CN110604506A - Outer wall cleaning robot - Google Patents

Outer wall cleaning robot Download PDF

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Publication number
CN110604506A
CN110604506A CN201910947478.8A CN201910947478A CN110604506A CN 110604506 A CN110604506 A CN 110604506A CN 201910947478 A CN201910947478 A CN 201910947478A CN 110604506 A CN110604506 A CN 110604506A
Authority
CN
China
Prior art keywords
plate
fixed
driving
electromagnet
disposed
Prior art date
Application number
CN201910947478.8A
Other languages
Chinese (zh)
Inventor
李洁玲
Original Assignee
达英科(南京)设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 达英科(南京)设备有限公司 filed Critical 达英科(南京)设备有限公司
Priority to CN201910947478.8A priority Critical patent/CN110604506A/en
Publication of CN110604506A publication Critical patent/CN110604506A/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
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR OTHER BUILDING 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

Abstract

The invention discloses an outer wall cleaning robot, which comprises a front and rear sliding mechanism, a left and right sliding mechanism, an adapter plate and a rotary brushing mechanism, wherein the left and right sliding mechanism is connected with the top end of the front and rear sliding mechanism through the adapter plate; the wall surface cleaning machine is provided with the front and rear sliding mechanism and the left and right sliding mechanism to drive the rotary brushing mechanism to move front and back and left and right on the wall surface, so that the wall surface is cleaned, the mechanical operation is realized, the manual high-altitude operation is replaced, the working efficiency is improved, the risk of the manual high-altitude operation is greatly reduced, and the adaptability is strong.

Description

Outer wall cleaning robot

Technical Field

The invention relates to the technical field of cleaning tools, in particular to an outer wall cleaning robot.

Background

The cleaning of the external wall of the existing urban high-rise building is usually carried out by adopting manual high-altitude operation, the risk of the high-altitude operation of workers is very high due to the condition, the manual cleaning is time-consuming and labor-consuming, the efficiency is low, and the environmental requirement of the manual high-altitude operation is relatively high.

Disclosure of Invention

The invention aims to overcome the defects and provide an outer wall cleaning robot.

In order to achieve the purpose, the invention adopts the following specific scheme:

the utility model provides an outer wall cleaning machines people, including around glide machanism, control glide machanism, keysets and rotatory scrubbing mechanism, control glide machanism and pass through the keysets and connect the top in front and back glide machanism, the bottom of glide machanism is fixed around in the front and back to the rotatory scrubbing mechanism, around the glide machanism be used for driving about glide machanism and the rotatory back-and-forth movement of scrubbing mechanism and can hold the wall, control glide machanism and be used for driving around the glide machanism and the rotatory scrubbing mechanism and remove and can hold the wall, the rotatory scrubbing mechanism is used for cleaning the wall.

Wherein, the rotary scrubbing mechanism comprises a connecting plate, a fixed seat, a first driving part, a three-way joint, a water diversion shaft, a hairbrush and a funnel-shaped sealing cover, the connecting plate is fixed on a front and back sliding mechanism, the fixed seat is arranged on the connecting plate, the three-way joint is fixed on the connecting plate, the discharge spout end of the sealing cover is arranged on the fixed seat, the hairbrush comprises a disc-shaped brush body and a tubular connecting body, the connecting body is connected with the first driving part after passing through the discharge spout end of the sealing cover, a bearing is connected between the connecting body and the discharge spout end of the sealing cover, the first driving part is used for driving the hairbrush to rotate, the three-way joint is provided with a water inlet, a water outlet and a first circular groove, one end of the water diversion shaft is fixed on the three-way joint, one end of the water diversion shaft is provided with a second circular groove, the second circular groove and the first circular groove are matched to form a first annular chamber, the water outlet is communicated with the first annular chamber, the water distribution shaft is further provided with a central channel and a plurality of first water outlet channels distributed in a circumferential manner, the first water outlet channels are communicated with the first annular chamber, the central channel is communicated with the water inlet, the other end of the water distribution shaft extends into the connector and penetrates through the brush body, the other end of the water distribution shaft is provided with an annular notch, the annular notch and the brush body are matched to form a second annular chamber, the second annular chamber is communicated with the first water outlet channels, sealing rings are respectively installed at two ends of the second annular chamber, the brush body is radially provided with a plurality of second water outlet channels, the second water outlet channels are communicated with the second annular chamber, the brush body is further provided with a water suction port, and the water suction port is communicated with the second water outlet channels, and the sealing cover is also provided with a flexible sealing ring.

The first driving part comprises a first motor, a first bevel gear and a second bevel gear, the first motor is fixed on the fixed seat, the first bevel gear is connected with the output end of the first motor, the second bevel gear is fixedly connected with the connecting body, and the first bevel gear is meshed with the second bevel gear.

Wherein, the front and back glide machanism includes first sucking disc subassembly, first backing plate, second driver part, first ball screw, first leading truck, first carriage, second backing plate and second sucking disc subassembly, first backing plate is located on the first sucking disc subassembly, first backing plate is located to the second driver part, the one end of first ball screw is connected with the output of second driver part, the other end of first ball screw is fixed on first leading truck, first leading truck is fixed on the connecting plate, the one end sliding connection of first carriage is on first leading truck, the other end of first carriage is fixed on the second backing plate, first carriage still is connected with first ball screw's screw-nut, the second backing plate is fixed on second sucking disc subassembly, the keysets is fixed on first leading truck.

The first sucker component comprises a first electrostatic sucker, a first floating plate, a first fixing plate and a first electromagnet, the first electrostatic sucker is arranged on the bottom surface of the first floating plate, the first floating plate is elastically connected to the first fixing plate, the first fixing plate is fixedly connected to the first base plate, and the first electromagnet is arranged on the first fixing plate.

The second sucker component comprises a second electrostatic sucker, a second floating plate, a second fixing plate and a second electromagnet, the second electrostatic sucker is arranged on the bottom surface of the second floating plate, the second floating plate is elastically connected to the second fixing plate, the second fixing plate is fixedly connected to the second base plate, and the second electromagnet is arranged on the second fixing plate.

Wherein, it includes third sucking disc subassembly, third backing plate, third driver part, second ball screw, second leading truck, second carriage, fourth backing plate and fourth sucking disc subassembly to control glide machanism, the third backing plate is located on the third sucking disc subassembly, the third driver part is located on the third backing plate, the one end and the third driver part's of second ball screw output are connected, the other end of second ball screw is fixed on the second leading truck, second leading truck fixed connection is on the keysets, the one end sliding connection of second carriage is on the second leading truck, the other end of second carriage is fixed on the fourth backing plate, the second carriage still is connected with second ball screw's screw-nut, the fourth backing plate is fixed on fourth sucking disc subassembly.

The third sucker component comprises a third electrostatic sucker, a third floating plate, a third fixed plate and a third electromagnet, the third electrostatic sucker is arranged on the bottom surface of the third floating plate, the third floating plate is elastically connected onto the third fixed plate, the third fixed plate is fixedly connected onto a third base plate, and the third electromagnet is arranged on the third fixed plate.

The fourth sucker component comprises a fourth electrostatic sucker, a fourth floating plate, a fourth fixed plate and a fourth electromagnet, the fourth electrostatic sucker is arranged on the bottom surface of the fourth floating plate, the fourth floating plate is elastically connected onto the fourth fixed plate, the fourth fixed plate is fixedly connected onto a fourth base plate, and the fourth electromagnet is arranged on the fourth fixed plate.

The invention has the beneficial effects that: compared with the prior art, the wall cleaning machine has the advantages that the front and rear sliding mechanisms and the left and right sliding mechanisms are arranged to drive the rotary brushing mechanism to move front and back and left and right on the wall, so that the wall is cleaned, mechanical operation is realized, manual high-altitude operation is replaced, the working efficiency is improved, the risk of the manual high-altitude operation is greatly reduced, and the adaptability is high.

Drawings

FIG. 1 is a schematic diagram of a first perspective of the present invention;

FIG. 2 is a schematic diagram of a second perspective of the present invention;

FIG. 3 is a schematic diagram of the rotary scrubbing mechanism of the present invention;

FIG. 4 is a cross-sectional view of the rotary scrubbing mechanism of the present invention;

FIG. 5 is a schematic structural view of the front and rear sliding mechanism of the present invention cooperating with the adapter plate;

FIG. 6 is a schematic structural view of the left and right sliding mechanisms of the present invention cooperating with the adapter plate;

FIG. 7 is a schematic view showing the structure of a brush according to the present invention;

FIG. 8 is a schematic view of the construction of the water diversion shaft in the present invention;

FIG. 9 is a schematic structural view of a three-way joint according to the present invention;

description of reference numerals: 1-a front and back sliding mechanism; 10-a first sucker assembly; 101-a first electrostatic chuck; 102-a first floating plate; 103-a first fixing plate; 104-a first electromagnet; 11-a first shim plate; 12-a second drive member; 13-a first ball screw; 14-a first guide frame; 15-a first carriage; 16-a second backing plate; 17-a second chuck assembly; 171-a second electrostatic chuck; 172-a second floating plate; 173-a second fixation plate; 174-a second electromagnet;

2-a left and right sliding mechanism; 20-a third chuck assembly; 201-a third electrostatic chuck; 202-a third floating plate; 203-a third fixing plate; 204-a third electromagnet; 21-a third backing plate; 22-a third drive component; 23-a second ball screw; 24-a second guide frame; 25-a second carriage; 26-a fourth shim plate; 27-a fourth chuck assembly; 271-a fourth electrostatic chuck; 272-a fourth float plate; 273-a fourth fixing plate; 274-a fourth electromagnet;

3-a patch panel;

4-a rotary brushing mechanism; 40-a connecting plate; 41-a fixed seat; 42-a first drive member; 421-a first motor; 422-first bevel gear; 423-second bevel gear; 43-three-way connection; 431-water inlet; 432-water outlet; 433-a first annular groove; 44-a shunt shaft; 441-a central channel; 442-a first outlet channel; 443-an annular gap; 45-brush; 451-a brush body; 4511 — second water outlet channel; 4512-water uptake; 452-a linker; 46-a sealing cover; 47-a bearing; 48-sealing ring; 49-Flexible closed Loop.

Detailed Description

The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.

As shown in fig. 1 to 9, the outer wall cleaning robot of this embodiment, including around glide machanism 1, about glide machanism 2, keysets 3 and rotatory scrubbing mechanism 4, about glide machanism 2 passes through keysets 3 and connects the top in front and back glide machanism 1, rotatory scrubbing mechanism 4 is fixed in the bottom of front and back glide machanism 1, around glide machanism 1 is used for driving about glide machanism 2 and the rotatory back-and-forth movement of scrubbing mechanism 4 and can hold the wall, about glide machanism 2 is used for driving around glide machanism 1 and the rotatory scrubbing mechanism 4 and remove and can hold the wall, rotatory scrubbing mechanism 4 is used for cleaning the wall.

The working mode of the embodiment is as follows: during operation, the rotary brushing mechanism 4 cleans the wall surface, and then under the combined action of the front and rear sliding mechanisms 1 and the left and right sliding mechanisms 2, the rotary brushing mechanism 4 is driven to move back and forth and move left and right, so that the whole wall surface is cleaned, the mechanical operation is realized, the manual high-altitude operation is replaced, the working efficiency is improved, the risk of the manual high-altitude operation is greatly reduced, and the adaptability is strong.

As shown in fig. 3 to 7, based on the above embodiments, the rotary brushing mechanism 4 further includes a connecting plate 40, a fixed seat 41, a first driving member 42, a three-way joint 43, a water diversion shaft 44, a brush 45, and a funnel-shaped sealing cover 46, the connecting plate 40 is fixed on the front and rear sliding mechanism 1, the fixed seat 41 is arranged on the connecting plate 40, the three-way joint 43 is fixed on the connecting plate 40, a discharge spout end of the sealing cover 46 is arranged on the fixed seat 41, the brush 45 includes a disc-shaped brush body 451 and a tubular connecting body 452, the connecting body 452 passes through the discharge spout end of the sealing cover 46 and then is connected with the first driving member 42, a bearing 47 is connected between the connecting body 452 and the discharge spout end of the sealing cover 46, the first driving member 42 is used for driving the brush 45 to rotate, the three-way joint 43 is provided with a water inlet 431, a water outlet 432, and a first annular groove 433, one end of the water diversion shaft 44 is fixed on the three-way joint 43, one end of the water diversion shaft 44 is provided with a second annular groove 443 matched with the first annular groove 433, the second annular groove 443 is matched with the first annular groove 433 to form a first annular chamber, the water outlet 432 is communicated with the first annular chamber, the water diversion shaft 44 is further provided with a central channel 441 and a plurality of first water outlet channels 442 which are distributed circumferentially, the first water outlet channels 442 are communicated with the first annular chamber, the central channel 441 is communicated with the water inlet 431, the other end of the water diversion shaft 44 extends into the connecting body 452 and penetrates through the brush body 451, the other end of the water diversion shaft 44 is provided with an annular gap 444, the annular gap 444 is matched with the brush body 451 to form a second annular chamber, the second annular chamber is communicated with the first water outlet channel 442, and two ends of the second annular chamber are respectively provided with a sealing ring 48, the brush body 451 is provided with a plurality of second water outlet channels 4511 along the radial direction, the second water outlet channels 4511 are communicated with the second annular chamber, the brush body 451 is further provided with a water suction port 4512, the water suction port 4512 is communicated with the second water outlet channels 4511, and the sealing cover 46 is further provided with a flexible sealing ring 49.

Specifically, during operation, the first driving member 42 drives the brush 45 to rotate, clean water is injected through the water inlet 431 of the three-way joint 43, the clean water flows into the three-way joint 43 and then enters the central channel 441 of the water distribution shaft 44, the clean water flows outward in the radial direction under the action of centrifugal force, stains brushed by the brush body 451 of the brush 45 are washed to the edge of the brush body 451 and located around the water suction port 4512, the flexible sealing ring 49 on the sealing cover 46 prevents sewage from flowing out of the sealing cover 46, then an external vacuum device is abutted to the water outlet 432 of the three-way joint 43, then the sealing cover 46 is vacuumized, the sewage is sucked by the water suction port 4512 under the action of air pressure, enters the second water outlet channel 4511, flows into the second annular chamber through the second water outlet channel 4511, then flows from the second annular chamber to the first water outlet channel 442, flows into the first annular chamber through the first water outlet channel 442, then flows to the water outlet 432 from the first annular chamber, so that sewage is discharged, the wall surface is cleaned, the mechanical operation is realized, the working efficiency is improved, and the risk of manual high-altitude operation is greatly reduced; this embodiment still can directly siphon away the sewage after the cleanness, avoids sewage to drop and influences the environment and bring the potential safety hazard.

Based on the above embodiment, as shown in fig. 3 and fig. 4, further, the first driving component 42 includes a first motor 421, a first bevel gear 422 and a second bevel gear 423, the first motor 421 is fixed on the fixing base 41, the first bevel gear 422 is connected to an output end of the first motor 421, the second bevel gear 423 is fixedly connected to the connecting body 452, and the first bevel gear 422 is engaged with the second bevel gear 423; during operation, the first motor 421 drives the first bevel gear 422 to rotate, the first bevel gear 422 drives the second bevel gear 423 to rotate, and the second bevel gear 423 drives the connecting body 452 of the brush 45 to rotate, so as to drive the brush body 451 of the brush 45 to rotate, thereby performing cleaning operation.

As shown in fig. 5, based on the above embodiment, further, the front and rear sliding mechanism 1 includes a first chuck assembly 10, a first pad 11, a second driving part 12, a first ball screw 13, a first guide frame 14, a first sliding frame 15, a second pad 16 and a second chuck assembly 17, the first pad 11 is disposed on the first chuck assembly 10, the second driving part 12 is disposed on the first pad 11, one end of the first ball screw 13 is connected to an output end of the second driving part 12, the other end of the first ball screw 13 is fixed on the first guide frame 14, the first guide frame 14 is fixed on the connecting plate 40, one end of the first sliding frame 15 is slidably connected to the first guide frame 14, the other end of the first sliding frame 15 is fixed on the second pad 16, the first sliding frame 15 is further connected to a screw nut of the first ball screw 13, the second backing plate 16 is fixed on the second sucker component 17, and the adapter plate 3 is fixed on the first guide frame 14.

Specifically, when the rotary brushing mechanism 4 needs to be driven to move back and forth, the left and right sliding mechanisms 2 are firstly sucked on the wall surface, then the first sucker component 10 and the second sucker component 17 are not sucked on the wall surface, then the second driving component 12 drives the first ball screw 13 to rotate, the ball nut of the first ball screw 13 drives the first sliding frame 15 to slide on the first guide frame 14, the first sliding frame 15 drives the second sucker component 17 to extend forwards, after the second sucker component 17 extends out, the second sucker component 17 sucks the wall surface, then the left and right sliding mechanisms 2 do not suck the wall surface, then the second driving part 12 drives the first ball screw 13 to rotate reversely, because the second sucker assembly 17 is fixed, therefore, in the process of the reverse rotation of the first ball screw 13, the first sucker component 10 is driven to move towards the second sucker component 17, and at the moment, the rotary brushing mechanism 4 and the left-right sliding mechanism 2 are driven to move forwards; when the workpiece needs to move backwards, the second sucker component 17 is sucked on the wall surface, at the moment, the second driving component 12 drives the first ball screw 13 to rotate forwards, so that the first guide frame 14 drives the first sucker component 10 to extend backwards, meanwhile, the left and right sliding mechanisms 2 and the rotary brushing mechanism 4 are driven to extend out, then the first sucker component 10 sucks the wall surface, meanwhile, the left and right sliding mechanisms 2 suck the wall surface, then the second sucker component 17 is loosened, then the first ball screw 13 rotates backwards, and the second sucker component 17 is driven to move towards the first sucker component 10, so that the backward movement of the rotary brushing mechanism 4 is realized; the above actions are repeated in this way, and the wall surface is cleaned by continuously moving forwards and backwards.

As shown in fig. 5, in addition to the above-described embodiments, the first chuck assembly 10 further includes a first electrostatic chuck 101, a first floating plate 102, a first fixed plate 103, and a first electromagnet 104, the first electrostatic chuck 101 is disposed on the bottom surface of the first floating plate 102, the first floating plate 102 is elastically connected to the first fixed plate 103, the first fixed plate 103 is fixedly connected to the first backing plate 11, and the first electromagnet 104 is disposed on the first fixed plate 103; specifically, two first connecting columns are symmetrically arranged on the first floating plate 102, the other ends of the first connecting columns movably penetrate through the first fixing plate 103 and then are limited on the first fixing plate 103, a pressure spring is sleeved on each first connecting column, one end of each pressure spring abuts against the first floating plate 102, and the other end of each pressure spring abuts against the first fixing plate 103; when the first electrostatic chuck 101 does not need to be adsorbed, the first electromagnet 104 is electrified, the first electromagnet 104 attracts the first electrostatic chuck 101, the first electrostatic chuck 101 moves towards the first electromagnet 104, the first electrostatic chuck 101 drives the first floating plate 102 to move, and the first floating plate 102 compresses the pressure spring, so that the first electrostatic chuck 101 is lifted, and the first chuck assembly 10 is convenient to move; when the first electromagnet 104 is powered off, the first floating plate 102 is reset under the action of the elastic force of the pressure spring to drive the first electrostatic chuck 101 to move, so that the first electrostatic chuck 101 can be attracted to the wall surface.

As shown in fig. 5, based on the above embodiment, the second chuck assembly 17 further includes a second electrostatic chuck 171, a second floating plate 172, a second fixed plate 173, and a second electromagnet 174, the second electrostatic chuck 171 is disposed on the bottom surface of the second floating plate 172, the second floating plate 172 is elastically connected to the second fixed plate 173, the second fixed plate 173 is fixedly connected to the second backing plate 16, and the second electromagnet 174 is disposed on the second fixed plate 173; specifically, two second connecting columns are symmetrically arranged on the second floating plate 172, the other ends of the second connecting columns movably penetrate through the second fixing plate 173 and then are limited on the second fixing plate 173, a pressure spring is sleeved on each second connecting column, one end of each pressure spring abuts against the second floating plate 172, and the other end of each pressure spring abuts against the second fixing plate 173; when the second electrostatic chuck 171 does not need to be adsorbed, the second electromagnet 174 is electrified, the second electromagnet 174 attracts the second electrostatic chuck 171, the second electrostatic chuck 171 moves towards the second electromagnet 174, the second electrostatic chuck 171 drives the second floating plate 172 to move, and the second floating plate 172 compresses the pressure spring, so that the second electrostatic chuck 171 is lifted, and the second chuck assembly 17 is convenient to move; when the second electromagnet 174 is powered off, the second floating plate 172 is reset under the elastic force of the pressure spring, and the second electrostatic chuck 171 is driven to move, so that the second electrostatic chuck 171 can be sucked on the wall surface.

As shown in fig. 6, based on the above embodiment, further, the left-right sliding mechanism 2 includes a third chuck assembly 20, a third pad 21, a third driving part 22, a second ball screw 23, a second guide frame 24, a second sliding frame 25, a fourth pad 26, and a fourth chuck assembly 27, the third pad 21 is disposed on the third chuck assembly 20, the third driving part 22 is disposed on the third pad 21, one end of the second ball screw 23 is connected to an output end of the third driving part 22, the other end of the second ball screw 23 is fixed to the second guide frame 24, the second guide frame 24 is fixedly connected to the adapter plate 3, one end of the second sliding frame 25 is slidably connected to the second guide frame 24, the other end of the second sliding frame 25 is fixed to the fourth pad 26, the second sliding frame 25 is further connected to a screw nut of the second ball screw 23, the fourth pad 26 is fixed to a fourth chuck assembly 27.

Similarly, the working mode of the left-right sliding mechanism 2 driving the rotary brushing mechanism 4 to move left and right is the same as the working mode of the front-back sliding mechanism 1, and is not described again here.

As shown in fig. 6, based on the above embodiment, the third chuck assembly 20 further includes a third electrostatic chuck 201, a third floating plate 202, a third fixed plate 203 and a third electromagnet 204, the third electrostatic chuck 201 is disposed on the bottom surface of the third floating plate 202, the third floating plate 202 is elastically connected to the third fixed plate 203, the third fixed plate 203 is fixedly connected to the third backing plate 21, and the third electromagnet 204 is disposed on the third fixed plate 203; specifically, two third connecting columns are symmetrically arranged on the third floating plate 202, the other ends of the third connecting columns movably penetrate through the third fixing plate 203 and then are limited on the third fixing plate 203, a pressure spring is sleeved on each third connecting column, one end of each pressure spring abuts against the third floating plate 202, and the other end of each pressure spring abuts against the third fixing plate 203; similarly, the third chuck assembly 20 works in the same manner as the first chuck assembly 10 or the second chuck assembly 17, and thus, the description thereof is omitted.

As shown in fig. 6, based on the above embodiment, the fourth chuck assembly 27 further includes a fourth electrostatic chuck 271, a fourth floating plate 272, a fourth fixed plate 273 and a fourth electromagnet 274, the fourth electrostatic chuck 271 is disposed on the bottom surface of the fourth floating plate 272, the fourth floating plate 272 is elastically connected to the fourth fixed plate 273, the fourth fixed plate 273 is fixedly connected to the fourth backing plate 26, and the fourth electromagnet 274 is disposed on the fourth fixed plate 273; specifically, two fourth connecting columns are symmetrically arranged on the fourth floating plate 272, the other end of each fourth connecting column movably penetrates through the fourth fixing plate 273 and then is limited on the fourth fixing plate 273, a pressure spring is sleeved on each fourth connecting column, one end of each pressure spring abuts against the fourth floating plate 272, and the other end of each pressure spring abuts against the fourth fixing plate 273; similarly, the fourth chuck assembly 27 operates in the same manner as the first chuck assembly 10 or the second chuck assembly 17, and will not be described in detail herein.

In this embodiment, the second driving part 12 includes a second motor, a first coupler and a first bracket, the second motor is fixed on the first bracket, one end of the first coupler is connected to an output end of the second motor, the other end of the first coupler is connected to the first ball screw 13, and the first bracket is fixed on the first backing plate 11.

In this embodiment, the third driving part 22 includes a third motor, a second coupling and a second bracket, the third motor is fixed on the second bracket, one end of the second coupling is connected to an output end of the third motor, the other end of the second coupling is connected to the second ball screw 23, and the second bracket is fixed on the third backing plate 21.

The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.

Claims (10)

1. The utility model provides an outer wall cleaning machines people, its characterized in that, including around glide machanism (1), control glide machanism (2), keysets (3) and rotatory scrubbing mechanism (4), about glide machanism (2) connect the top in front and back glide machanism (1) through keysets (3), the bottom of glide machanism (1) is fixed around in the front and back in rotatory scrubbing mechanism (4), around glide machanism (1) be used for driving about glide machanism (2) and rotatory scrubbing mechanism (4) back-and-forth movement and can hold the wall, about glide machanism (2) be used for driving around glide machanism (1) and rotatory scrubbing mechanism (4) and remove and can hold the wall, rotatory scrubbing mechanism (4) are used for cleaning the wall.
2. The outer wall cleaning robot as claimed in claim 1, wherein the rotary brushing mechanism (4) comprises a connecting plate (40), a fixing seat (41), a first driving member (42), a three-way joint (43), a water diversion shaft (44), a brush (45) and a funnel-shaped sealing cover (46), the connecting plate (40) is fixed on the front and rear sliding mechanism (1), the fixing seat (41) is arranged on the connecting plate (40), the three-way joint (43) is fixed on the connecting plate (40), the discharge spout end of the sealing cover (46) is arranged on the fixing seat (41), the brush (45) comprises a disc-shaped brush body (451) and a tubular connecting body (452), the connecting body (452) passes through the discharge spout end of the sealing cover (46) and then is connected with the first driving member (42), a bearing (47) is connected between the connecting body (452) and the discharge spout end of the sealing cover (46), the first driving component (42) is used for driving the brush (45) to rotate, the three-way joint (43) is provided with a water inlet (431), a water outlet (432) and a first annular groove (433), one end of the water distribution shaft (44) is fixed on the three-way joint (43), one end of the water distribution shaft (44) is provided with a second annular groove (443) matched with the first annular groove (433), the second annular groove (443) and the first annular groove (433) are matched to form a first annular chamber, the water outlet (432) is communicated with the first annular chamber, the water distribution shaft (44) is further provided with a central channel (441) and a plurality of first water outlet channels (442) distributed circumferentially, the first water outlet channels (442) are communicated with the first annular chamber, the central channel (441) is communicated with the water inlet (431), and the other end of the water distribution shaft (44) extends into the connecting body (452) and penetrates through the brush body (451), the other end of distributive shaft (44) is equipped with annular breach (444), annular breach (444) and brush body (451) cooperation form a second annular chamber, second annular chamber and first water outlet channel (442) intercommunication seal ring (48) are installed respectively to second annular chamber both ends, brush body (451) radially are equipped with a plurality of second water outlet channel (4511), second water outlet channel (4511) and second annular chamber intercommunication, brush body (451) still is equipped with water sucking mouth (4512), water sucking mouth (4512) and second water outlet channel (4511) intercommunication, still install flexible closed ring (49) on sealed cowling (46).
3. The outer wall cleaning robot as claimed in claim 2, wherein the first driving member (42) comprises a first motor (421), a first bevel gear (422) and a second bevel gear (423), the first motor (421) is fixed on the fixing base (41), the first bevel gear (422) is connected with the output end of the first motor (421), the second bevel gear (423) is fixedly connected with the connecting body (452), and the first bevel gear (422) is engaged with the second bevel gear (423).
4. The outer wall cleaning robot as claimed in claim 2, wherein the front and rear sliding mechanism (1) comprises a first chuck assembly (10), a first pad (11), a second driving member (12), a first ball screw (13), a first guide frame (14), a first sliding frame (15), a second pad (16) and a second chuck assembly (17), the first pad (11) is disposed on the first chuck assembly (10), the second driving member (12) is disposed on the first pad (11), one end of the first ball screw (13) is connected with the output end of the second driving member (12), the other end of the first ball screw (13) is fixed on the first guide frame (14), the first guide frame (14) is fixed on the connecting plate (40), one end of the first sliding frame (15) is slidably connected on the first guide frame (14), the other end of the first sliding frame (15) is fixed on a second base plate (16), the first sliding frame (15) is further connected with a screw nut of the first ball screw (13), the second base plate (16) is fixed on a second sucker component (17), and the adapter plate (3) is fixed on the first guide frame (14).
5. The outer wall cleaning robot as claimed in claim 4, wherein the first sucker assembly (10) comprises a first electrostatic sucker (101), a first floating plate (102), a first fixing plate (103) and a first electromagnet (104), the first electrostatic sucker (101) is arranged on the bottom surface of the first floating plate (102), the first floating plate (102) is elastically connected to the first fixing plate (103), the first fixing plate (103) is fixedly connected to the first base plate (11), and the first electromagnet (104) is arranged on the first fixing plate (103).
6. The outer wall cleaning robot as claimed in claim 4, wherein the second suction cup assembly (17) comprises a second electrostatic suction cup (171), a second floating plate (172), a second fixed plate (173), and a second electromagnet (174), the second electrostatic suction cup (171) is disposed on the bottom surface of the second floating plate (172), the second floating plate (172) is elastically connected to the second fixed plate (173), the second fixed plate (173) is fixedly connected to the second pad (16), and the second electromagnet (174) is disposed on the second fixed plate (173).
7. The outer wall cleaning robot as claimed in claim 4, wherein the left-right sliding mechanism (2) comprises a third sucker assembly (20), a third pad (21), a third driving part (22), a second ball screw (23), a second guide frame (24), a second sliding frame (25), a fourth pad (26) and a fourth sucker assembly (27), the third pad (21) is disposed on the third sucker assembly (20), the third driving part (22) is disposed on the third pad (21), one end of the second ball screw (23) is connected with the output end of the third driving part (22), the other end of the second ball screw (23) is fixed on the second guide frame (24), the second guide frame (24) is fixedly connected on the adapter plate (3), one end of the second sliding frame (25) is slidably connected on the second guide frame (24), the other end of the second sliding frame (25) is fixed on a fourth base plate (26), the second sliding frame (25) is further connected with a screw nut of a second ball screw (23), and the fourth base plate (26) is fixed on a fourth sucker component (27).
8. The outer wall cleaning robot of claim 7, wherein the third chuck assembly (20) comprises a third electrostatic chuck (201), a third floating plate (202), a third fixing plate (203) and a third electromagnet (204), the third electrostatic chuck (201) is disposed on the bottom surface of the third floating plate (202), the third floating plate (202) is elastically connected to the third fixing plate (203), the third fixing plate (203) is fixedly connected to the third backing plate (21), and the third electromagnet (204) is disposed on the third fixing plate (203).
9. The exterior wall cleaning robot of claim 7, wherein the fourth chuck assembly (27) comprises a fourth electrostatic chuck (271), a fourth floating plate (272), a fourth fixed plate (273) and a fourth electromagnet (274), the fourth electrostatic chuck (271) is disposed on the bottom surface of the fourth floating plate (272), the fourth floating plate (272) is elastically connected to the fourth fixed plate (273), the fourth fixed plate (273) is fixedly connected to the fourth pad (26), and the fourth electromagnet (274) is disposed on the fourth fixed plate (273).
10. The exterior wall cleaning robot of claim 7, wherein the fourth chuck assembly (27) comprises a fourth electrostatic chuck (271), a fourth floating plate (272), a fourth fixed plate (273) and a fourth electromagnet (274), the fourth electrostatic chuck (271) is disposed on the bottom surface of the fourth floating plate (272), the fourth floating plate (272) is elastically connected to the fourth fixed plate (273), the fourth fixed plate (273) is fixedly connected to the fourth pad (26), and the fourth electromagnet (274) is disposed on the fourth fixed plate (273).
CN201910947478.8A 2019-10-08 2019-10-08 Outer wall cleaning robot CN110604506A (en)

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Publication number Priority date Publication date Assignee Title
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CN202505273U (en) * 2012-04-01 2012-10-31 赵章新 Indoor floor cleaning device
CN204562019U (en) * 2015-03-20 2015-08-19 杭州信多达电器有限公司 A kind of side brush device of clean robot
CN106419722A (en) * 2016-10-28 2017-02-22 唐山新禾智能科技有限公司 Automatic glass cleaning robot
CN208659198U (en) * 2017-12-04 2019-03-29 广州大学 A kind of wall surface cleaner device people
CN109691936A (en) * 2019-01-16 2019-04-30 湘潭大学 A kind of steam-type climbs wall wall cleaning machine automatically

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Publication number Priority date Publication date Assignee Title
JP2004000849A (en) * 2002-05-31 2004-01-08 Kojima Kogyo:Kk Ceiling wiping device
CN202505273U (en) * 2012-04-01 2012-10-31 赵章新 Indoor floor cleaning device
CN204562019U (en) * 2015-03-20 2015-08-19 杭州信多达电器有限公司 A kind of side brush device of clean robot
CN106419722A (en) * 2016-10-28 2017-02-22 唐山新禾智能科技有限公司 Automatic glass cleaning robot
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CN109691936A (en) * 2019-01-16 2019-04-30 湘潭大学 A kind of steam-type climbs wall wall cleaning machine automatically

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110693399A (en) * 2019-10-09 2020-01-17 达英科(南京)设备有限公司 Complete set of outer wall cleaning robot equipment and outer wall cleaning method thereof

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