CN111616636A - Climbing robot for cleaning glass curtain wall - Google Patents
Climbing robot for cleaning glass curtain wall Download PDFInfo
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- CN111616636A CN111616636A CN202010466267.5A CN202010466267A CN111616636A CN 111616636 A CN111616636 A CN 111616636A CN 202010466267 A CN202010466267 A CN 202010466267A CN 111616636 A CN111616636 A CN 111616636A
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- washing
- gear
- unwinding
- glass curtain
- curtain wall
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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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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- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
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- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to the technical field of cleaning equipment, in particular to a climbing robot for cleaning a glass curtain wall, which comprises a guide rail, a rail car, an unreeling mechanism, a telescopic mechanism, a washing mechanism, an adsorption mechanism and a detergent conveying mechanism, wherein the guide rail car is positioned at the top of a rail, the working end of the rail car is connected with the guide rail, the unreeling mechanism and the telescoping mechanism are both arranged at the top of the rail car, the working end of the telescopic mechanism faces the working end of the unwinding mechanism, the washing mechanism is connected with the working end of the unwinding mechanism, the adsorption mechanism and the detergent conveying mechanism are both arranged at the top of the rail car, the output end of the adsorption mechanism is positioned at the working end of the washing mechanism, the detergent conveying mechanism is positioned at the top of the washing mechanism, the technical scheme can comprehensively clean the high-rise outer wall glass, has high efficiency and can greatly save the danger caused by manual operation.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a climbing robot for cleaning a glass curtain wall.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings;
the development of factory manufacturing industry is long-lasting, the initial factory is mainly manual industry, and the factory manufacturing industry is gradually developed into a production mode combining manual operation and machine tool operation. The demand of supply in modern society for productivity is higher and higher, and the problem of factory to the human cost aspect has also been difficult to overcome, and especially to staff's management and safety guarantee is the most difficult problem. For some working occasions which can generate poisonous and harmful gas and dust or have some explosion and electric shock risks, the mechanical arm can replace hands to complete almost all actions by virtue of a good bionic structure. In order to adapt to large-scale batch production, scattered mechanical arms are gradually developed and combined into a complete production line, workers only need to carry out simple operation and sorting and packaging, and the rest of work is automatically completed by the production line;
along with the maturity of the technology, the robot and the life of people are more and more closely related, the smart home becomes a current very hot topic, the floor sweeping robot is a predecessor of the popularization of the smart home, the life can be safer and more comfortable by introducing the robot technology into a house, and especially, the old and children in the house can play a role in automatically operating and adjusting the mode and ensuring the safety;
but outside glass of present outdoor high-rise building is mostly cleaned through the manual work, but this kind of clean mode danger coefficient is big, and clean effect can not guarantee yet, so we have provided a climbing robot for glass curtain wall is clean, can carry out comprehensive cleanness to high-rise outer wall glass, and efficiency is very high, the danger that the manual operation produced of saving that can be great.
Disclosure of Invention
The climbing robot for cleaning the glass curtain wall is high in efficiency and capable of greatly saving dangers caused by manual operation.
In order to solve the technical problems, the invention provides the following technical scheme:
the climbing robot for cleaning the glass curtain wall comprises a guide rail, a rail car, an unreeling mechanism, a telescopic mechanism, a washing mechanism, an adsorption mechanism and a detergent conveying mechanism;
the guide rail car is located orbital top to the work end and the guide rail of railcar are connected, and unwinding mechanism and telescopic machanism are all installed in the top of railcar, and telescopic machanism's work end is connected with unwinding mechanism's work end towards unwinding mechanism's work end, and washing mechanism is connected with unwinding mechanism's work end, and adsorption equipment constructs and detergent conveying mechanism all installs in the railcar top, and adsorption equipment constructs's output is located washing mechanism's work end, and detergent conveying mechanism is located washing mechanism's top.
Preferably, the railcar is including the frame, the action wheel, from the driving wheel, driving source mechanism and rotatory linkage subassembly, the action wheel with all be located the bottom of frame from the driving wheel, the action wheel with lie in the both ends of frame respectively from the driving wheel, the action wheel with all be connected with the frame rotation from the driving wheel, driving source mechanism installs in the bottom of frame to the output and the action wheel transmission of driving source mechanism are connected, pass through rotatory linkage subassembly transmission connection between action wheel and the follow driving wheel.
Preferably, the driving source mechanism comprises a first servo motor, a first gear and a second gear, the first servo motor is installed at the bottom of the frame, the first gear is installed at the output end of the first servo motor, the second gear is installed at the stress end of the driving wheel, the first gear and the second gear are connected through chain transmission, the rotary linkage assembly comprises a third gear and a fourth gear, the third gear is installed at the stress end of the driving wheel, the fourth gear is installed at the stress end of the driven wheel, and the third gear and the fourth gear are connected through chain transmission.
Preferably, unwinding mechanism is including unreeling the frame, unreeling roller and second servo motor, unreels the frame and installs in the top of railcar, unreels the roller and installs on unreeling the frame to unreel the roller and unreel a rotatable coupling, second servo motor installs on unreeling the frame, and second servo motor's output with unreel the roller and be connected, it has the rope to unreel the winding on the roller, unreel the roller and pass through the rope and be connected with washing and brushing mechanism.
Preferably, the telescopic mechanism comprises a sliding frame, a working block, a pushing cylinder, a supporting rod and a pulley, the sliding frame is installed at the top of the rail car, the sliding frame is located at the bottom of the working end of the unwinding mechanism, the working block is connected with the sliding frame in a sliding mode, the pushing cylinder is fixedly installed on the sliding frame, the output end of the pushing cylinder is connected with the working block, two ends of the supporting rod are respectively fixedly connected with the working block and the pulley, and the pulley is connected with the working end of the unwinding mechanism.
Preferably, the washing mechanism comprises a washing rack, a multi-head rotating assembly, a washing driving mechanism and a plurality of brush heads, the multi-head rotating assembly is mounted on the washing rack, the output ends of the multi-head rotating assembly are multiple, the output ends of the multi-head rotating assembly are all meshed with the inside of the washing rack, the brush heads are multiple, the brush heads are respectively mounted at the output ends of the multi-head rotating assembly, the washing driving mechanism is mounted on the washing rack, and the output end of the washing driving mechanism is connected with the stressed end of the multi-head rotating assembly.
Preferably, the multi-head rotating assembly comprises a main gear, a first pinion, a second pinion and a sleeve, the sleeve is rotatably connected with the washing mechanism, the main gear is sleeved on the sleeve and fixedly connected with the sleeve, the first pinion, the second pinion and the third pinion are all located inside the washing and brushing rack, the first pinion, the second pinion and the third pinion are arranged around the main gear, and the first pinion, the second pinion and the third pinion are respectively meshed with the main gear and the washing and brushing rack.
Preferably, the washing and brushing driving mechanism comprises a third servo motor, a first belt pulley and a second belt pulley, the third servo motor is mounted on the washing and brushing rack, the first belt pulley is mounted on the output end of the third servo motor, the second belt pulley is mounted on the stressed end of the sleeve, and the first belt pulley and the second belt pulley are in transmission connection through a belt.
Preferably, the adsorption mechanism comprises a sucker adsorption support, an exhaust tube and an air pump, the working end of the sucker is positioned among the plurality of brush heads, the stress end of the sucker penetrates through the sleeve and is fixedly connected with the washing rack through the adsorption support, and two ends of the exhaust tube are respectively connected with the air pump and an air outlet of the sucker.
Preferably, the detergent delivery mechanism comprises a liquid spray head, a liquid delivery pipe, a liquid pump and a liquid storage tank, the liquid spray head is mounted on the washing mechanism, the liquid pump is mounted on the liquid storage tank, and two ends of the liquid delivery pipe are respectively connected with the liquid spray head and the liquid pump.
Compared with the prior art, the invention has the beneficial effects that: firstly, a guide rail is required to be installed on a roof of a working place, the length of the guide rail is ensured to be equal to that of a glass curtain wall on one side of the whole building, then a rail car is installed on the guide rail, then a worker opens a telescopic mechanism, the telescopic mechanism starts to work, a rope is wound at the working end of an unwinding mechanism, then the working end of the telescopic mechanism drives the rope to move to the front of the glass curtain wall, then the worker opens the unwinding mechanism, the unwinding mechanism starts to work, the working end of the unwinding mechanism drives a washing mechanism to descend through the rope, the washing mechanism starts to descend to the first layer of the glass curtain wall after receiving the driving, then the telescopic mechanism starts to work again, the working end of the telescopic mechanism drives the washing mechanism to be close to the glass curtain wall through the rope until the working end of the washing mechanism is in contact with the surface of the glass curtain wall, and the working end of an, therefore, when the working end of the washing mechanism contacts with the glass curtain wall, the working end of the adsorption mechanism is also attached to the surface of the glass curtain wall, and the washing mechanism is prevented from shaking during washing of the glass curtain wall, so that the washing is not thorough, at the moment, the adsorption mechanism starts to work, the working end of the adsorption mechanism is adsorbed to the surface of the glass curtain wall, then the detergent conveying mechanism starts to work, the working end of the detergent conveying mechanism sprays detergent to the surface of the glass curtain wall, then the washing mechanism starts to work, a plurality of working ends of the washing mechanism start to simultaneously rotate and autorotate, the glass curtain wall is lowered under the action of the detergent for cleaning, after the washing mechanism finishes cleaning the glass curtain wall at one position, the adsorption mechanism starts to work again, the working end of the adsorption mechanism is separated from the glass curtain wall, then the rail car starts to work, and the rail car drives the washing mechanism to transversely move through the unreeling mechanism, then the adsorption mechanism and the detergent conveying mechanism start to work in sequence, the washing mechanism starts to work until the cleaning of the glass curtain wall in one horizontal row is finished, and the unwinding mechanism drives the washing mechanism to descend to finish the cleaning work of the next row;
through the arrangement of the device, the high-rise outer wall glass can be comprehensively cleaned, the efficiency is very high, and the danger caused by manual operation can be greatly saved.
Drawings
FIG. 1 is a schematic view showing a three-dimensional structure of a climbing robot for cleaning glass curtain walls, according to the present invention;
FIG. 2 is a schematic perspective view of a climbing robot for cleaning glass curtain walls according to the present invention;
FIG. 3 is a front view of a rail car of a climbing robot for glass curtain wall cleaning of the present invention;
FIG. 4 is a schematic perspective view of a rail car of a climbing robot for cleaning glass curtain walls according to the present invention;
FIG. 5 is a schematic perspective view of an unwinding mechanism of a climbing robot for cleaning glass curtain walls, according to the present invention;
FIG. 6 is a schematic perspective view of a telescoping mechanism of the climbing robot for cleaning glass curtain walls, according to the present invention;
FIG. 7 is a first schematic perspective view of a washing mechanism and an adsorption mechanism of the climbing robot for cleaning glass curtain walls, according to the present invention;
FIG. 8 is a schematic perspective view of a second washing mechanism of the climbing robot for cleaning glass curtain walls, provided by the invention;
FIG. 9 is a schematic perspective structural view of a washing mechanism of the climbing robot for cleaning glass curtain walls in a perspective state of a washing rack of the climbing robot;
fig. 10 is a schematic perspective view of a washing rack, an adsorption mechanism and a detergent delivery mechanism of the climbing robot for cleaning glass curtain walls according to the present invention.
The reference numbers in the figures are:
1. a guide rail;
2. a rail car; 2a, a frame; 2b, a driving wheel; 2c, a driven wheel; 2d, a drive source mechanism; 2d1, a first servomotor; 2d2, first gear; 2d3, second gear; 2e, rotating the linkage assembly; 2e1, third gear; 2d2, fourth gear;
3. an unwinding mechanism; 3a, unwinding frames; 3b, unwinding rollers; 3c, a second servo motor;
4. a telescoping mechanism; 4a, a sliding frame; 4b, a working block; 4c, pushing the air cylinder; 4d, supporting rods; 4e, a pulley;
5. a washing mechanism; 5a, washing and brushing the machine frame; 5b, a multi-head rotating assembly; 5b1, master gear; 5b2, first pinion; 5b3, a second pinion; 5b4, third pinion; 5b5, sleeve; 5c, a washing driving mechanism; 5c1, a third servomotor; 5c2, a first pulley; 5c3, a second pulley; 5d, a brush head;
6. an adsorption mechanism; 6a, a sucker; 6b, adsorbing a bracket; 6c, an exhaust tube; 6d, an air pump;
7. a detergent delivery mechanism; 7a, a liquid spraying head; 7b, an infusion tube; 7c, a liquid pump; 7d, a liquid storage tank.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 10, the climbing robot for cleaning glass curtain walls comprises a guide rail 1, a rail car 2, an unreeling mechanism 3, a telescopic mechanism 4, a washing mechanism 5, an adsorption mechanism 6 and a detergent conveying mechanism 7;
the track cleaning machine is characterized in that a guide rail 1 is positioned at the top of a track, the working end of a track car 2 is connected with the guide rail 1, an unreeling mechanism 3 and a telescopic mechanism 4 are both arranged at the top of the track car 2, the working end of the telescopic mechanism 4 faces the working end of the unreeling mechanism 3, a washing mechanism 5 is connected with the working end of the unreeling mechanism 3, an adsorption mechanism 6 and a detergent conveying mechanism 7 are both arranged at the top of the track car 2, the output end of the adsorption mechanism 6 is positioned at the working end of the washing mechanism 5, and the detergent conveying mechanism 7 is positioned at the top of the washing mechanism 5;
firstly, a guide rail 1 needs to be installed on a roof of a working place, the length of the guide rail 1 is ensured to be equal to that of a glass curtain wall on one side of the whole building, then a rail car 2 is installed on the guide rail 1, then a worker opens a telescopic mechanism 4, the telescopic mechanism 4 starts to work, a rope is wound on the working end of an unreeling mechanism 3, then the working end of the telescopic mechanism 4 drives the rope to move to the front of the glass curtain wall, then the worker opens the unreeling mechanism 3, the unreeling mechanism 3 starts to work, the working end of the unreeling mechanism 3 drives a washing mechanism 5 to descend through the rope, the washing mechanism 5 starts to descend to the first layer of glass curtain wall after being driven by the washing mechanism 5, then the telescopic mechanism 4 starts to work again, the working end of the telescopic mechanism 4 drives the washing mechanism 5 to be close to the glass curtain wall through the rope until the working end of the washing, since the working end of the adsorption mechanism 6 is located at the working end of the washing mechanism 5, when the working end of the washing mechanism 5 contacts with the glass curtain wall, the working end of the adsorption mechanism 6 is also attached to the surface of the glass curtain wall, and since the washing mechanism 5 is prevented from shaking during washing the glass curtain wall, thereby causing incomplete washing, the adsorption mechanism 6 starts to work, the working end of the adsorption mechanism 6 is adsorbed on the surface of the glass curtain wall, then the detergent conveying mechanism 7 starts to work, the working end of the detergent conveying mechanism 7 sprays detergent onto the surface of the glass curtain wall, then the washing mechanism 5 starts to work, a plurality of working ends of the washing mechanism 5 start to rotate and rotate simultaneously, the glass curtain wall is lowered to clean under the action of the detergent, and after the washing mechanism 5 finishes cleaning the glass curtain wall at one position, the adsorption mechanism 6 starts to work again, the working end of the adsorption mechanism 6 is separated from the glass curtain wall, then the rail car 2 starts to work, the rail car 2 drives the washing mechanism 5 to move transversely through the unwinding mechanism 3, then the adsorption mechanism 6 and the detergent conveying mechanism 7 start to work in sequence, the washing mechanism 5 starts to work until the glass curtain wall in a transverse row is cleaned, and then the unwinding mechanism 3 drives the washing mechanism 5 to descend to complete the cleaning work of the next row.
As shown in fig. 3, the rail car 2 includes a frame 2a, a driving wheel 2b, a driven wheel 2c, a driving source mechanism 2d and a rotary linkage assembly 2e, wherein the driving wheel 2b and the driven wheel 2c are both located at the bottom of the frame 2a, the driving wheel 2b and the driven wheel 2c are respectively located at two ends of the frame 2a, the driving wheel 2b and the driven wheel 2c are both rotatably connected with the frame 2a, the driving source mechanism 2d is installed at the bottom of the frame 2a, an output end of the driving source mechanism 2d is in transmission connection with the driving wheel 2b, and the driving wheel 2b and the driven wheel 2c are in transmission connection through the rotary linkage assembly 2 e;
the rail car 2 starts to work, the driving source mechanism 2d starts to work, the output end of the driving source mechanism 2d drives the driving wheel 2b to start to rotate, the driving wheel 2b drives the driven wheel 2c to start to rotate through the rotary linkage component 2e, and the driving wheel 2b and the driven wheel 2c simultaneously start to rotate along the guide rail 1 to drive the frame 2a to move.
As shown in fig. 4, the driving source mechanism 2d includes a first servomotor 2d1, a first gear 2d2 and a second gear 2d3, the first servomotor 2d1 is mounted at the bottom of the frame 2a, the first gear 2d2 is mounted at the output end of the first servomotor 2d1, the second gear 2d3 is mounted at the stressed end of the driving wheel 2b, the first gear 2d2 and the second gear 2d3 are connected by chain transmission, the rotary linkage assembly 2e includes a third gear 2e1 and a fourth gear 2d2, the third gear 2e1 is mounted at the stressed end of the driving wheel 2b, the fourth gear 2d2 is mounted at the stressed end of the driven wheel 2c, and the third gear 2e1 and the fourth gear 2d2 are connected by chain transmission;
the driving source mechanism 2d starts to work, the output end of the first servo motor 2d1 drives the first gear 2d2 to start to rotate, the first gear 2d2 drives the second gear 2d3 to rotate through a chain, the second gear 2d3 drives the stressed end of the driving wheel 2b to rotate, the stressed end of the driving wheel 2b drives the third gear 2e1 to rotate at the same time, the third gear 2e1 drives the fourth gear 2d2 to rotate through a chain, the fourth gear 2d2 drives the driven wheel 2c to rotate, the driving wheel 2b and the driven wheel 2c start to rotate at the same time, and the driving wheel 2b and the driven wheel 2c start to rotate along the guide rail 1 to drive the frame 2a to move at the same time.
As shown in fig. 5, the unwinding mechanism 3 includes an unwinding frame 3a, an unwinding roller 3b and a second servo motor 3c, the unwinding frame 3a is mounted at the top of the rail car 2, the unwinding roller 3b is mounted on the unwinding frame 3a, the unwinding roller 3b is rotatably connected with the unwinding frame 3a, the second servo motor 3c is mounted on the unwinding frame 3a, an output end of the second servo motor 3c is connected with the unwinding roller 3b, a rope is wound on the unwinding roller 3b, and the unwinding roller 3b is connected with the washing mechanism 5 through the rope;
unwinding mechanism 3 begins work, and second servo motor 3 c's output drives unwinding roller 3b and rotates, and unwinding roller 3b rotates and drives the rope and unreel, and washing mechanism 5 begins to descend, and unwinding frame 3a is used for fixing and supporting.
As shown in fig. 6, the telescoping mechanism 4 includes a sliding frame 4a, a working block 4b, a pushing cylinder 4c, a supporting rod 4d and a pulley 4e, the sliding frame 4a is installed on the top of the track car 2, the sliding frame 4a is located at the bottom of the working end of the unwinding mechanism 3, the working block 4b is connected with the sliding frame 4a in a sliding manner, the pushing cylinder 4c is fixedly installed on the sliding frame 4a, the output end of the pushing cylinder 4c is connected with the working block 4b, two ends of the supporting rod 4d are respectively fixedly connected with the working block 4b and the pulley 4e, and the pulley 4e is connected with the working end of the unwinding mechanism 3;
in order to prevent the washing mechanism 5 from rubbing the glass curtain wall in the descending process, the telescopic mechanism 4 starts to work, the output end of the pushing cylinder 4c pushes the working block 4b, the working block 4b pushes the pulley 4e through the support rod 4d, the pulley 4e pushes the rope wound at the working end of the unwinding mechanism 3 to be far away from the glass curtain wall, and the initial point of the falling of the rope is limited not to change.
As shown in fig. 7, the washing mechanism 5 includes a washing rack 5a, a multi-head rotating assembly 5b, a washing driving mechanism 5c and a brush head 5d, the multi-head rotating assembly 5b is mounted on the washing rack 5a, a plurality of output ends of the multi-head rotating assembly 5b are provided, and a plurality of output ends of the multi-head rotating assembly 5b are all engaged with the inside of the washing rack 5a, a plurality of brush heads 5d are provided, the plurality of brush heads 5d are respectively mounted on a plurality of output ends of the multi-head rotating assembly 5b, the washing driving mechanism 5c is mounted on the washing rack 5a, and the output end of the washing driving mechanism 5c is connected with a stressed end of the multi-head rotating assembly 5 b;
the washing and brushing mechanism 5 starts to work, the washing and brushing driving mechanism 5c starts to work, the output end of the washing and brushing driving mechanism 5c drives the stress end of the multi-head rotating assembly 5b to start to rotate, a plurality of output ends of the multi-head stress assembly start to rotate simultaneously and rotate through meshing with the inside of the washing and brushing rack 5a, and a plurality of brush heads 5d start to rotate simultaneously and rotate to clean the glass curtain wall.
As shown in fig. 9, the multi-head rotating assembly 5b includes a main gear 5b1, a first sub-gear 5b2, a second sub-gear 5b3, a second sub-gear 5b3 and a sleeve 5b5, the sleeve 5b5 is rotatably connected to the washing mechanism 5, the main gear 5b1 is sleeved on the sleeve 5b5, and the main gear 5b1 is fixedly connected to the sleeve 5b5, the first sub-gear 5b2, the second sub-gear 5b3 and the third sub-gear 5b4 are all located inside the washing rack 5a, the first sub-gear 5b2, the second sub-gear 5b3 and the third sub-gear 5b4 are arranged around the main gear 5b1, and the first sub-gear 5b2, the second sub-gear 5b3 and the third sub-gear 5b4 are respectively engaged with the main gear 5b1 and the inside the washing rack 5 a;
when the brushing drive mechanism 5c starts to work, the output end of the brushing drive mechanism 5c drives the sleeve 5b5 to rotate, the sleeve 5b5 drives the main gear 5b1 to rotate, the main gear 5b1 simultaneously drives the first secondary gear 5b2, the second secondary gear 5b3 and the third secondary gear 5b4 to simultaneously rotate, and the first secondary gear 5b2, the second secondary gear 5b3 and the third secondary gear 5b4 rotate while revolving around the main gear 5b1 because the first secondary gear 5b2, the second secondary gear 5b3 and the third gear 2e1 are simultaneously meshed with the inside of the brushing frame 5 a.
As shown in fig. 8, the brushing driving mechanism 5c includes a third servomotor 5c1, a first belt pulley 5c2 and a second belt pulley 5c3, the third servomotor 5c1 is mounted on the brushing rack 5a, the first belt pulley 5c2 is mounted on the output end of the third servomotor 5c1, the second belt pulley 5c3 is mounted on the stressed end of the sleeve 5b5, and the first belt pulley 5c2 and the second belt pulley 5c3 are connected by a belt transmission;
when the brushing driving mechanism 5c starts to work, the output end of the third servo motor 5c1 drives the first belt pulley 5c2 to rotate, the first belt pulley 5c2 drives the second belt pulley 5c3 to rotate through the belt, and the second belt pulley 5c3 drives the sleeve 5b5 to rotate.
As shown in fig. 7 and 8, the suction mechanism 6 comprises a suction cup 6a, a suction bracket 6b, an air exhaust pipe 6c and an air pump 6d, the working end of the suction cup 6a is positioned between the plurality of brush heads 5d, the stressed end of the suction cup 6a penetrates through the sleeve 5b5 and is fixedly connected with the washing and brushing machine frame 5a through the suction bracket 6b, and the two ends of the air exhaust pipe 6c are respectively connected with the air pump 6d and the air outlet of the suction cup 6 a;
the suction mechanism 6 starts to work, the air pump 6d sucks the air in the suction cup 6a through the exhaust tube 6c, the working end of the suction cup 6a forms negative pressure and is sucked on the glass curtain wall, and the suction cup 6a is fixedly connected with the washing rack 5a through the suction bracket 6b, so the washing rack 5a is temporarily and fixedly connected with the glass curtain wall.
As shown in fig. 10, the detergent delivery mechanism 7 comprises a liquid spray head 7a, a liquid delivery tube 7b, a liquid pump 7c and a liquid storage tank 7d, wherein the liquid spray head 7a is mounted on the washing mechanism 5, the liquid pump 7c is mounted on the liquid storage tank 7d, and two ends of the liquid delivery tube 7b are respectively connected with the liquid spray head 7a and the liquid pump 7 c;
the detergent conveying mechanism 7 starts to work, the liquid pump 7c sends the detergent in the liquid storage tank 7d to the liquid spraying head 7a through the liquid conveying pipe 7b, and finally the detergent is sprayed to the glass curtain wall through the liquid spraying head 7 a.
The working principle of the invention is as follows: firstly, a guide rail 1 needs to be installed on the roof of a working place, the length of the guide rail 1 is ensured to be equivalent to that of a glass curtain wall on one side of the whole building, then a rail car 2 is installed on the guide rail 1, then a worker opens a telescopic mechanism 4, the telescopic mechanism 4 starts working, a rope is wound on the working end of an unreeling mechanism 3, the output end of a pushing cylinder 4c pushes a working block 4b, the working block 4b pushes a pulley 4e through a support rod 4d, the pulley 4e pushes the rope wound on the working end of the unreeling mechanism 3 to be far away from the glass curtain wall, the falling initial point of the rope is limited not to change, then the worker opens the unreeling mechanism 3, the unreeling mechanism 3 starts working, a second servo motor 3c starts working, the output end of the second servo motor 3c drives an unreeling roller 3b to rotate, the unreeling roller 3b rotates and drives the rope to, the washing mechanism 5 is driven by a rope to start to descend to the first layer of glass curtain wall, then the telescopic mechanism 4 starts to work again, the working end of the telescopic mechanism 4 drives the washing mechanism 5 to be close to the glass curtain wall until the working end of the washing mechanism 5 is contacted with the surface of the glass curtain wall, the working end of the adsorption mechanism 6 is positioned at the working end of the washing mechanism 5, so that the working end of the adsorption mechanism 6 is also attached to the surface of the glass curtain wall when the working end of the washing mechanism 5 is contacted with the glass curtain wall, the adsorption mechanism 6 starts to work at the moment because the washing mechanism 5 is prevented from shaking when the glass curtain wall is washed, the washing is incomplete, the air pump 6d pumps air in the suction cup 6a through the exhaust tube 6c, the working end of the suction cup 6a forms negative pressure to be adsorbed on the glass curtain wall, and the suction cup 6a is fixedly connected with the washing rack 5a through the adsorption bracket 6b, therefore, the washing rack 5a is temporarily and fixedly connected with the glass curtain wall, then the detergent conveying mechanism 7 starts to work, the liquid pump 7c conveys the detergent in the liquid storage tank 7d to the liquid spray head 7a through the liquid spray head 7a, finally the detergent is sprayed onto the glass curtain wall through the liquid spray head 7a, then the washing mechanism 5 starts to work, the washing driving mechanism 5c starts to work, the output end of the washing driving mechanism 5c drives the stressed end of the multi-head rotating assembly 5b to start to rotate, the output ends of the multi-head stressed assembly simultaneously start to rotate and rotate through meshing with the inside of the washing rack 5a, the plurality of brush heads 5d simultaneously start to rotate and rotate to clean the glass curtain wall, the glass curtain wall is cleaned under the action of the detergent, when the washing mechanism 5 finishes cleaning the glass curtain wall at one position, the adsorption mechanism 6 starts to work again, the working end of the adsorption mechanism 6 is separated from the glass curtain wall, then the rail car 2 starts to work, the rail car 2 drives the washing mechanism 5 to move transversely through the unwinding mechanism 3, then the adsorption mechanism 6 and the detergent conveying mechanism 7 start to work in sequence, the washing mechanism 5 starts to work until the glass curtain wall in one row is cleaned, and then the unwinding mechanism 3 drives the washing mechanism 5 to descend to complete the cleaning work of the next row.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A climbing robot for cleaning glass curtain walls is characterized by comprising a guide rail (1), a rail car (2), an unreeling mechanism (3), a telescopic mechanism (4), a washing mechanism (5), an adsorption mechanism (6) and a detergent conveying mechanism (7);
guide rail (1) parking stall is in orbital top, and the work end and guide rail (1) of railcar (2) are connected, unwinding mechanism (3) and telescopic machanism (4) are all installed in the top of railcar (2), and the work end of telescopic machanism (4) is towards the work end of unwinding mechanism (3), scrubbing mechanism (5) are connected with the work end of unwinding mechanism (3), adsorption apparatus constructs (6) and detergent conveying mechanism (7) and all installs in railcar (2) top, the output of adsorption apparatus structure (6) is located the work end of scrubbing mechanism (5), detergent conveying mechanism (7) are located the top of scrubbing mechanism (5).
2. The climbing robot for cleaning the glass curtain wall as claimed in claim 1, wherein the rail car (2) comprises a frame (2a), a driving wheel (2b), a driven wheel (2c), a driving source mechanism (2d) and a rotary linkage assembly (2e), the driving wheel (2b) and the driven wheel (2c) are both positioned at the bottom of the frame (2a), the driving wheel (2b) and the driven wheel (2c) are respectively positioned at two ends of the frame (2a), the driving wheel (2b) and the driven wheel (2c) are both rotatably connected with the frame (2a), the driving source mechanism (2d) is installed at the bottom of the frame (2a), and the output end of the driving source mechanism (2d) is in transmission connection with the driving wheel (2b), and the driving wheel (2b) is in transmission connection with the driven wheel (2c) through the rotary linkage component (2 e).
3. A climbing robot for glass curtain wall cleaning according to claim 2, characterized in that the driving source mechanism (2d) comprises a first servomotor (2d1), the first servo motor (2d1) is mounted at the bottom of the frame (2a), the first gear (2d2) is mounted at the output end of the first servo motor (2d1), the second gear (2d3) is mounted at the stressed end of the driving wheel (2b), the first gear (2d2) and the second gear (2d3) are connected through chain transmission, the rotary linkage assembly (2e) comprises a third gear (2e1) and a fourth gear (2d2), the third gear (2e1) is mounted at the stressed end of the driving wheel (2b), the fourth gear (2d2) is mounted at the stressed end of the driven wheel (2c), and the third gear (2e1) and the fourth gear (2d2) are connected through chain transmission.
4. The climbing robot for cleaning the glass curtain wall as claimed in claim 1, wherein the unwinding mechanism (3) comprises an unwinding frame (3a), an unwinding roller (3b) and a second servo motor (3c), the unwinding frame (3a) is mounted at the top of the rail car (2), the unwinding roller (3b) is mounted on the unwinding frame (3a), the unwinding roller (3b) is rotatably connected with the unwinding frame (3a), the second servo motor (3c) is mounted on the unwinding frame (3a), the output end of the second servo motor (3c) is connected with the unwinding roller (3b), a rope is wound on the unwinding roller (3b), and the unwinding roller (3b) is connected with the washing mechanism (5) through the rope.
5. The climbing robot for cleaning the glass curtain wall as claimed in claim 1, wherein the telescoping mechanism (4) comprises a sliding frame (4a), a working block (4b), a pushing cylinder (4c), a support rod (4d) and a pulley (4e), the sliding frame (4a) is installed at the top of the rail car (2), the sliding frame (4a) is located at the bottom of the working end of the unwinding mechanism (3), the working block (4b) is slidably connected with the sliding frame (4a), the pushing cylinder (4c) is fixedly installed on the sliding frame (4a), the output end of the pushing cylinder (4c) is connected with the working block (4b), two ends of the support rod (4d) are fixedly connected with the working block (4b) and the pulley (4e) respectively, and the pulley (4e) is connected with the working end of the unwinding mechanism (3).
6. The climbing robot for cleaning the glass curtain wall as claimed in claim 1, wherein the washing mechanism (5) comprises a washing rack (5a), a multi-head rotating assembly (5b), a washing driving mechanism (5c) and a brush head (5d), the multi-head rotating assembly (5b) is mounted on the washing rack (5a), the number of the output ends of the multi-head rotating assembly (5b) is multiple, the number of the output ends of the multi-head rotating assembly (5b) is all meshed with the inside of the washing rack (5a), the number of the brush head (5d) is multiple, the number of the brush head (5d) is respectively mounted on the number of the output ends of the multi-head rotating assembly (5b), the washing driving mechanism (5c) is mounted on the washing rack (5a), and the output end of the washing driving mechanism (5c) is connected with the stressed end of the multi-head rotating assembly (5 b).
7. A climbing robot for glass curtain wall cleaning according to claim 6, characterized in that the multi-head rotating assembly (5b) comprises a main gear (5b1), a first sub gear (5b2), a second sub gear (5b3), a second sub gear (5b3) and a sleeve (5b5), the sleeve (5b5) is rotatably connected with the washing mechanism (5), the main gear (5b1) is sleeved on the sleeve (5b5), and the main gear (5b1) is fixedly connected with the sleeve (5b5), the first pinion (5b2), the second pinion (5b3) and the third pinion (5b4) are all positioned inside the washing rack (5a), the first pinion (5b2), the second pinion (5b3) and the third pinion (5b4) are arranged around the main gear (5b1), and the first pinion (5b2), the second pinion (5b3) and the third pinion (5b4) are respectively meshed inside the main gear (5b1) and the washing rack (5 a).
8. The climbing robot for cleaning glass curtain walls as claimed in claim 7, wherein the brushing driving mechanism (5c) comprises a third servo motor (5c1), a first belt pulley (5c2) and a second belt pulley (5c3), the third servo motor (5c1) is mounted on the brushing rack (5a), the first belt pulley (5c2) is mounted on the output end of the third servo motor (5c1), the second belt pulley (5c3) is mounted on the stressed end of the sleeve (5b5), and the first belt pulley (5c2) and the second belt pulley (5c3) are connected through belt transmission.
9. The climbing robot for cleaning the glass curtain wall as claimed in claim 7, wherein the adsorption mechanism (6) comprises a suction cup (6a) and an adsorption bracket (6b), an exhaust tube (6c) and an air pump (6d), the working end of the suction cup (6a) is located between the plurality of brush heads (5d), the stressed end of the suction cup (6a) penetrates through the sleeve (5b5) and is fixedly connected with the washing rack (5a) through the adsorption bracket (6b), and the two ends of the exhaust tube (6c) are respectively connected with the air pump (6d) and the air outlet of the suction cup (6 a).
10. The climbing robot for cleaning the glass curtain wall as claimed in claim 1, wherein the detergent delivery mechanism (7) comprises a liquid spray head (7a), a liquid delivery pipe (7b), a liquid pump (7c) and a liquid storage tank (7d), the liquid spray head (7a) is mounted on the washing mechanism (5), the liquid pump (7c) is mounted on the liquid storage tank (7d), and two ends of the liquid delivery pipe (7b) are respectively connected with the liquid spray head (7a) and the liquid pump (7 c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010466267.5A CN111616636A (en) | 2020-05-28 | 2020-05-28 | Climbing robot for cleaning glass curtain wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010466267.5A CN111616636A (en) | 2020-05-28 | 2020-05-28 | Climbing robot for cleaning glass curtain wall |
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| Publication Number | Publication Date |
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| CN111616636A true CN111616636A (en) | 2020-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010466267.5A Withdrawn CN111616636A (en) | 2020-05-28 | 2020-05-28 | Climbing robot for cleaning glass curtain wall |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112274073A (en) * | 2020-10-23 | 2021-01-29 | 詹玲玲 | Strong adaptability's clean mechanism of double-layered wall |
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| EP0401120A1 (en) * | 1989-06-02 | 1990-12-05 | Bouygues | Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls |
| CN2430935Y (en) * | 2000-08-30 | 2001-05-23 | 南吉成 | Electric water eddy type tool for cleaning glass |
| CN201256931Y (en) * | 2008-09-23 | 2009-06-17 | 江西理工大学 | High building glass curtain wall cleaning device |
| CN205831732U (en) * | 2016-04-27 | 2016-12-28 | 巢湖学院 | One is novel climbs wall glass washing device |
| CN107035852A (en) * | 2016-06-19 | 2017-08-11 | 金华职业技术学院 | A kind of small advertisement cleaning machine and flow path with hollow planet carrier |
| CN210460046U (en) * | 2019-05-24 | 2020-05-05 | 浙江天工建设集团有限公司 | Automatic wash cleaning equipment of outer wall |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0401120A1 (en) * | 1989-06-02 | 1990-12-05 | Bouygues | Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls |
| CN2430935Y (en) * | 2000-08-30 | 2001-05-23 | 南吉成 | Electric water eddy type tool for cleaning glass |
| CN201256931Y (en) * | 2008-09-23 | 2009-06-17 | 江西理工大学 | High building glass curtain wall cleaning device |
| CN205831732U (en) * | 2016-04-27 | 2016-12-28 | 巢湖学院 | One is novel climbs wall glass washing device |
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| CN210460046U (en) * | 2019-05-24 | 2020-05-05 | 浙江天工建设集团有限公司 | Automatic wash cleaning equipment of outer wall |
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| CN112274073A (en) * | 2020-10-23 | 2021-01-29 | 詹玲玲 | Strong adaptability's clean mechanism of double-layered wall |
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Application publication date: 20200904 |