbing device body are respectively provided with a sliding groove 29, two ends of the first grabbing arm 2 and the second grabbing arm 3 respectively penetrate through the corresponding matched sliding grooves 29, the first grabbing arm and the second grabbing arm can move along the sliding grooves under the driving of a linear guide rail type screw rod 28 corresponding to a vertical module or a transverse module, and the screw rods of the vertical module or the transverse module are respectively driven by motor motors 12 and 13.
The buffer type sucker 5 group is arranged on the connecting plate 15 through an adjustable nut, mounting plates are respectively arranged at two ends of the grabbing arm, an air cylinder 19 is arranged in the middle of each mounting plate, the air cylinder 19 is used for driving the connecting plate to move back and forth, and the connecting plate moves to drive the buffer type sucker group to move; the fixed mounting type sucker group is directly fixed on the back of the climbing device body through a mounting hole, and one or more suckers in the grabbing and buffering type sucker group are arranged.
The middle five spray heads in the two groups of spray heads are vertical to the back of the climbing device and face towards the inner side, two spray heads which face towards the outer side at an angle of 45 degrees are arranged on two sides of the climbing device respectively, the water pipe straight pipe is connected with a ground water source through an automatic pressure regulating valve, and the spray heads can be installed in various different types.
Two mounting holes are formed in the upper end face of the rack sliding groove 22, bolts are inserted into the mounting holes to fix the rack sliding groove on the back face of the climbing device body, two driving cylinders 20 are further mounted on the climbing device body to drive the whole wiper mechanism to move back and forth in a small distance, and racks can be guided in the rack sliding groove.
The prime mover of the linear module type transverse module and the vertical module can be an electric motor or an electric motor
To be a hydraulic motor; the module can be a screw rod module, a synchronous belt module and an electromagnetic module.
The power supply required by the climbing device control cabinet can be an external ground power supply or can be supplied with power by a storage battery, a connection controller 8 is installed in the control cabinet, and the controller 8 is connected with the power supply through a lead 18.
The climbing device is characterized in that a cylinder for driving the whole wiper is connected to an air inlet pipe 16, the air inlet pipe 16 is connected with a pressure stabilizing tank of a ground compressor, and the wiper mechanism can be adjusted to a certain range at will to adapt to different cleaning environments.
The other group of climbing devices are arranged above the climbing device body and form a 90-degree included angle with the climbing device body, so that the climbing robot capable of moving in four directions, namely up, down, left and right can be formed, and the nozzles and the wipers of different specifications and models can be installed on equipment carried on the back of the climbing device.
In the invention, when the glass curtain wall of the high-rise building needs to be cleaned, water storage pump truck vehicles such as a glass curtain wall automatic cleaning robot, a transport vehicle, a power supply vehicle and an air source vehicle rapidly arrive at a site, cleaning workers connect a power supply/water source/air source, and the glass curtain wall automatic cleaning robot is adsorbed on the outer wall of the building glass; the cleaning worker starts to remotely control the automatic glass curtain wall cleaning robot: adjusting a first grabbing arm of the automatic glass curtain wall cleaning robot to the limit position of the upper end of a climbing device sliding chute, adjusting a buffer type sucking disc on a second grabbing arm to the highest position so that the buffer type sucking disc does not touch a glass surface, opening a power switch and a gas switch of a controller, and enabling vacuum generators of a fixedly-mounted sucking disc group connected with a gas source and sucking disc groups at two ends of the first grabbing arm to work so that the vacuum generators can be adsorbed onto a glass curtain wall; at the moment, the vacuum generator of the fixed installation type sucker group is cut off, the sucker is separated from the glass curtain wall, and the sucker groups at two ends of the grabbing arm continue to be usedMaintaining vacuumIn a state of being adsorbed by a loadOn the glass, a motor of a linear screw rod module is electrified and starts to rotate reversely, the linear screw rod module drives a climbing device body, load equipment, a water inlet pipe, a lead and an air pipe to vertically move upwards until reaching the single maximum displacement distance, and meanwhile, a fixedly-mounted sucker group vacuum generator works, and the load of the sucker group is adsorbed on a glass curtain wall; after the first movement, the climbing device body carries a load to rise above the first grabbing arm through the chute, the first grabbing arm moves to the lower end of the chute of the climbing device body relative to the climbing device body, at the moment, the vacuum generators at two ends of the first grabbing arm cut off the air, the working piston rod of the upper air cylinder of the first grabbing arm is pushed out through floating connection, the buffer type sucker connecting rod is contracted to enable the sucker to be separated from the wall body, the linear screw rod module motor rotates forwards, the second grabbing arm moves upwards vertically and reaches the limit position at the upper end of the chute, and meanwhile,Grab arm 1Vacuum generator with two-end sucker groupWork byAnd simultaneously, the air cylinder contracts to enable the sucker to be in contact with the wall surface, the sucker is adsorbed on the glass curtain wall under the load pressure, the vacuum generator of the fixedly-mounted sucker group is cut off, the sucker is separated from the glass curtain wall through the air cylinder, the motor of the linear lead screw module is electrified and starts to rotate reversely, the linear lead screw module drives the climbing device body, the load equipment, the water inlet pipe and the lead to vertically move upwards until the second maximum displacement distance … … is reached, the mechanism repeats the above movement all the time, when the transverse movement is needed, the buffer type sucker on the first grabbing arm is adjusted to the highest position so that the buffer type sucker does not touch the glass surface, and the transverse module and the second grabbing arm start to work similarly. Until the climbing device body reaches the best cleaning position of the building, the sprayer and the wiper start to work, the sprayer starts to spray water under the action of an automatic valve, two cylinders on the wiper extend out to enable the wiper to contact the wall surface of the glass curtain wall, the gear is driven by the motor on the wiper to enable the two racks to move relatively and expand, namely the wiper extends for a certain length, the buffer type sucking disc on the second grabbing arm is adjusted to the highest position to enable the buffer type sucking disc not to contact the glass surface, the vacuum generator of the fixed installation type sucking disc group works at the moment, the sucking disc is adsorbed to the glass curtain wall, the sucking disc groups at the two ends of the second grabbing arm are cut off, the motor of the linear lead screw module is electrified and starts to rotate forwards, and the linear lead screw module drives the climbing device body, the loading equipment, the water inlet,The lead and the air pipe vertically move downwards until reaching the single maximum displacement distance, at the same time, the fixed mounting type sucker group vacuum generator is cut off, the sucker group enables the sucker to be separated from the wall surface through the expansion and contraction of the air cylinder, the linear lead screw module motor is electrified and starts to rotate reversely, the linear lead screw module drives the climbing device body, the load equipment, the water inlet pipe, the lead and the air pipe to vertically move upwards and reach the limit position at the upper end of the chute, at the same time, the fixed mounting type sucker group vacuum generator starts to work, the sucker is in contact with the glass curtain wall through the air cylinder, so that the climbing device body is adsorbed on the glass wall surface,Grabbing arm IIVacuum generator with two-end sucker groupAir cut-offAnd meanwhile, the air cylinder contracts to enable the suction disc to be far away from the wall surface, the motor of the linear lead screw module is electrified and starts to rotate forwards, the linear lead screw module drives the climbing device body, the load equipment, the water inlet pipe and the lead to vertically move downwards until the second maximum displacement distance … … is reached, and the mechanism repeats the above movement all the time, so that the robot moves downwards all the time.
At this moment, when glass curtain wall self-cleaning robot was used for wasing glass, ground pump truck or pump station began to provide the water source, and the intercommunication shower nozzle, the washing water reachs the nozzle position fast to begin the blowout through different nozzles and wash liquid. Because the demand of the glass curtain wall automatic cleaning robot is very little, a small pump truck can be provided with a plurality of sets of glass curtain wall automatic cleaning robots to simultaneously carry out glass cleaning operation, and the cleaning speed is very high.
In the invention, the fixed sucker is directly fixed on the box body through the mounting hole, when the climbing glass wall is uneven, the sucker of the first grabbing arm and the sucker of the second grabbing arm are lifted by the cylinder to be separated from the glass wall, so that the sucker can be jacked to a certain position away from the wall surface to reserve a certain space for the upward climbing of the sucker, avoid touching a raised barrier on the glass wall, and ensure that the climbing device smoothly climbs, descends and transversely moves.
Claims (10)
1. The utility model provides a glass curtain wall self-cleaning robot which characterized in that: the climbing device comprises a climbing device body, load equipment, a camera and a signal lamp, wherein the climbing device body comprises a climbing device body, a first movable gripping arm and a second movable gripping arm are installed in the middle of the front side of the climbing device body, the first gripping arm vertically moves, a linear guide rail type vertical module is arranged in the length direction of the first gripping arm and drives the second gripping arm to transversely move, the second gripping arm is driven by a linear guide rail type transverse module, buffer type sucker groups are installed at the extending ends of the first gripping arm and the second gripping arm respectively, a fixed installation type sucker group is installed in the middle position of the back side of the climbing device body, sucker joints in the fixed installation type sucker group and the buffer type sucker group are communicated with a vacuum generator through air pipes respectively, the vacuum generator is installed on the front side of the climbing device body, the camera and the signal lamp are installed at the top position of the climbing device body respectively, the load equipment is a spray head and a wiper mechanism, the two groups of spray heads are respectively and fixedly arranged on corresponding water pipe straight pipes, and the water pipe straight pipes are parallelly fixed at the middle position of the back side of the climbing device; the windscreen wiper mechanism is installed at the upper end and the lower end of the back of the climbing device through the rack sliding grooves, the whole windscreen wiper mechanism can move up and down under the action of the air cylinder, two racks which are correspondingly matched are installed on two sides of the groove of the rack sliding grooves respectively, teeth are distributed on the inner side surfaces of the racks, the two racks are connected through gear transmission, the gears are driven by a motor in the middle of the rack sliding grooves, windscreen wipers are clamped at the bottom ends of the racks through clamping grooves, and the two windscreen wipers are driven to stretch out and draw back through the gear rack transmission driven by the motor in forward rotation or reverse rotation.
2. The automatic cleaning robot for glass curtain walls according to claim 1, characterized in that: the climbing device is of a box type structure, a cover plate is fixedly mounted on the front face of the climbing device body, the vertical module and the horizontal module of the wire linear guide rail type are both located in the box body, and two ends of a screw rod of the vertical module and two ends of a screw rod of the horizontal module are respectively rotatably mounted on supports at two ends of the front face of the climbing device body.
3. The automatic cleaning robot for glass curtain walls according to claim 1, characterized in that: the left side and the right side of the climbing device body are respectively provided with a sliding chute, two ends of the first grabbing arm and the second grabbing arm respectively penetrate through the corresponding matched sliding chutes, and the first grabbing arm and the second grabbing arm can move along the sliding chutes under the driving of the screw rods corresponding to the vertical module or the horizontal module.
4. The automatic cleaning robot for glass curtain walls according to claim 1, characterized in that: the buffer type sucker group is arranged on the connecting plate through an adjustable nut, mounting plates are respectively arranged at two ends of the grabbing arm, an air cylinder is arranged in the middle of each mounting plate and used for driving the connecting plate to move back and forth, and the connecting plate moves to drive the buffer type sucker group to move; the fixed mounting type sucker group is directly fixed on the back of the climbing device body through a mounting hole, and one or more suckers in the grabbing and buffering type sucker group are arranged.
5. The automatic cleaning robot for glass curtain walls according to claim 1, characterized in that: the middle five spray heads in the two groups of spray heads are vertical to the back of the climbing device and face towards the inner side, two spray heads which face towards the outer side at an angle of 45 degrees are arranged on two sides of the climbing device respectively, the water pipe straight pipe is connected with a ground water source through an automatic pressure regulating valve, and the spray heads can be installed in various different types.
6. The automatic cleaning robot for glass curtain walls according to claim 1, characterized in that: the upper end face of the rack sliding groove is provided with two mounting holes, the rack sliding groove is fixed on the back face of the climbing device body through bolts inserted into the mounting holes, the climbing device body is further provided with two driving cylinders for driving the whole windscreen wiper mechanism to move back and forth in a small distance, and the rack can be guided in the rack sliding groove.
7. The automatic cleaning robot for glass curtain walls according to claim 1, characterized in that: the prime movers of the linear module type transverse module and the vertical module can be electric motors or hydraulic motors; the module can be a screw rod module, a synchronous belt module and an electromagnetic module.
8. The automatic cleaning robot for glass curtain walls according to claim 1, characterized in that: the power supply required by the climbing device control cabinet can be an external ground power supply or can be supplied with power by a storage battery, a connection controller is installed in the control cabinet, and the controller is connected with the power supply through a wire.
9. The automatic cleaning robot for glass curtain walls according to claim 1, characterized in that: the climbing device is characterized in that a cylinder for driving the whole wiper is connected to an air inlet pipe, the air inlet pipe is connected with a pressure stabilizing tank of a ground compressor, and the wiper mechanism can be adjusted to a certain range at will to adapt to different cleaning environments.
10. The automatic cleaning robot for glass curtain walls according to claim 1, characterized in that: the other group of climbing devices are arranged above the climbing device body and form a 90-degree included angle with the climbing device body, so that the climbing robot capable of moving in four directions, namely up, down, left and right can be formed, and the nozzles and the wipers of different specifications and models can be installed on equipment carried on the back of the climbing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910933873.0A CN110547719A (en) | 2019-09-29 | 2019-09-29 | Automatic cleaning robot for glass curtain wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910933873.0A CN110547719A (en) | 2019-09-29 | 2019-09-29 | Automatic cleaning robot for glass curtain wall |
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| Publication Number | Publication Date |
|---|---|
| CN110547719A true CN110547719A (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910933873.0A Withdrawn CN110547719A (en) | 2019-09-29 | 2019-09-29 | Automatic cleaning robot for glass curtain wall |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113827126A (en) * | 2021-10-18 | 2021-12-24 | 山东大学 | High altitude glass curtain wall wiper mechanism and belt cleaning device |
| CN113827125A (en) * | 2021-09-23 | 2021-12-24 | 烟台南山学院 | Intelligent control glass cleaning device |
| 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 |
| CN116098500A (en) * | 2023-02-10 | 2023-05-12 | 青岛理工大学 | A face wall cleaning robot for building |
-
2019
- 2019-09-29 CN CN201910933873.0A patent/CN110547719A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113827125A (en) * | 2021-09-23 | 2021-12-24 | 烟台南山学院 | Intelligent control glass cleaning device |
| CN113827126A (en) * | 2021-10-18 | 2021-12-24 | 山东大学 | High altitude glass curtain wall wiper mechanism and belt cleaning device |
| 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 |
| CN116098500A (en) * | 2023-02-10 | 2023-05-12 | 青岛理工大学 | A face wall cleaning robot for building |
| CN116098500B (en) * | 2023-02-10 | 2024-04-26 | 青岛理工大学 | A face wall cleaning robot for building |
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Application publication date: 20191210 |