CN110946496B - Robot capable of automatically cleaning high-rise glass curtain wall - Google Patents
Robot capable of automatically cleaning high-rise glass curtain wall Download PDFInfo
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- CN110946496B CN110946496B CN201911383707.4A CN201911383707A CN110946496B CN 110946496 B CN110946496 B CN 110946496B CN 201911383707 A CN201911383707 A CN 201911383707A CN 110946496 B CN110946496 B CN 110946496B
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- 239000011521 glass Substances 0.000 title claims abstract description 53
- 238000004140 cleaning Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000001179 sorption measurement Methods 0.000 claims description 58
- 230000005540 biological transmission Effects 0.000 claims description 34
- 238000007789 sealing Methods 0.000 claims description 15
- 241000252254 Catostomidae Species 0.000 claims 2
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
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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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
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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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a robot capable of automatically cleaning a high-rise glass curtain wall, which comprises a main machine body and a square column, wherein a moving cavity with left and right openings is formed in the main machine body, the square column is arranged on the inner wall of the moving cavity in a sliding manner, a brush wheel capable of cleaning glass is rotatably arranged on the rear side surface of the main machine body, a power mechanism capable of controlling the main machine body to move left and right on the periphery of the square column and controlling the brush wheel to rotate is arranged in the main machine body, and two elastic cavities which are symmetrical up and down and have forward openings are arranged in the main machine body.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot capable of automatically cleaning a high-rise glass curtain wall.
Background
High building glass curtain wall has long the back at live time, can be because the long many light penetration rates that lead to of dust decline, then lead to indoor light to become dark, therefore, high building glass curtain wall need regularly wash, generally adopt artifical washing, but because highly too high, use safety rope and backup pad to carry on workman and wash glass, still there is very big potential safety hazard, if use the robot to wash then great reduction potential safety hazard, but general robot can't accomplish to fix and wash on glass curtain wall surface, also there are some cleaning machines people on the market, can only carry out local washing, degree of automation is not high, still need artifical supplementary, and can't accomplish the integrated device continuity and remove.
Disclosure of Invention
The invention aims to provide a robot capable of automatically cleaning a high-rise glass curtain wall, which is used for overcoming the defects in the prior art.
The robot capable of automatically cleaning the high-rise glass curtain wall comprises a main machine body and a square column, wherein a moving cavity with left and right openings is formed in the main machine body, the square column is arranged on the inner wall of the moving cavity in a sliding mode, a brush wheel capable of cleaning glass is arranged on the rear side face of the main machine body in a rotating mode, a power mechanism capable of controlling the main machine body to move left and right on the periphery of the square column and controlling the brush wheel to rotate is arranged in the main machine body, two elastic cavities which are symmetrical up and down and are provided with forward openings are arranged in the main machine body, a moving block is arranged in the elastic cavities in a sliding mode, two sliding cavities which are symmetrical up and down are arranged in the main machine body, a sliding rod is arranged in the sliding cavities in a sliding mode, a fixed block is fixedly arranged on the outer side face of the sliding rod, and a transmission mechanism capable of controlling the fixing block to move up and down, the left and right sides of square column all sets firmly the restriction piece, two the fixed block and two the restriction piece is kept away from each other the side and is all rotated and be equipped with the absorption cam of adsorbable on glass, three align to grid's sucking disc has set firmly in the periphery of absorption cam, the sucking disc all is located the protruding department of absorption cam, it adsorbs the chamber to have seted up in the sucking disc, be equipped with in the absorption cam and work as when the sucking disc is pressed on glass, release adsorb the air of intracavity, make sucking disc and glass adsorb fixed adsorption apparatus.
A further technical scheme, power unit includes first motor, the upside intercommunication that removes the chamber is equipped with the power chamber, first motor sets firmly on the back wall in power chamber, the equal power connection in both sides is equipped with the power shaft around the first motor, is located the front side the power wheel has set firmly in the power shaft periphery, the top surface of square column has the tooth, the power shaft with the top surface meshing of square column, the power chamber rear side is seted up the belt chamber, is located the rear side the power shaft is to the back extension stretch into the belt intracavity, it is equipped with the washing axle to rotate on the back wall in belt chamber, wash the axle with all set firmly the belt pulley in the periphery of power shaft, two the transmission is connected between the belt pulley and is equipped with the belt, wash the axle to the back extension stretch out the external world, and with brush wheel fixed connection.
According to a further technical scheme, a square cavity is communicated with the left side of the elastic cavity, a rotating shaft is rotatably arranged on the rear wall of the square cavity, a rotating wheel is fixedly arranged on the periphery of the rotating shaft, a connecting rope is wound on the periphery of the rotating wheel, an extending part of the connecting rope extends into the elastic cavity and is fixedly connected with the moving block, a first spring is fixedly arranged between one side face of the moving block and the same side wall of the elastic cavity, a ratchet cavity is arranged on the rear side of the square cavity, a second motor is fixedly arranged on the left wall of the ratchet cavity, first worms are dynamically connected to the upper side and the lower side of the second motor, backward extending parts of the rotating shaft extend into the ratchet cavity, worm wheels are fixedly arranged on the periphery of the second motor, the first worms on the lower side are meshed with the worm wheels on the lower side, ratchet wheel sets are fixedly arranged on the top surface of the first worms on the upper side, the top wall of the ratchet cavity is rotatably provided with a second worm, the bottom surface of the second worm is in power connection with the ratchet group, and the second worm is meshed with the worm wheel positioned on the upper side.
According to the technical scheme, the transmission mechanism comprises two support blocks which are bilaterally symmetrical and fixedly arranged on the upper side face and the lower side face of the main machine body, a cross rod is fixedly arranged between the two support blocks, a first connecting rod is rotatably arranged on the periphery of the cross rod, a cavity is formed in the first connecting rod, a driven rod is rotatably arranged between the left wall and the right wall of the cavity, a second connecting rod is fixedly arranged on the periphery of the driven rod, the extending part of the second connecting rod is hinged to the moving block, a third connecting rod is hinged to the top face of the fixed block, the third connecting rod and the first connecting rod are hinged through a hinge disc at the same side, and a telescopic rod is fixedly connected between the third connecting rod and the first connecting rod.
According to the technical scheme, a motor cavity is formed in the square column, a third motor is fixedly arranged on the inner wall of the motor cavity, the left side and the right side of the third motor are connected through power, the extending portion of the cross shaft penetrates through the square column and the inner wall of the limiting block, and the cross shaft is fixedly connected with the adsorption cams located on the left side and the right side.
According to the further technical scheme, a fourth motor is embedded in the fixed block, the fourth motor is far away from the motor shaft which is arranged on one side of the main machine body in a power connection mode, and the adsorption cam is fixedly connected with the motor shaft and located on the upper side and the lower side.
A further technical scheme is that the adsorption mechanism comprises a rotary column, a driven cavity is formed in the adsorption cam and is communicated with the outside, the driven cavity is close to the inner wall of the main body side and is provided with the rotary column in a rotating mode, six sealing blocks and three connecting blocks are fixedly arranged on the periphery of the rotary column, every two sealing blocks are in one group, three groups of sealing blocks are uniformly arranged, the connecting blocks are uniformly arranged and are positioned between every two groups of sealing blocks, three uniformly arranged transmission cavities with openings facing the outside are arranged in the adsorption cam and are positioned at the bulge of the adsorption cam, the sealing blocks can seal the transmission cavity, an arc-shaped jacking block is arranged on the inner wall of the transmission cavity in a sliding mode, a through hole is formed in the adsorption cam and is communicated with the transmission cavity and the outside, and a second spring is fixedly arranged between one side face of the arc-shaped jacking block and the inner wall of the transmission cavity, and the ejector rod extends through the inner wall of the adsorption cam, extends into the driven cavity, and is abutted against the connecting block, and the ejector rod is connected with the inner wall of the adsorption cam in a sliding manner.
The invention has the beneficial effects that: the invention can be automatically adsorbed on a high-rise glass curtain wall to clean the glass, can move left and right and clean the glass through the rotating brush wheel, can also automatically control to move downwards after the cleaning is finished, can effectively increase the automation and the working efficiency, and can reduce the danger of manually cleaning the high-rise glass curtain wall, wherein, a power mechanism can control the left and right movement of a main machine body and simultaneously control the rotation of the brush wheel, a transmission mechanism can control adsorption cams positioned at the upper side and the lower side to expand to assist the downward movement of the main machine body, and the adsorption mechanism can ensure that the convex part is contacted with the glass in the rotating process of the adsorption cams, so that a sucker can be tightly adsorbed on the surface of the glass.
Drawings
FIG. 1 is a schematic view of the overall internal structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the ratchet chamber and belt chamber of the present invention;
FIG. 3 is a schematic view showing the internal structure of the adsorption cam in the present invention;
fig. 4 is a sectional view taken along a line a-a of fig. 1 according to the present invention.
Detailed Description
The invention will now be described in detail with reference to fig. 1-4, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
Referring to fig. 1 to 4, a robot capable of automatically cleaning a glass curtain wall of a high building according to an embodiment of the present invention includes a main body 38 and a square column 34, a moving cavity 31 with left and right openings is formed in the main body 38, the square column 34 is slidably disposed on an inner wall of the moving cavity 31, a brush wheel 61 capable of cleaning glass is rotatably disposed on a rear side surface of the main body 38, a power mechanism 101 capable of controlling the main body 38 to move left and right on an outer periphery of the square column 34 and controlling the brush wheel 61 to rotate is disposed in the main body 38, two elastic cavities 24 with front openings and symmetrical up and down are disposed in the main body 38, a moving block 35 is slidably disposed in the elastic cavities 24 up and down, two sliding cavities 60 with symmetrical up and down are disposed in the main body 38, a sliding rod 59 is slidably disposed in the sliding cavities 60 up and down, a fixing block 13 is fixedly disposed on a side surface of the sliding rod 59 located outside, a transmission mechanism 102 capable of controlling the fixing block 13 to move up and down on the same side by moving the moving block 35 is arranged between the fixing block 13 and the moving block 35, limiting blocks 29 are fixedly arranged on the left side and the right side of the square column 34, two fixing blocks 13 and two limiting blocks 29 are rotatably provided with adsorption cams 11 capable of being adsorbed on glass on the side away from each other, three suction cups 48 which are uniformly arranged are fixedly arranged on the periphery of the adsorption cams 11, the suction cups 48 are positioned at the bulges of the adsorption cams 11, adsorption cavities 49 are formed in the suction cups 48, and adsorption mechanisms 103 which are used for releasing air in the adsorption cavities 49 when the suction cups 48 are pressed on the glass are arranged in the adsorption cams 11 so as to enable the suction cups 48 and the glass to be adsorbed and fixed.
In addition, in one embodiment, the power mechanism 101 includes a first motor 26, a power cavity 25 is provided in communication with an upper side of the moving cavity 31, the first motor 26 is fixedly provided on a rear wall of the power cavity 25, power shafts 28 are provided in power connection with front and rear sides of the first motor 26, a power wheel 27 is fixedly provided on an outer periphery of the power shaft 28 on a front side, a top surface of the square column 34 is provided with teeth, the power shaft 28 is engaged with a top surface of the square column 34, a belt cavity 47 is provided on a rear side of the power cavity 25, a rearward extension portion of the power shaft 28 on the rear side extends into the belt cavity 47, a cleaning shaft 44 is rotatably provided on a rear wall of the belt cavity 47, belt pulleys 45 are fixedly provided on outer peripheries of the cleaning shaft 44 and the power shaft 28, a belt 46 is provided in transmission connection between the two belt pulleys 45, a rearward extension portion of the cleaning shaft 44 extends out of the outside, and is fixedly connected with the brush wheel 61, through the operation of the first motor 26, the power shaft 28 can drive the power shaft 28 to rotate, so that the main machine body 38 can move left and right on the periphery of the square column 34, meanwhile, the power shaft 28 can drive the cleaning shaft 44 to rotate, and then the brush wheel 61 can rotate while moving left and right on the main machine body 38, thereby achieving the effect of cleaning glass.
In addition, in one embodiment, a square cavity 18 is communicated with the left side of the elastic cavity 24, a rotating shaft 20 is rotatably arranged on the rear wall of the square cavity 18, a rotating wheel 19 is fixedly arranged on the outer periphery of the rotating shaft 20, a connecting rope 37 is wound on the outer periphery of the rotating wheel 19, an extending portion of the connecting rope 37 extends into the elastic cavity 24 and is fixedly connected with the moving block 35, a first spring 36 is fixedly arranged between one side surface of the moving block 35 and the same side wall of the elastic cavity 24, a ratchet cavity 39 is arranged on the rear side of the square cavity 18, a second motor 42 is fixedly arranged on the left wall of the ratchet cavity 39, a first worm 43 is dynamically connected to the upper side and the lower side of the second motor 42, a worm wheel 65 is fixedly arranged on the outer periphery of the rotating shaft 20, the first worm 43 positioned on the lower side is engaged with the worm wheel 65 positioned on the lower side, a ratchet group 41 is fixedly arranged on the top surface of the first worm 43 positioned on the upper side, a second worm 40 is rotatably arranged on the top wall of the ratchet cavity 39, the bottom surface of the second worm 40 is in power connection with the ratchet group 41, the second worm 40 is meshed with the worm gear 65 positioned on the upper side, when the second motor 42 rotates forwards, the first worm 43 can drive the two rotating shafts 20 to rotate simultaneously, when the second motor 42 rotates backwards, the rotating shaft 20 positioned on the lower side can rotate, at the moment, the rotating shaft 20 positioned on the upper side does not move, the rotating shaft 20 can drive the moving block 35 to move through the connecting rope 37, when the rotating shaft 20 positioned on the upper side drives the moving block 35 to move, the second motor 42 rotates backwards, and at the moment, the first spring 36 can drive the moving block 35 to return to the original position.
In addition, in one embodiment, the transmission mechanism 102 includes two support blocks 17 that are bilaterally symmetrical and fixed on the upper and lower sides of the main body 38, a cross bar 16 is fixed between the two support blocks 17, a first connecting rod 15 is rotatably provided on the outer circumference of the cross bar 16, a cavity 21 is formed in the first connecting rod 15, a driven rod 22 is rotatably provided between the left and right walls of the cavity 21, a second connecting rod 23 is fixedly provided on the outer circumference of the driven rod 22, an extending portion of the second connecting rod 23 is hinged to the moving block 35, a third connecting rod 14 is hinged to the top surface of the fixed block 13, the third connecting rod 14 and the first connecting rod 15 are hinged through a hinge plate 63 on the same side, a telescopic rod 62 is fixedly connected between the third connecting rod 14 and the first connecting rod 15, and the second connecting rod 23 can drive the first connecting rod 15 to rotate through the movement of the moving block 35, and then the third connecting rod 14 can drive the fixed block 13 to move up and down, and when the moving block 35 moves away from the main machine body 38, the fixed block 13 can drive the sliding rod 59 to move away from the main machine body 38.
In addition, in one embodiment, a motor cavity 32 is formed in the square column 34, a third motor 33 is fixedly arranged on the inner wall of the motor cavity 32, both left and right sides of the third motor 33 are provided with a cross shaft 30 in a power connection manner, an extending portion of the cross shaft 30 penetrates through the inner walls of the square column 34 and the limiting block 29 and is fixedly connected with the adsorption cams 11 positioned on the left and right sides, and the adsorption cams 11 positioned on the left and right sides can be driven to rotate by the cross shaft 30 through the operation of the third motor 33.
In addition, in an embodiment, a fourth motor 58 is fixedly embedded in the fixed block 13, a motor shaft 12 is disposed on one side of the fourth motor 58 away from the main body 38 in a power connection manner, the adsorption cams 11 located on the upper and lower sides are fixedly connected with the motor shaft 12, and the operation of the fourth motor 58 enables the motor shaft 12 to drive the adsorption cams 11 located on the upper and lower sides to rotate.
In addition, in one embodiment, the adsorption mechanism 103 includes a rotating column 64, a driven cavity 56 is formed in the adsorption cam 11, the driven cavity 56 is communicated with the outside, the driven cavity 56 is close to the inner wall of the main body 38 side and is provided with the rotating column 64 in a rotating manner, six sealing blocks 55 and three connecting blocks 57 are fixedly arranged on the periphery of the rotating column 64, every two sealing blocks 55 form one group, three groups are uniformly arranged, the connecting blocks 57 are positioned between every two groups of sealing blocks 55, three transmission cavities 52 which are uniformly arranged and have openings facing the outside are formed in the adsorption cam 11, the transmission cavities 52 are positioned at the protrusions of the adsorption cam 11, the sealing blocks 55 can seal the transmission cavities 52, arc-shaped jacking blocks 50 are slidably arranged on the inner wall of the transmission cavities 52, through holes 51 are formed in the adsorption cam 11, the through holes 51 are communicated with the transmission cavities 52 and the outside, a second spring 53 is fixedly installed between one side surface of the arc-shaped ejecting block 50 and the inner wall of the transmission cavity 52, a push rod 54 is fixedly arranged on the side surface of the arc-shaped ejecting block 50 in the transmission cavity 52, the extending part of the push rod 54 penetrates through the inner wall of the adsorption cam 11 and extends into the driven cavity 56 and is abutted against the connecting block 57, the push rod 54 is in sliding connection with the inner wall of the adsorption cam 11, when the adsorption cam 11 rotates and the convex side of the adsorption cam 11 is contacted with glass, the arc-shaped ejecting block 50 can move towards the transmission cavity 52, so that the push rod 54 can drive the rotating column 64 to rotate through the connecting block 57, the sealing block 55 can be driven to rotate, the transmission cavity 52 can be communicated with the driven cavity 56, and when the suction cup 48 is adsorbed with the glass, air in the adsorption cavity 49 can be discharged through the driven cavity 56, when the arc-shaped top block 50 rotates to face the glass, the transmission cavity 52 can be sealed by another connecting block 57 in the same group, and then the suction cup 48 can completely absorb the glass, so that the main body 38 and the square column 34 can be fixed on the glass.
In the initial state, the outer flat portion of the suction cam 11 faces rearward, the slide bar 59 is located in the slide chamber 60, the two moving blocks 35 are located close to each other, and the third link 14 and the first link 15 are not spread.
When the glass cleaning machine is used, the power shaft 28 can be driven to drive the power shaft 28 to rotate by the operation of the first motor 26, so that the main machine body 38 can move left and right on the periphery of the square column 34, meanwhile, the power shaft 28 can drive the cleaning shaft 44 to rotate, further, the brush wheel 61 can rotate while moving left and right on the main machine body 38, and further, the glass cleaning effect is achieved, when the second motor 42 rotates forwards, the first worm 43 can drive the two rotating shafts 20 to rotate simultaneously, when the second motor 42 rotates backwards, the rotating shaft 20 positioned at the lower side can be driven to rotate, at the moment, the rotating shaft 20 positioned at the upper side cannot move, the rotating shaft 20 can drive the moving block 35 to move through the connecting rope 37, when the rotating shaft 20 positioned at the upper side drives the moving block 35 to move, the second motor 42 rotates backwards, at the moment, the first spring 36 can drive the moving block 35 to return to the original position, and through the movement of, further, the third connecting rod 14 can drive the fixed block 13 to move up and down, when the moving block 35 moves away from the main body 38, the fixed block 13 can drive the sliding rod 59 to move away from the main body 38, the transverse shaft 30 can drive the adsorption cams 11 positioned at the left and right sides to rotate by the operation of the third motor 33, the motor shaft 12 can drive the adsorption cams 11 positioned at the upper and lower sides to rotate by the operation of the fourth motor 58, when the adsorption cams 11 rotate and the convex sides of the adsorption cams 11 contact with the glass, the arc-shaped top block 50 can move towards the side of the transmission cavity 52, so that the push rod 54 can drive the rotary column 64 to rotate by the connecting block 57, thereby driving the sealing block 55 to rotate, and then the transmission cavity 52 can be communicated with the driven cavity 56, so that when the suction cup 48 is adsorbed with the glass, the air in the adsorption cavity 49 can be discharged by the driven cavity 56, when the arc-shaped top block 50 rotates to face the glass, the transmission cavity 52 can be, the suction cup 48 can completely suck the glass at this time, and further the main body 38 and the square column 34 can be fixed on the glass, when the main body 38 finishes a cleaning process and needs to move downward, the suction cam 11 located on the upper side is sucked and fixed with the glass, the second motor 42 rotates reversely, so that the suction cam 11 located on the lower side can be unfolded downward and sucked and fixed with the glass, the suction cam 11 located on the left and right sides is released, and the second motor 42 rotates forward, the main body 38 can move downward relative to the suction cam 11, at this time, the suction cam 11 located on the left and right sides is re-fixed, and after the second motor 42 stops, the suction cam 11 located on the upper side is released, the suction cam 11 located on the upper side is folded downward, at this time, the suction cam 11 located on the lower side is released, and the.
The invention has the beneficial effects that: the invention can be automatically adsorbed on a high-rise glass curtain wall to clean the glass, can move left and right and clean the glass through the rotating brush wheel, can also automatically control to move downwards after the cleaning is finished, can effectively increase the automation and the working efficiency, and can reduce the danger of manually cleaning the high-rise glass curtain wall, wherein, a power mechanism can control the left and right movement of a main machine body and simultaneously control the rotation of the brush wheel, a transmission mechanism can control adsorption cams positioned at the upper side and the lower side to expand to assist the downward movement of the main machine body, and the adsorption mechanism can ensure that the convex part is contacted with the glass in the rotating process of the adsorption cams, so that a sucker can be tightly adsorbed on the surface of the glass.
It will be apparent to those skilled in the art that various modifications may be made to the above embodiments without departing from the general spirit and concept of the invention. All falling within the scope of protection of the present invention. The protection scheme of the invention is subject to the appended claims.
Claims (1)
1. The utility model provides a but robot of self-cleaning high building glass curtain wall, includes the host computer body and square column, its characterized in that: the glass cleaning machine is characterized in that a moving cavity with a left opening and a right opening is formed in the main machine body, the square column is arranged on the inner wall of the moving cavity in a sliding mode, a brush wheel capable of cleaning glass is arranged on the rear side face of the main machine body in a rotating mode, a power mechanism capable of controlling the main machine body to move left and right on the periphery of the square column and controlling the brush wheel to rotate is arranged in the main machine body, two elastic cavities which are symmetrical up and down and are provided with forward openings are arranged in the main machine body, a moving block is arranged in the elastic cavities in a sliding mode, two sliding cavities which are symmetrical up and down are arranged in the main machine body, a sliding rod is arranged in the sliding cavities in a sliding mode, a fixed block is fixedly arranged on the side face, located outside, of the sliding; the left side and the right side of the square column are respectively and fixedly provided with a limiting block, the two fixing blocks and the two limiting blocks are respectively and rotatably arranged on the far sides away from each other, an adsorption cam capable of being adsorbed on glass is arranged on the two fixing blocks and the two limiting blocks, three suckers which are uniformly arranged are fixedly arranged on the periphery of the adsorption cam, the suckers are all positioned at the bulge of the adsorption cam, an adsorption cavity is formed in each sucker, and an adsorption mechanism which is used for releasing air in the adsorption cavity when the sucker is pressed on the glass is arranged in the adsorption cam so that the sucker and the glass are adsorbed and fixed is arranged in; the power mechanism comprises a first motor, the upper side of the moving cavity is communicated with a power cavity, the first motor is fixedly arranged on the rear wall of the power cavity, power shafts are arranged on the front side and the rear side of the first motor in a power connection mode, power wheels are fixedly arranged on the periphery of the power shaft on the front side, teeth are arranged on the top surface of the square column, the power shafts are meshed with the top surface of the square column, a belt cavity is formed in the rear side of the power cavity, the backward extending part of the power shaft on the rear side extends into the belt cavity, a cleaning shaft is rotatably arranged on the rear wall of the belt cavity, belt pulleys are fixedly arranged on the peripheries of the cleaning shaft and the power shaft, a belt is arranged between the two belt pulleys in a transmission connection mode, and the backward extending part of the cleaning shaft extends out of the outside and is fixedly connected with the brush wheels; the left side of the elastic cavity is communicated with a square cavity, a rotating shaft is rotatably arranged on the rear wall of the square cavity, a rotating wheel is fixedly arranged on the periphery of the rotating shaft, a connecting rope is wound on the periphery of the rotating wheel, an extending part of the connecting rope extends into the elastic cavity and is fixedly connected with the moving block, a first spring is fixedly arranged between one side surface of the moving block and the same side wall of the elastic cavity, a ratchet cavity is arranged on the rear side of the square cavity, a second motor is fixedly arranged on the left wall of the ratchet cavity, first worms are dynamically connected with the upper side and the lower side of the second motor, backward extending parts of the rotating shaft extend into the ratchet cavity, worm wheels are fixedly arranged on the periphery of the first worms, the first worms on the lower side are meshed with the worm wheels on the lower side, ratchet wheel sets are fixedly arranged on the top surface of the first worms on the upper side, and second worms are rotatably arranged on the top wall of the ratchet cavity, the bottom surface of the second worm is in power connection with the ratchet wheel set, and the second worm is meshed with the worm wheel positioned on the upper side; the transmission mechanism comprises two support blocks which are bilaterally symmetrical and fixedly arranged on the upper side and the lower side of the main machine body, a cross rod is fixedly arranged between the left support block and the right support block, a first connecting rod is rotatably arranged on the periphery of the cross rod, a cavity is formed in the first connecting rod, a driven rod is rotatably arranged between the left wall and the right wall of the cavity, a second connecting rod is fixedly arranged on the periphery of the driven rod, an extending part of the second connecting rod is hinged with the moving block, the top surface of the fixed block is hinged with a third connecting rod, the third connecting rod and the first connecting rod are hinged through a hinge disc on the same side, and a telescopic rod is fixedly connected between the third connecting rod and the first connecting rod; a motor cavity is formed in the square column, a third motor is fixedly arranged on the inner wall of the motor cavity, the left side and the right side of the third motor are both provided with a cross shaft in a power connection mode, and the extending part of the cross shaft penetrates through the inner walls of the square column and the limiting block and is fixedly connected with the adsorption cams positioned on the left side and the right side; a fourth motor is fixedly embedded in the fixed block, one side of the fourth motor, which is far away from the main machine body, is provided with a motor shaft in a power connection mode, and the adsorption cams positioned on the upper side and the lower side are fixedly connected with the motor shaft; the adsorption mechanism comprises a rotary column, a driven cavity is arranged in the adsorption cam and is communicated with the outside, the driven cavity is close to the inner wall of the main body side and is rotatably provided with the rotary column, six sealing blocks and three connecting blocks are fixedly arranged on the periphery of the rotary column, every two sealing blocks are in one group, three groups of sealing blocks are uniformly arranged, the connecting blocks are positioned between every two groups of sealing blocks, three uniformly arranged transmission cavities with openings facing the outside are arranged in the adsorption cam, the transmission cavities are positioned at the bulges of the adsorption cam and can seal the transmission cavities, arc-shaped jacking blocks are slidably arranged on the inner wall of the transmission cavities, through holes are arranged in the arc-shaped jacking blocks and are communicated with the transmission cavities and the outside, and a second spring is fixedly arranged between one side face of the arc-shaped jacking blocks and the inner wall of the transmission cavities, and the ejector rod extends through the inner wall of the adsorption cam, extends into the driven cavity, and is abutted against the connecting block, and the ejector rod is connected with the inner wall of the adsorption cam in a sliding manner.
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| CN201911383707.4A CN110946496B (en) | 2019-12-28 | 2019-12-28 | Robot capable of automatically cleaning high-rise glass curtain wall |
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| CN201911383707.4A CN110946496B (en) | 2019-12-28 | 2019-12-28 | Robot capable of automatically cleaning high-rise glass curtain wall |
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| CN110946496B true CN110946496B (en) | 2021-04-23 |
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| CN111374586B (en) * | 2020-04-13 | 2021-06-18 | 义乌市航英科技有限公司 | Movable device for cleaning glass on outer side of high building |
| CN111493766A (en) * | 2020-05-06 | 2020-08-07 | 广州连进玻璃科技有限公司 | Automatic climbing and wiping device for building curtain wall glass |
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| CN205458402U (en) * | 2016-03-21 | 2016-08-17 | 中国石油大学(华东) | Novel sucking disc formula curtain cleaning robot |
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