CN111466844A - Glass curtain wall cleaning robot - Google Patents
Glass curtain wall cleaning robot Download PDFInfo
- Publication number
- CN111466844A CN111466844A CN202010453677.6A CN202010453677A CN111466844A CN 111466844 A CN111466844 A CN 111466844A CN 202010453677 A CN202010453677 A CN 202010453677A CN 111466844 A CN111466844 A CN 111466844A
- Authority
- CN
- China
- Prior art keywords
- robot
- sucking disc
- subassembly
- curtain
- curtain wall
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
-
- 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
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
-
- 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
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- E04G23/004—Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products
Landscapes
- 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)
- Manipulator (AREA)
Abstract
The invention provides a glass curtain wall cleaning robot, which can span when meeting obstacles in the cleaning process, so that the area of a curtain wall can be cleaned more thoroughly, and the cleaning capability of the cleaning robot is improved. Keep away from a surface of treating the washing curtain in the central zone of robot main support and set firmly the vacuum and take place the subassembly, the four corners position of robot main support is respectively through the adjustable sucking disc subassembly of pendulum rod rigid coupling, every adjustable sucking disc subassembly includes towards curtain and perpendicular to curtain keep away from or the drive assembly who is close to, the sucking disc, the independent gyration of every group adjustable sucking disc subassembly, the drive is arranged, the direction of height central point of the terminal surface of curtain is treated to the orientation of robot main support puts and is provided with the washing subassembly, it includes the first jacking cylinder towards or keep away from the curtain to wash the subassembly, regional second horizontal cylinder that washs the structure level and remove, the direction of height's upper portion position of the terminal surface of curtain is treated to the orientation of robot main support, the lower.
Description
Technical Field
The invention relates to the technical field of glass curtain wall cleaning, in particular to a glass curtain wall cleaning robot.
Background
When the existing glass curtain wall cleaning robot touches an obstacle protruding from the glass curtain wall, the existing cleaning robot cannot carry out avoidance operation and only can be far away from the part with the obstacle, and the part with the fault obstacle cannot be cleaned, so that the cleaning of the curtain wall cannot be covered with the area of the obstacle; it makes the curtain wash not thorough, leaves the dead angle.
Disclosure of Invention
Aiming at the problems, the invention provides the glass curtain wall cleaning robot, which can span when meeting obstacles in the cleaning process, so that the area of the curtain wall can be cleaned more thoroughly, and the cleaning capability of the cleaning robot is improved.
Glass curtain wall cleaning robot, its characterized in that: it includes robot main support, vacuum generation subassembly, washs subassembly, main sucking disc subassembly, adjustable sucking disc subassembly, the central zone of robot main support is kept away from a surface of treating the washing curtain and has been set firmly the vacuum generation subassembly, the four corners position of robot main support is respectively through pendulum rod rigid coupling adjustable sucking disc subassembly, every adjustable sucking disc subassembly includes drive assembly, the sucking disc of keeping away from or being close to towards curtain and perpendicular to curtain, and the adjustable sucking disc subassembly of every group independently revolves, the drive is arranged, the orientation of robot main support the direction of height central point of the terminal surface of treating the washing curtain puts and is provided with the washing subassembly, washs the subassembly and includes towards or keep away from the first jacking cylinder of curtain, the second horizontal cylinder that regional washing structure level moved, the orientation of robot main support the upper portion position of the direction of height of the terminal surface of treating the washing curtain, The lower part position is provided with main sucking disc subassembly respectively, and every group main sucking disc subassembly includes orientation or keeps away from second jacking cylinder, the main sucking disc of curtain, main sucking disc, sucking disc communicate to through the vacuum generation pipeline respectively to the vacuum generation subassembly.
It is further characterized in that:
the robot comprises a main support, a transverse support, a swing cylinder, swing rods, a recovery tank, a water return assembly and a water outlet assembly, wherein the water return assembly comprises a water return tank, the bottom of the main support of the robot in the height direction is provided with the transverse support, the transverse support is provided with the swing cylinder, the piston ends at the two ends of the swing cylinder are respectively provided with the swing rods to be connected with the installation end of the recovery tank, the receiving end of the recovery tank is attached to the outer wall surface of a curtain wall under the driving of the swing cylinder to receive wastewater, the water return assembly mainly achieves the functions of recovering and treating and utilizing the wastewater generated by the wall surface cleaned by;
the water return grooves comprise a water return groove with a fixed central position and adjustable water return grooves with two sides capable of expanding outwards, and the adjustable water return grooves are adjusted according to the width of the curtain wall to ensure that the water return grooves adapt to the collection of the return water of the curtain walls with different widths;
the water return component realizes the recycling, filtering and reusing of cleaning wastewater, reduces the wastewater rate of the system, saves energy, reduces the wastewater pollution to the environment in the cleaning process, and reduces the safety threat to passers-by in the cleaning process;
the device also comprises an attached water suction pump, a waste water filter and a water storage tank, wherein water in the water tank is pumped out by the water suction pump and then enters the water storage tank after passing through the waste water filter;
the cleaning assembly specifically comprises a first jacking cylinder, a cylinder supporting plate and two second horizontal cylinders, the second horizontal cylinders are double-headed cylinders, the first jacking cylinder is fixedly mounted on the main robot support, the cylinder supporting plate is fixedly connected to the piston end of the first jacking cylinder, the second horizontal cylinders are respectively arranged on two sides of the cylinder supporting plate, piston heads at two ends of the second horizontal cylinders are respectively connected with mounting protrusions of a rubber scraper through hinged joints, cleaning brushes are fixedly arranged on one side of the rubber scraper facing a curtain wall, and the two cleaning brushes corresponding to the same second horizontal cylinder are oppositely arranged;
the arrangement of the hinged joint enables the rubber scraper and the cleaning brush to be capable of avoiding obstacles through rotation;
the vacuum generating assembly specifically comprises a vacuum generating chamber and a dry and wet fan, negative pressure is generated by the dry and wet fan, and the vacuum generating chamber is respectively connected with the main sucker and the sucker through a vacuum generating pipeline;
the four corners of the main bracket of the robot are respectively provided with a rotating motor near one end of the swing rod, the rotating motor drives the swing rod to rotate, the other end of the swing rod is connected with a connecting block, two sides of one opposite side of the connecting block are respectively provided with a first connecting rod, two ends of each first connecting rod are respectively hinged with corresponding positions of a first end rod and a second end rod, the lower ends of the first end rod and the second end rod are respectively hinged with corresponding positions of the upper surface of the sucker, the upper part of the first end rod is protruded on the first connecting rod, the position of the upper surface of the first connecting rod, which is far away from the first end rod, is provided with a third protruded guide rod, a driving cylinder is arranged between the upper part of the first end rod and the upper end of the third guide rod, and two driving cylinders corresponding to the same sucking disc synchronously act to drive the sucking disc to move away from or close to the curtain wall so as to finish moving or avoiding an obstacle;
each sucker is driven by two groups of parallel four-bar linkages to ensure that the adsorption surface of the sucker and the curtain wall keep parallel;
the main sucker is specifically a rectangular sucker, the second jacking cylinder is fixedly mounted behind the robot main support and fixedly connected with a piston rod of the second jacking cylinder, guide rod pairs are further arranged on the robot main support and the rectangular sucker, and the adsorption surface of the rectangular sucker is arranged in parallel to the curtain wall.
After the structure is adopted, the curtain wall cleaning robot comprises the main sucker component and the adjustable sucker component, when the robot performs cleaning operation, the two sucker components synchronously adsorb a curtain wall, so that the robot is ensured to be in close contact with a wall surface in the working process, and meanwhile, the influence of high-rise transverse phoenix on the robot can be resisted, so that the stability and reliability of the robot in the working process are ensured, and the working adaptability of the robot is improved; the robot adsorption component is divided into an adjustable sucker component and a main sucker component, wherein the adjustable sucker component is mainly designed to adapt to walls with different sizes, the sucker component has two degrees of freedom for rotation and lifting, the main sucker component has only one degree of freedom for lifting, and the adaptability to different walls can be realized by adjusting the combination of two groups of different sucker components in the working process; the main bracket of the robot mainly realizes the mounting and supporting of functional components of the robot, is a main body frame of the robot and adopts a square-steel welding design; the robot vacuum generation assembly mainly provides negative pressure for the adsorption assembly, and a dry-wet dual-purpose vacuum fan is adopted as a negative pressure generation mode of the assembly; the cleaning module is a main component for realizing wall surface cleaning by the robot, the component has the functions of brushing and wiping water, and the self-adaptive obstacle avoidance module is designed to realize the cleaning of the vertical surface of the window frame, so that the cleaning blind area of the robot is greatly reduced; the main sucker assembly, the adjustable sucker assembly and the cleaning assembly are arranged close to or far away from the curtain wall, so that obstacles encountered in the cleaning process can be avoided; when the cleaning robot encounters an obstacle in the cleaning process, the cleaning robot can span the obstacle, so that the area of the curtain wall is relatively thoroughly cleaned, and the cleaning capability of the cleaning robot is improved.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a second perspective view of the present invention;
the names corresponding to the sequence numbers in the figure are as follows:
the robot comprises a main robot support 1, a transverse support 101, a swing rod 102, a vacuum generating assembly 2, a vacuum generating chamber 21, a dry and wet fan 22, a cleaning assembly 3, a first jacking cylinder 31, a second horizontal cylinder 32, a cylinder support plate 33, a hinge joint 34, a rubber scraper 35, a cleaning brush 36, a main sucker assembly 4, a second jacking cylinder 41, a main sucker 42, a guide rod pair 43, an adjustable sucker assembly 5, a sucker 51, a swing rod 6, a vacuum generating pipeline 7, a water return assembly 8, a fixed water return tank 81, an adjustable water return tank 82, a swing cylinder 9, a rotating motor 10, a connecting block 11, a first connecting rod 12, a first end rod 13, a second end rod 14, a third guiding rod 15, a driving cylinder 16 and a connecting rod 17.
Detailed Description
The glass curtain wall cleaning robot is shown in the figures 1-2: it includes robot main support 1, the subassembly 2 takes place in the vacuum, wash subassembly 3, main sucking disc subassembly 4, adjustable sucking disc subassembly 5, the central zone of robot main support 1 is kept away from one surface of treating the washing curtain and is set firmly vacuum and take place subassembly 2, the four corners position of robot main support 1 is respectively through pendulum rod 6 rigid coupling adjustable sucking disc subassembly 5, every adjustable sucking disc subassembly 5 includes towards the curtain and perpendicular to curtain keep away from or be close to drive assembly, sucking disc 51, every adjustable sucking disc subassembly 5 of group independently revolve, the drive is arranged, the direction of height central point of the terminal surface of the curtain of treating the washing of robot main support 1 puts and is provided with washing subassembly 3, washing subassembly 3 includes towards or keeps away from the first jacking cylinder 31 of curtain, the second horizontal cylinder 32 that regional washing structure level moved, the upper portion position of the direction of height of the terminal surface of the curtain of treating the washing of robot main, The lower part position is provided with main sucking disc subassembly 4 respectively, and every group main sucking disc subassembly 4 includes second jacking cylinder 41, the main sucking disc 42 towards or keeping away from the curtain, and main sucking disc 42, sucking disc 51 communicate to the vacuum through vacuum generation pipeline 7 respectively and take place subassembly 2.
The robot is characterized by further comprising a water return assembly 8, wherein the water return assembly 8 comprises a water return tank, a transverse support 101 is arranged at the bottom of the robot main support 1 in the height direction, a swing cylinder 9 is arranged on the transverse support 101, piston ends at two ends of the swing cylinder 9 are respectively provided with a swing rod 102 connected with a mounting end of the recovery tank, a receiving end of the recovery tank is driven by the swing cylinder 9 to be attached to the outer wall surface of a curtain wall and used for receiving wastewater, the water return assembly 8 mainly achieves the functions of recovering and treating and utilizing wastewater generated by cleaning the wall surface of the robot, and the water return assembly is designed to be capable of avoiding obstacles through the swing cylinder;
the water return grooves comprise a fixed water return groove 81 at the center position and adjustable water return grooves 82 with two sides capable of expanding outwards, and the adjustable water return grooves 82 are adjusted according to the width of the curtain wall to ensure that the water return grooves are suitable for collecting the return water of the curtain walls with different widths;
the water return component 8 realizes the recycling, filtering and reusing of the cleaning wastewater, reduces the wastewater rate of the system, saves energy, reduces the wastewater pollution to the environment in the cleaning process, and reduces the safety threat to passers-by in the cleaning process;
the device also comprises an attached water suction pump, a waste water filter and a water storage tank (not shown in the figure and belonging to optimal configuration), wherein water in the water tank is pumped out by the water suction pump and then enters the water storage tank after passing through a waste water filter;
the cleaning assembly 3 specifically comprises a first jacking cylinder 31, a cylinder supporting plate 33 and two second horizontal cylinders 32, the second horizontal cylinders 32 are double-head cylinders, the first jacking cylinder 31 is fixedly mounted on the main robot support 1, the cylinder supporting plate 33 is fixedly connected to the piston end of the first jacking cylinder 31, the second horizontal cylinders 32 are respectively arranged on two sides of the cylinder supporting plate 33, piston heads at two ends of the second horizontal cylinders 32 are respectively connected with mounting protrusions of rubber scrapers 35 through hinges 34, a cleaning brush 36 is fixedly arranged on one side of the rubber scrapers 35 facing a curtain wall, and two cleaning brushes 36 corresponding to the same second horizontal cylinder 32 are oppositely arranged;
the articulated joint 34 is arranged so that the rubber scraper 35 and the washing brush 36 can avoid obstacles by rotation;
the vacuum generation assembly 2 specifically comprises a vacuum generation chamber 21 and a dry and wet fan 22, negative pressure is generated by the dry and wet fan 22, and the vacuum generation chamber 21 is respectively connected with a main suction cup 42 and a suction cup 51 through a vacuum generation pipeline 7;
the four corners of the main support 1 of the robot are respectively provided with a rotating motor 10 near one end of the swing rod 6, the rotating motor 10 drives the swing rod 6 to rotate, the other end of the swing rod 6 is connected with a connecting block 11, two sides of a pair of edges of the connecting block 11 are respectively provided with a first connecting rod 12, two ends of each first connecting rod 12 are respectively hinged with corresponding positions of a first end rod 13 and a second end rod 14, the lower ends of the first end rod 13 and the second end rod 14 are respectively hinged with corresponding positions of the upper surface of a suction cup 51, the upper part of the first end rod 13 is protruded on the first connecting rod 12, the position of the upper surface of the first connecting rod 12 far away from the first end rod 13 is provided with a protruded third guide rod 15, a driving cylinder 16 is arranged between the upper part of the first end rod 13 and the upper end of the third guide rod 15, two driving cylinders 16 corresponding to the same suction cup, completing movement or obstacle avoidance;
a connecting rod 17 is arranged between the tops of two adjacent first end rods, so that the structure is stable and reliable;
each sucker 51 is driven by two groups of parallel four-bar linkages to ensure that the adsorption surface of the sucker 51 and the curtain wall keep parallel;
the main sucker 42 is specifically a rectangular sucker, the second jacking cylinder 41 is fixedly mounted behind the main support 1 of the robot, a piston rod of the second jacking cylinder is fixedly connected with a shell of the rectangular sucker, the main support 1 of the robot and the shell of the rectangular sucker are further provided with a guide rod pair 43, and an adsorption surface of the rectangular sucker is arranged in parallel to the curtain wall.
The working principle is as follows: the curtain wall cleaning robot comprises a main sucker component and an adjustable sucker component, when the robot performs cleaning operation, the two sucker components synchronously adsorb a curtain wall, so that the robot is ensured to be in close contact with a wall surface in the working process, and the influence of high-rise transverse phoenix on the robot can be resisted, so that the stability and reliability of the robot in the working process are ensured, and the working adaptability of the robot is improved; the robot adsorption component is divided into an adjustable sucker component and a main sucker component, wherein the adjustable sucker component is mainly designed to adapt to walls with different sizes, the sucker component has two degrees of freedom for rotation and lifting, the main sucker component has only one degree of freedom for lifting, and the adaptability to different walls can be realized by adjusting the combination of two groups of different sucker components in the working process; the main bracket of the robot mainly realizes the mounting and supporting of functional components of the robot, is a main body frame of the robot and adopts a square-steel welding design; the robot vacuum generation assembly mainly provides negative pressure for the adsorption assembly, and a dry-wet dual-purpose vacuum fan is adopted as a negative pressure generation mode of the assembly; the cleaning module is a main component for realizing wall surface cleaning by the robot, the component has the functions of brushing and wiping water, and the self-adaptive obstacle avoidance module is designed to realize the cleaning of the vertical surface of the window frame, so that the cleaning blind area of the robot is greatly reduced; the main sucker assembly, the adjustable sucker assembly and the cleaning assembly are arranged close to or far away from the curtain wall, so that obstacles encountered in the cleaning process can be avoided; when the cleaning robot encounters an obstacle in the cleaning process, the cleaning robot can span the obstacle, so that the area of the curtain wall is relatively thoroughly cleaned, and the cleaning capability of the cleaning robot is improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. Glass curtain wall cleaning robot, its characterized in that: it includes robot main support, vacuum generation subassembly, washs subassembly, main sucking disc subassembly, adjustable sucking disc subassembly, the central zone of robot main support is kept away from a surface of treating the washing curtain and has been set firmly the vacuum generation subassembly, the four corners position of robot main support is respectively through pendulum rod rigid coupling adjustable sucking disc subassembly, every adjustable sucking disc subassembly includes drive assembly, the sucking disc of keeping away from or being close to towards curtain and perpendicular to curtain, and the adjustable sucking disc subassembly of every group independently revolves, the drive is arranged, the orientation of robot main support the direction of height central point of the terminal surface of treating the washing curtain puts and is provided with the washing subassembly, washs the subassembly and includes towards or keep away from the first jacking cylinder of curtain, the second horizontal cylinder that regional washing structure level moved, the orientation of robot main support the upper portion position of the direction of height of the terminal surface of treating the washing curtain, The lower part position is provided with main sucking disc subassembly respectively, and every group main sucking disc subassembly includes orientation or keeps away from second jacking cylinder, the main sucking disc of curtain, main sucking disc, sucking disc communicate to through the vacuum generation pipeline respectively to the vacuum generation subassembly.
2. The glass curtain wall cleaning robot of claim 1, wherein: the automatic water-saving device is characterized by further comprising a water return assembly, the water return assembly comprises a water return tank, a transverse support is arranged at the bottom of the height direction of the main support of the robot, a swing cylinder is arranged on the transverse support, piston ends at two ends of the swing cylinder are respectively provided with a swing rod to be connected with a mounting end of the recovery tank, and a receiving end of the recovery tank is attached to the outer wall surface of the curtain wall under the driving of the swing cylinder and used for receiving waste water.
3. The glass curtain wall cleaning robot of claim 2, wherein: the water return groove comprises a central position fixed water return groove and adjustable water return grooves, wherein the two sides of the adjustable water return grooves can be outwards expanded, and the adjustable water return grooves are adjusted according to the width of the curtain wall.
4. The glass curtain wall cleaning robot of claim 1, wherein: the cleaning assembly specifically comprises a first jacking cylinder, a cylinder supporting plate and two second horizontal cylinders, the second horizontal cylinders are double-end cylinders, the first jacking cylinder is fixedly mounted on the main robot support, the cylinder supporting plate is fixedly connected to the piston end of the first jacking cylinder, the second horizontal cylinders are respectively arranged on two sides of the cylinder supporting plate, piston heads at two ends of the second horizontal cylinders are respectively connected with mounting protrusions of the rubber scraper through hinged joints, cleaning brushes are fixedly arranged on one side of the rubber scraper, facing the curtain wall, and the two cleaning brushes corresponding to the same second horizontal cylinder are oppositely arranged.
5. The glass curtain wall cleaning robot of claim 1, wherein: the vacuum generation assembly specifically comprises a vacuum generation chamber and a dry-wet fan, negative pressure is generated by the dry-wet fan, and the vacuum generation chamber is connected with the main sucker and the sucker through vacuum generation pipelines respectively.
6. The glass curtain wall cleaning robot of claim 1, wherein: the four corners position of robot main support is close to pendulum rod one end is provided with the rotation motor respectively, rotates motor drive pendulum rod and rotates, the other end of pendulum rod is connected with the connecting block, the both sides of a pair of side of connecting block are provided with first connecting rod respectively, every the both ends of first connecting rod articulate the corresponding position that has first end pole, second end pole respectively, and the lower extreme of first end pole, second end pole articulates respectively in the corresponding position of the upper surface of sucking disc, and the upper portion epirelief of first end pole is in first connecting rod, and the upper surface of first connecting rod is kept away from the position of first end pole is provided with epirelief third guide bar, be provided with between the upper portion of first end pole and the upper end of third guide bar and drive actuating cylinder, two drive actuating cylinder synchronous motion drive sucking discs that same sucking disc corresponds keep away from or be close to the curtain action.
7. The glass curtain wall cleaning robot of claim 1, wherein: the main sucker is specifically a rectangular sucker, the second jacking cylinder is fixedly mounted behind the robot main support and fixedly connected with a piston rod of the second jacking cylinder, guide rod pairs are further arranged on the robot main support and the rectangular sucker, and the adsorption surface of the rectangular sucker is arranged in parallel to the curtain wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010453677.6A CN111466844A (en) | 2020-05-26 | 2020-05-26 | Glass curtain wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010453677.6A CN111466844A (en) | 2020-05-26 | 2020-05-26 | Glass curtain wall cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111466844A true CN111466844A (en) | 2020-07-31 |
Family
ID=71760161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010453677.6A Pending CN111466844A (en) | 2020-05-26 | 2020-05-26 | Glass curtain wall cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111466844A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113116244A (en) * | 2021-04-25 | 2021-07-16 | 北京黑蚁兄弟科技有限公司 | Robot device capable of cleaning through seam and seam-passing method thereof |
| CN113558532A (en) * | 2021-08-02 | 2021-10-29 | 季华实验室 | Reconfigurable sweeping robot based on vision and control method thereof |
-
2020
- 2020-05-26 CN CN202010453677.6A patent/CN111466844A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113116244A (en) * | 2021-04-25 | 2021-07-16 | 北京黑蚁兄弟科技有限公司 | Robot device capable of cleaning through seam and seam-passing method thereof |
| CN113558532A (en) * | 2021-08-02 | 2021-10-29 | 季华实验室 | Reconfigurable sweeping robot based on vision and control method thereof |
| CN113558532B (en) * | 2021-08-02 | 2022-04-01 | 季华实验室 | Reconfigurable sweeping robot based on vision and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111466844A (en) | Glass curtain wall cleaning robot | |
| CN209287916U (en) | A kind of photovoltaic apparatus dust-extraction unit | |
| CN111350153B (en) | Energy-saving environment-friendly municipal road cleaning device | |
| CN111731230A (en) | Full-automatic car washing equipment | |
| CN113846782A (en) | Combined system of full-glass curtain wall and exposed frame glass curtain wall | |
| CN115864946A (en) | Photovoltaic power station cleaning robot, system and working method thereof | |
| CN213282769U (en) | Glass curtain wall cleaning robot | |
| CN107769717B (en) | Robot cleans dust collect plant | |
| CN113145540B (en) | Cleaning robot | |
| CN112617693A (en) | Indoor corner dust removal cleaning device | |
| CN117442124A (en) | Curtain wall cleaning device with curved surface adaptation function and curtain wall cleaning robot | |
| CN217923294U (en) | Side brush for sweeper | |
| CN110465508A (en) | A kind of wiper mechanism of solar panel | |
| CN213488579U (en) | Wall surface cleaning robot | |
| CN212037404U (en) | Large-scale floor cleaning machine | |
| CN214458774U (en) | Cleaning device is used in oxford production | |
| CN107137023A (en) | A kind of automatic sweeping machine | |
| CN210216272U (en) | Multifunctional sidewalk cleaning vehicle | |
| CN109853434B (en) | Sound barrier cleaning equipment | |
| CN112932359A (en) | Building glass outer window cleaning machine | |
| CN221515559U (en) | Self-cleaning dust control device for construction site | |
| CN217565942U (en) | Floor sweeping robot | |
| CN214271874U (en) | Road dust collection and flushing device | |
| CN218870173U (en) | Cleaning robot | |
| CN212248025U (en) | Can avoid road surface motor sweeper for municipal works of raise dust |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |