CN112056979A - Be used for clear robot that can promote application direction scope of building curtain - Google Patents
Be used for clear robot that can promote application direction scope of building curtain Download PDFInfo
- Publication number
- CN112056979A CN112056979A CN202010830620.3A CN202010830620A CN112056979A CN 112056979 A CN112056979 A CN 112056979A CN 202010830620 A CN202010830620 A CN 202010830620A CN 112056979 A CN112056979 A CN 112056979A
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- China
- Prior art keywords
- fixing plate
- guide rail
- wall
- cleaning
- fixed
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
- F26B21/001—Drying-air generating units, e.g. movable, independent of drying enclosure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
- F26B21/004—Nozzle assemblies; Air knives; Air distributors; Blow boxes
Abstract
The invention discloses a robot capable of increasing the applicable guiding range for cleaning a building curtain wall, which comprises longitudinal guide rail assemblies, longitudinal driving devices, transverse guide rail assemblies, transverse driving devices and cleaning devices, wherein the number of the longitudinal guide rail assemblies is two, the longitudinal guide rail assemblies are arranged in parallel, the longitudinal guide rail assemblies are formed by splicing a plurality of longitudinal guide rails in an end-to-end manner, one side of each longitudinal guide rail is provided with a groove, the bottom ends of the longitudinal guide rails are respectively and fixedly provided with a plurality of suckers, and one end of each longitudinal guide rail is respectively provided with two first clamping grooves. Has the advantages that: can make the robot comparatively stable in cleaning process, it is less influenced by wind-force to degree of automation is high, clean effectual, can change horizontal and fore-and-aft direction scope through increase and decrease longitudinal rail and transverse rail moreover, thereby can be applicable to the cleaning operation of the glass curtain wall of equidimension not.
Description
Technical Field
The invention relates to the field of building curtain wall cleaning robots, in particular to a robot capable of increasing an application guide range and used for cleaning a building curtain wall.
Background
At present, the outer surface of most high-rise buildings is decorated by glass curtain walls so as to improve the lighting effect and the more beautiful decoration effect. Meanwhile, the cleaning task of the glass curtain wall is heavy. The existing curtain wall cleaning robot generally uses ropes to hang the body of the curtain wall cleaning robot outside a curtain wall, and the up-and-down movement of the body along the curtain wall is realized by winding and unwinding the ropes. After the curtain wall of one vertical bar is cleaned, the rope retraction jack is moved left and right manually from the top of the building to the un-cleaned curtain wall of the other vertical bar, and the body is placed downwards from the top for cleaning. However, the curtain wall cleaning robot is greatly influenced by wind force, when wind exists, the robot can swing in the air to be difficult to achieve a good cleaning effect, the risk of impacting a glass curtain wall exists, the working process is unstable, the cleaning effect of the existing curtain wall cleaning robot is poor, and stubborn stains on the surface of the curtain wall are difficult to erase.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
The present invention is directed to a robot for cleaning a building curtain wall, which can increase the applicable guiding range, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a robot capable of increasing applicable guide range for cleaning building curtain walls comprises longitudinal guide rail assemblies, a longitudinal driving device, transverse guide rail assemblies, transverse driving devices and a cleaning device, wherein the number of the longitudinal guide rail assemblies is two, the longitudinal guide rail assemblies are arranged in parallel, the longitudinal guide rail assemblies are formed by splicing a plurality of longitudinal guide rails in a head-to-tail connection mode, one side of each longitudinal guide rail is provided with a groove, a plurality of suckers are fixedly arranged at the bottom ends of the longitudinal guide rails, two first clamping grooves are formed in one ends of the longitudinal guide rails, first clamping columns matched with the first clamping grooves are fixedly arranged at the other ends of the longitudinal guide rails, each longitudinal driving device comprises a first fixing plate, two first bearings are fixedly embedded at the lower ends of the first fixing plates, first transmission shafts are fixedly arranged in the first bearings, and first moving wheels are fixedly arranged at one ends of the first bearings, the outer wall of the middle part of the first transmission shaft is fixedly sleeved with a second bearing, an elastic connecting piece is fixedly arranged on the second bearing, an installation plate is fixedly arranged on the elastic connecting piece, moving wheel brackets are respectively arranged at two ends of the installation plate, limiting wheels are rotatably arranged on the moving wheel brackets, a first limiting groove matched with the limiting wheels is formed in the upper wall of the groove, a first stepping motor is fixedly arranged on the outer wall of one side of the first fixed plate, which is far away from the first moving wheel, a rotating shaft of the first stepping motor is fixedly connected with one of the first transmission shafts, a rectangular through groove is formed in the upper end of the first fixed plate, the transverse guide rail assembly is formed by splicing a plurality of transverse guide rails end to end, the cross section of the transverse guide rail is of a rectangular structure, a second clamping groove is formed in one end of the transverse guide rail, and a second clamping column matched with the second clamping, the transverse guide rail penetrates through the rectangular through groove of the first fixing plate on two sides, a locking device is arranged on the rectangular through groove, the transverse driving device comprises a second fixing plate and a third fixing plate, the second fixing plate and the third fixing plate are arranged in parallel, third bearings are fixedly embedded in four corners of the second fixing plate and the third fixing plate, a second transmission shaft is fixedly arranged between the corresponding third bearings, second moving wheels are fixedly sleeved on the outer walls of the middle parts of the second transmission shafts, second limiting grooves matched with the transverse guide rail are formed in the outer walls of the second moving wheels, the upper wall and the lower wall of the transverse guide rail are tightly attached to the corresponding second moving wheels, an electric telescopic rod is fixedly arranged on the outer wall of the second fixing plate, a first motor is fixedly arranged on the outer wall of the upper end of the third fixing plate, and a rotating shaft of the first motor is fixedly connected with one end of the second transmission shaft, the cleaning device comprises a fourth fixing plate, a second stepping motor is fixedly arranged below the electric telescopic rod, a rotating shaft of the second stepping motor is fixedly connected with the fourth fixing plate, one end of the fourth fixing plate is fixedly embedded with a plurality of sprinkler heads, one end of the fourth fixing plate, which is close to the sprinkler heads, is fixedly provided with a second motor, the rotating shaft of the second motor penetrates through the fourth fixing plate, the lower end of the fourth fixing plate is fixedly provided with a turntable, cleaning sponge is fixedly arranged below the turntable, a water scraping plate is fixedly arranged below the middle part of the fourth fixing plate, one end of the fourth fixing plate, which is far away from the sprinkler heads, is provided with an air drying device, the outer wall of the second fixing plate is fixedly provided with a water pump, water tanks are fixedly arranged on the second fixing plate and the third fixing plate, the input end of the water pump is connected with the water tank through a water pipe, and the sprinkler, the fixed electric box that is equipped with of third fixed plate lower extreme outer wall, the electric box internal fixation is equipped with lithium cell, treater, first step motor controller and second step motor controller, the fourth fixed plate is close to the fixed infrared distance measuring sensor that inlays of sprinkler head one end, first step motor all with first step motor controller electric connection, the second step motor with second step motor controller electric connection, infrared distance measuring sensor the lithium cell first step motor controller second step motor controller first motor the water pump the second motor all with treater electric connection.
Furthermore, all be connected with the intake pipe on the sucking disc, the intake pipe is kept away from sucking disc one end all is equipped with the valve.
Further, elastic connection spare includes a slide cylinder, it is equipped with the slide bar to slide in the slide cylinder, the slide bar lower extreme with first bearing outer wall fixed connection, the fixed spacing ring that is equipped with of slide cylinder lower extreme inner wall, the slide bar stretches into the fixed cover of slide cylinder one end outer wall is equipped with the spring, the spring upper end with slide cylinder upper end inner wall fixed connection.
Furthermore, the locking device comprises a threaded hole and a locking bolt, the rectangular through groove is provided with a threaded hole, and the locking bolt is connected with the threaded hole in an internal thread mode.
Further, air-dry the device and include air pump, cartridge heater and jet-propelled head, the air pump is fixed second fixed plate outer wall, the cartridge heater is fixed on the fourth fixed plate, the fourth fixed plate is kept away from fixed the inlaying is equipped with a plurality of jet-propelled heads under sprinkler bead one end, the output of air pump pass through the trachea with cartridge heater one end is connected, the jet-propelled head all through the trachea with the cartridge heater other end is connected, the air pump with treater electric connection.
Further, the equal symmetrical fixed electric connector that is equipped with of inner wall about the cartridge heater, correspond be equipped with the heating wire between the electric connector, the heating wire with the treater electrical property even.
Furthermore, a water filling port is arranged on the water tank, and a sealing cover is connected to the water filling port in a threaded manner.
Further, install the floater formula level gauge in the water tank, the electrical box internal fixation is equipped with the siren, the floater formula level gauge with the siren all with treater electric connection.
Furthermore, the electric box is provided with a cover plate through screw fixation, the middle of the cover plate is provided with a heat dissipation window, a dust screen is fixedly arranged in the heat dissipation window, and a wire hole is formed in one side wall of the electric box.
Compared with the prior art, the invention has the following beneficial effects:
(1) the cleaning robot comprises a longitudinal guide rail assembly, a longitudinal driving device, a transverse guide rail assembly, a transverse driving device and a cleaning device, wherein the longitudinal guide rail assembly, the longitudinal driving device, the transverse guide rail assembly, the transverse driving device and the cleaning device are arranged on the robot body, the robot body is arranged on the longitudinal guide rail assembly, the transverse driving device is arranged on the transverse guide rail assembly, the longitudinal driving device is arranged on the longitudinal guide rail assembly, the transverse driving device is arranged on the transverse guide rail assembly, the cleaning device.
(2) According to the invention, by arranging the air inlet pipe and the valve, external air can enter the sucker by opening the valve, so that the sucker loses suction force, and the sucker can be conveniently taken down from the glass curtain wall.
(3) According to the invention, by arranging the sliding cylinder, the sliding rod, the limiting ring and the spring, a downward force can be applied to the first moving wheel through the spring and the sliding rod, so that the first moving wheel can be tightly attached to the inner wall of the lower end of the groove.
(4) According to the invention, by arranging the threaded hole locking bolt, the transverse guide rail in the rectangular through groove can be fixed through the locking bolt.
(5) According to the invention, through the arrangement of the air pump, the heating cylinder, the air nozzle and the electric heating wire, air can be blown into the heating cylinder by the air pump, and hot air is sprayed from the air nozzle to dry the cleaned curtain wall after being heated by the electric heating wire.
(6) According to the invention, by arranging the floating ball type liquid level meter and the alarm, the liquid level in the water tank can be detected by using the floating ball type liquid level meter, the detected data is transmitted to the processor, and when the liquid level is low, the processor controls the alarm to give out an alarm sound to remind a worker.
(7) The electric box comprises a cover plate, a heat dissipation window, a dustproof net and a wire hole, wherein the cover plate is arranged on the outer side of the heat dissipation window, the dustproof net is arranged on the outer side of the heat dissipation window, the wire hole is arranged on the outer.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a robot with an increased applicable guiding range for cleaning building curtain walls according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a transverse driving device and a longitudinal driving device in a robot capable of increasing the applicable guiding range for cleaning a building curtain wall according to an embodiment of the invention;
FIG. 3 is an enlarged view of the structure at A in FIG. 2;
fig. 4 is a schematic structural diagram of a first fixing plate in a robot capable of increasing an applicable guide range for cleaning a building curtain wall according to an embodiment of the invention;
FIG. 5 is a top view of a first fixing plate of the robot for cleaning building curtain walls, which can increase the applicable guiding range according to the embodiment of the invention;
FIG. 6 is a schematic structural diagram of an elastic connecting piece in a robot capable of increasing the applicable guiding range for cleaning the building curtain wall according to an embodiment of the invention;
fig. 7 is a sectional view of a second fixing plate and a third fixing plate in a robot for building curtain wall cleaning, which can increase the applicable guide range according to an embodiment of the present invention;
fig. 8 is a bottom view of a fourth fixing plate in the robot for cleaning building curtain walls, which can increase the applicable guide range according to the embodiment of the invention;
FIG. 9 is a schematic structural diagram of a heating cartridge in a robot capable of increasing an applicable guiding range for cleaning a building curtain wall according to an embodiment of the invention;
FIG. 10 is a schematic structural diagram of a cross guide rail in a robot capable of increasing the applicable guide range for cleaning the building curtain wall according to an embodiment of the invention;
FIG. 11 is a schematic structural diagram of a longitudinal guide rail in a robot capable of increasing the applicable guide range for cleaning a building curtain wall according to an embodiment of the invention;
fig. 12 is a schematic structural diagram of a water tank in a robot capable of increasing an applicable guide range for cleaning a building curtain wall according to an embodiment of the invention.
Reference numerals:
1. a longitudinal guide rail; 2. a suction cup; 3. a first card slot; 4. a first clamp post; 5. a first fixing plate; 6. a first bearing; 7. a first drive shaft; 8. a first moving wheel; 9. a second bearing; 10. an elastic connecting member; 11. mounting a plate; 12. a moving wheel support; 13. a limiting wheel; 14. a first stepper motor; 15. a rectangular through groove; 16. a transverse guide rail; 17. a second card slot; 18. a second clamping column; 19. a second fixing plate; 20. a third fixing plate; 21. a third bearing; 22. a second drive shaft; 23. a second moving wheel; 24. an electric telescopic rod; 25. a first motor; 26. a fourth fixing plate; 27. a second stepping motor; 28. a sprinkler head; 29. a second motor; 30. a turntable; 31. cleaning the sponge; 32. a wiper blade; 33. a water pump; 34. a water tank; 35. an electric box; 36. a lithium battery; 37. a processor; 38. a first stepper motor controller; 39. a second stepper motor controller; 40. an air inlet pipe; 41. a valve; 42. a slide cylinder; 43. a slide bar; 44. a spring; 45. locking the bolt; 46. an air pump; 47. a heating cylinder; 48. a gas showerhead; 49. a float level gauge; 50. an alarm; 51. an infrared distance measuring sensor.
Detailed Description
The invention is further described with reference to the following drawings and detailed description:
the first embodiment is as follows:
referring to fig. 1 to 12, the robot capable of increasing an applicable guiding range for cleaning a building curtain wall according to an embodiment of the present invention includes a longitudinal rail assembly, a longitudinal driving device, a transverse rail assembly, a transverse driving device and a cleaning device, the longitudinal rail assembly includes two longitudinal rails 1 arranged in parallel, the longitudinal rail assembly is formed by splicing a plurality of longitudinal rails 1 end to end, a groove is formed on one side of each longitudinal rail 1, a plurality of suckers 2 are fixed at the bottom ends of the longitudinal rails 1, two first slots 3 are formed at one end of each longitudinal rail 1, first locking posts 4 matched with the first slots 3 are fixed at the other end of each longitudinal rail 1, the longitudinal driving device includes a first fixing plate 5, two first bearings 6 are fixedly embedded at the lower end of each first fixing plate 5, a first transmission shaft 7 is fixedly arranged in each first bearing 6, a first movable wheel 8 is fixedly arranged at one end, far away from the first bearing 6, of each first transmission shaft 7, a second bearing 9 is fixedly arranged on the outer wall of the middle of each first transmission shaft 7 in a sleeved mode, an elastic connecting piece 10 is fixedly arranged on each second bearing 9, a mounting plate 11 is fixedly arranged on each elastic connecting piece 10, movable wheel brackets 12 are arranged at two ends of each mounting plate 11, limiting wheels 13 are rotatably arranged on the movable wheel brackets 12, first limiting grooves matched with the limiting wheels 13 are formed in the upper walls of the grooves, first stepping motors 14 are fixedly arranged on the outer walls of the first fixing plates 5, far away from the first movable wheels 8, of the first fixing plates 14, rotating shafts of the first stepping motors 14 are fixedly connected with one of the first transmission shafts 7, and rectangular through grooves 15 are formed in the upper ends of the first fixing plates 5, transverse guide subassembly is formed by 16 end to end concatenations of a plurality of transverse guide, 16 cross-sections of transverse guide are the rectangle structure, second draw-in groove 17 has been seted up to 16 one end of transverse guide, the 16 other end of transverse guide seted up with second draw-in groove 17 assorted second card post 18, transverse guide 16 runs through both sides groove 15 is worn to the rectangle of first fixed plate 5, be equipped with locking device on the groove 15 is worn to the rectangle, transverse drive device includes second fixed plate 19 and third fixed plate 20, second fixed plate 19 with the parallel arrangement of third fixed plate 20, second fixed plate 19 with four angles of third fixed plate 20 are all fixed to inlay and are equipped with third bearing 21, correspond fixed second transmission shaft 22 that is equipped with between the third bearing 21, the equal fixed cover of second transmission shaft 22 middle part outer wall is equipped with second and removes wheel 23 just the second removes wheel 23 outer wall all seted up with 16 assorted second spacing groove of transverse guide The upper wall and the lower wall of the transverse guide rail 16 are closely attached to the corresponding second moving wheels 23, the outer wall of the second fixing plate 19 is fixedly provided with an electric telescopic rod 24, the outer wall of the upper end of the third fixing plate 20 is fixedly provided with a first motor 25, the rotating shaft of the first motor 25 is fixedly connected with one end of one of the second transmission shafts 22, the cleaning device comprises a fourth fixing plate 26, the lower end of the electric telescopic rod 24 is fixedly provided with a second stepping motor 27, the rotating shaft of the second stepping motor 27 is fixedly connected with the fourth fixing plate 26, one end of the fourth fixing plate 26 is fixedly embedded with a plurality of water spraying heads 28, one end of the fourth fixing plate 26 close to the water spraying heads 28 is fixedly provided with a second motor 29, the rotating shaft of the second motor 29 penetrates through the fourth fixing plate 26, the lower end of the second fixing plate is fixedly provided with a turntable 30, and the lower end of the turntable 30 is, a water scraping plate 32 is fixedly arranged below the middle of the fourth fixing plate 26, an air drying device is arranged at one end, far away from the sprinkler head 28, of the fourth fixing plate 26, a water pump 33 is fixedly arranged on the outer wall of the second fixing plate 19, a water tank 34 is fixedly arranged on the second fixing plate 19 and the third fixing plate 20, the input end of the water pump 33 is connected with the water tank 34 through a water pipe, the sprinkler head 28 is connected with the output end of the water pump 33 through a water pipe, an electric box 35 is fixedly arranged on the outer wall of the lower end of the third fixing plate 20, a lithium battery 36, a processor 37, a first stepper motor controller 38 and a second stepper motor controller 39 are fixedly arranged in the electric box 35, an infrared distance measuring sensor 51 is fixedly embedded at one end, close to the sprinkler head 28, of the fourth fixing plate 26, and the first stepper motor 14 is electrically connected with the first stepper motor controller 38, the second stepping motor 27 is electrically connected to the second stepping motor controller 39, and the infrared distance measuring sensor 51, the lithium battery 36, the first stepping motor controller 38, the second stepping motor controller 39, the first motor 25, the water pump 33, and the second motor 29 are all electrically connected to the processor 37.
Through the scheme of the invention, the robot can be more stable in the cleaning process, is less influenced by wind force, has high automation degree and good cleaning effect, and can change the transverse and longitudinal guide ranges by increasing or decreasing the longitudinal guide rails 1 and the transverse guide rails 16, thereby being suitable for the cleaning operation of glass curtain walls with different sizes.
Example two:
referring to fig. 2, 4 and 6, for the suction cup 2, the suction cup 2 is connected with an air inlet pipe 40, and a valve 41 is arranged at one end of the air inlet pipe 40 away from the suction cup 2; for the elastic connecting piece 10, the elastic connecting piece 10 includes a sliding cylinder 42, a sliding rod 43 is slidably arranged in the sliding cylinder 42, the lower end of the sliding rod 43 is fixedly connected with the outer wall of the first bearing 6, a limit ring is fixedly arranged on the inner wall of the lower end of the sliding cylinder 42, a spring 44 is fixedly sleeved on the outer wall of one end of the sliding rod 43 extending into the sliding cylinder 42, and the upper end of the spring 44 is fixedly connected with the inner wall of the upper end of the sliding cylinder 42; for the locking device, the locking device comprises a threaded hole and a locking bolt 45, wherein the rectangular through groove 15 is provided with a threaded hole, and the threaded hole is internally connected with the locking bolt 45 in a threaded manner.
Through the scheme of the invention, the outside air can enter the sucker 2 from the air inlet pipe 40 by opening the valve 41, so that the sucker 2 loses suction force, the sucker 2 can be conveniently taken down from the glass curtain wall, the first moving wheel 8 can be applied with downward force through the spring 44 and the sliding rod 43, the first moving wheel 8 can be tightly attached to the inner wall of the lower end of the groove, and the transverse guide rail 16 in the rectangular through groove 15 can be fixed through the locking bolt 45.
Example three:
referring to fig. 2, 8 and 9, for the air drying device, the air drying device includes an air pump 46, a heating cylinder 47 and air nozzles 48, the air pump 46 is fixed on the outer wall of the second fixing plate 19, the heating cylinder 47 is fixed on the fourth fixing plate 26, a plurality of air nozzles 48 are fixedly embedded under one end of the fourth fixing plate 26 away from the water spray head 28, an output end of the air pump 46 is connected with one end of the heating cylinder 47 through an air pipe, the air nozzles 48 are connected with the other end of the heating cylinder 47 through air pipes, and the air pump 46 is electrically connected with the processor 37; for the heating cylinder 47, electrical connectors are symmetrically and fixedly disposed on the upper and lower inner walls of the heating cylinder 47, and heating wires are disposed between the corresponding electrical connectors and electrically connected to the processor 37.
According to the invention, air can be blown into the heating cylinder 47 by the air pump 46, and hot air is sprayed from the air nozzle 48 after being heated by the electric heating wire to dry the cleaned curtain wall.
Example four:
referring to fig. 7 and 12, for the water tank 34, a water filling port is arranged on the water tank 34, and a sealing cover is connected to the water filling port in a threaded manner; for the water tank 34, a floating ball type liquid level meter 49 is installed in the water tank 34, an alarm 50 is fixedly arranged in the electrical box 35, and the floating ball type liquid level meter 49 and the alarm 50 are both electrically connected with the processor 37; for the electric box 35, be equipped with the apron through the screw fixation on the electric box 35, the heat dissipation window has been seted up at the apron middle part just the heat dissipation window internal fixation is equipped with the dust screen, the line hole has been seted up to an electric box 35 lateral wall.
Through the scheme of the invention, the liquid level in the water tank 34 can be detected by using the floating ball type liquid level meter 49, the detected data is transmitted to the processor 37, when the liquid level is low, the processor 37 controls the alarm 50 to give out an alarm sound to remind workers, the heat dissipation window can increase the heat dissipation performance of the electric box 35, dust can be prevented from entering the electric box 35 along the heat dissipation window, and the wire hole can be used for threading.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In practical application, the wire between the first stepping motor 14 and the first stepping motor controller 38 is a spiral telescopic wire, the air pipe and the water pipe are spiral telescopic guide pipes, the longitudinal guide rail 1 and the transverse guide rail 16 are firstly spliced end to end, then the longitudinal guide rail 1 is respectively fixed on two sides of the glass curtain wall by using the suction cups 2, the first stepping motor 14 can drive the first moving wheel 8 to rotate, the first fixing plate 5 is driven to move up and down along the longitudinal guide rail 1 by using the friction force between the first moving wheel 8 and the inner wall of the groove, when the first stepping motor 14 does not rotate, the first moving wheel 8 can fix the first fixing plate 5 by using the friction force between the first moving wheel 8 and the inner wall of the groove, the first motor 25 can drive the second moving wheel 23 to rotate, so that the second fixing plate 19 and the third fixing plate 20 are driven to translate along the transverse guide rail 16 by using the friction force between the second moving wheel 23 and the transverse guide rail 16, when the curtain wall cleaning device works, the fourth fixing plate 26 is initially positioned at one side of the lower end of the curtain wall, the processor 37 controls the first motor 25, the second motor 29, the water pump 33, the heating wire and the air pump 46 to work, the first motor 25 drives the fourth fixing plate 26 to slowly move towards the other side at a constant speed, the water pump 33 sprays cleaning liquid in the water tank 34 out of the water spray head 28, the second motor 29 drives the rotary disc 30 and the cleaning sponge 31 to scrub the glass curtain wall, the water scraping plate 32 can scrape off the cleaning liquid on the surface of the curtain wall, the air pump 46 sprays air heated by the heating wire out of the air spray head 48 to dry the scrubbed curtain wall, so that dirt on the surface of the glass curtain wall can be cleaned, the cleaning effect is good, the infrared distance measuring sensor 51 can detect the distance between the fourth fixing plate 26 and the first fixing plate 5 and transmit the detected data to the processor 37, and, the processor 37 controls the first stepping motor 14 to rotate for a preset number of turns through the first stepping motor controller 38 to lift the fourth fixing plate 26 for a specified distance, then controls the second stepping motor 27 to rotate clockwise for 180 degrees through the second stepping motor controller 39, and controls the first motor 25 to rotate reversely, so that the fourth fixing plate 26 moves reversely after turning around, and continues scrubbing the previous layer, when turning around is needed again, the processor 37 controls the second stepping motor 27 to rotate clockwise for 180 degrees through the second stepping motor controller 39, controls the second stepping motor 27 to rotate anticlockwise for 180 degrees through the second stepping motor controller 39 to prevent air pipes and water pipes from winding, and the circulation is repeated, so that the whole curtain wall can be scrubbed and cleaned, and as the transverse guide rail 16 and the longitudinal guide rail 1 are arranged, the robot is stable in the cleaning process, the device is less influenced by wind power, has high automation degree and good cleaning effect, can change the transverse and longitudinal guide ranges by increasing or decreasing the longitudinal guide rail 1 and the transverse guide rail 16, thereby being suitable for the cleaning operation of glass curtain walls with different sizes, can lead the external air to enter the sucker 2 from the air inlet pipe 40 by opening the valve 41, lead the sucker 2 to lose suction force, thereby being convenient to take off the sucker 2 from the glass curtain walls, can apply downward force to the first movable wheel 8 through the spring 44 and the sliding rod 43, lead the first movable wheel 8 to be tightly attached to the inner wall at the lower end of the groove, lead the transverse guide rail 16 in the rectangular through groove 15 to be fixed through the locking bolt 45, can detect the liquid level in the water tank 34 by utilizing the floating ball type liquid level meter 49 and transmit the detected data to the processor 37, when the liquid level is lower, the processor 37 controls the alarm 50 to give an alarm sound to remind workers, the heat dissipation window can increase the heat dispersion of electrical box 35 to can prevent that the dust from following in the heat dissipation window gets into electrical box 35, the line hole can be used for the threading.
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 (9)
1. The robot capable of increasing the applicable guide range for cleaning the building curtain wall is characterized by comprising a longitudinal guide rail assembly, a longitudinal driving device, a transverse guide rail assembly, a transverse driving device and a cleaning device, wherein the longitudinal guide rail assembly is arranged in two parallel, the longitudinal guide rail assembly is formed by splicing a plurality of longitudinal guide rails (1) in an end-to-end manner, one side of each longitudinal guide rail (1) is provided with a groove, the bottom end of each longitudinal guide rail (1) is fixedly provided with a plurality of suckers (2), one end of each longitudinal guide rail (1) is provided with two first clamping grooves (3), the other end of each longitudinal guide rail (1) is fixedly provided with a first clamping column (4) matched with the first clamping grooves (3), the longitudinal driving device comprises a first fixing plate (5), the lower end of the first fixing plate (5) is fixedly embedded with two first bearings (6), the first transmission shaft (7) is fixedly arranged in the first bearing (6), the first transmission shaft (7) is far away from one end of the first bearing (6) and is fixedly provided with a first movable wheel (8), the outer wall of the middle part of the first transmission shaft (7) is fixedly provided with a second bearing (9), the second bearing (9) is fixedly provided with an elastic connecting piece (10), the elastic connecting piece (10) is fixedly provided with a mounting plate (11), two ends of the mounting plate (11) are respectively provided with a movable wheel bracket (12), the movable wheel bracket (12) is rotatably provided with a limiting wheel (13), the upper wall of the groove is provided with a first limiting groove matched with the limiting wheel (13), the outer wall of one side of the first movable wheel (8) is fixedly provided with a first step motor (14), the rotating shaft of the first step motor (14) is fixedly connected with one of the first transmission shafts (7), the upper end of the first fixing plate (5) is provided with a rectangular through groove (15), the transverse guide rail assembly is formed by splicing a plurality of transverse guide rails (16) end to end, the cross section of each transverse guide rail (16) is of a rectangular structure, one end of each transverse guide rail (16) is provided with a second clamping groove (17), the other end of each transverse guide rail (16) is provided with a second clamping column (18) matched with the second clamping groove (17), each transverse guide rail (16) penetrates through the rectangular through groove (15) of the first fixing plate (5) on two sides, a locking device is arranged on each rectangular through groove (15), each transverse driving device comprises a second fixing plate (19) and a third fixing plate (20), the second fixing plates (19) and the third fixing plates (20) are arranged in parallel, and third bearings (21) are fixedly embedded in four corners of the second fixing plates (19) and the third fixing plates (20), the corresponding fixed second transmission shaft (22) that is equipped with between third bearing (21), second transmission shaft (22) middle part outer wall all fixed cover be equipped with the second remove wheel (23) just the second remove wheel (23) outer wall all seted up with transverse guide (16) assorted second spacing groove, the upper and lower wall of transverse guide (16) all with correspond the second removes wheel (23) and closely laminates, second fixed plate (19) outer wall is fixed and is equipped with electric telescopic handle (24), third fixed plate (20) upper end outer wall is fixed and is equipped with first motor (25), the pivot of first motor (25) and one of them second transmission shaft (22) one end fixed connection, cleaning device includes fourth fixed plate (26), electric telescopic handle (24) lower fixed is equipped with second step motor (27), the pivot of second step motor (27) with fourth fixed plate (26) fixed connection, a plurality of water spraying heads (28) are fixedly embedded at one end of the fourth fixing plate (26), a second motor (29) is fixedly arranged at one end, close to the water spraying heads (28), of the fourth fixing plate (26), a rotating shaft of the second motor (29) penetrates through the fourth fixing plate (26), a rotating disc (30) is fixedly arranged at the lower end of the fourth fixing plate (26), a cleaning sponge (31) is fixedly arranged below the rotating disc (30), a water scraping plate (32) is fixedly arranged below the middle of the fourth fixing plate (26), an air drying device is arranged at one end, far away from the water spraying heads (28), of the fourth fixing plate (26), a water pump (33) is fixedly arranged on the outer wall of the second fixing plate (19), a water tank (34) is fixedly arranged on the second fixing plate (19) and the third fixing plate (20), the input end of the water pump (33) is connected with the water tank (34) through a water pipe, and the water spraying heads (28) are connected, an electrical box (35) is fixedly arranged on the outer wall of the lower end of the third fixing plate (20), a lithium battery (36), a processor (37), a first stepping motor controller (38) and a second stepping motor controller (39) are fixedly arranged in the electrical box (35), an infrared distance measuring sensor (51) is fixedly embedded at one end of the fourth fixing plate (26) close to the sprinkler head (28), the first stepping motors (14) are electrically connected with the first stepping motor controller (38), the second stepping motor (27) is electrically connected with the second stepping motor controller (39), the infrared distance measuring sensor (51), the lithium battery (36), the first stepping motor controller (38), the second stepping motor controller (39), the first motor (25), the water pump (33) and the second motor (29) are all electrically connected with the processor (37).
2. The robot capable of increasing the applicable guide range for cleaning the building curtain wall as claimed in claim 1, wherein the suction cups (2) are connected with air inlet pipes (40), and one ends of the air inlet pipes (40) far away from the suction cups (2) are provided with valves (41).
3. The robot capable of increasing the applicable guide range for cleaning the building curtain wall as claimed in claim 1, wherein the elastic connecting member (10) comprises a sliding cylinder (42), a sliding rod (43) is slidably disposed in the sliding cylinder (42), the lower end of the sliding rod (43) is fixedly connected with the outer wall of the first bearing (6), a limiting ring is fixedly disposed on the inner wall of the lower end of the sliding cylinder (42), a spring (44) is fixedly sleeved on the outer wall of one end of the sliding cylinder (42) into which the sliding rod (43) extends, and the upper end of the spring (44) is fixedly connected with the inner wall of the upper end of the sliding cylinder (42).
4. The robot capable of increasing the applicable guide range for cleaning the building curtain wall according to claim 1, wherein the locking device comprises a threaded hole and a locking bolt (45), the rectangular through groove (15) is provided with a threaded hole, and the threaded hole is internally threaded with the locking bolt (45).
5. The robot capable of increasing the applicable guide range for cleaning the building curtain wall according to claim 1, wherein the air drying device comprises an air pump (46), a heating cylinder (47) and an air nozzle (48), the air pump (46) is fixed on the outer wall of the second fixing plate (19), the heating cylinder (47) is fixed on the fourth fixing plate (26), the lower end of the end, away from the water nozzle (28), of the fourth fixing plate (26) is fixedly embedded with a plurality of air nozzles (48), the output end of the air pump (46) is connected with one end of the heating cylinder (47) through an air pipe, the air nozzle (48) is connected with the other end of the heating cylinder (47) through an air pipe, and the air pump (46) is electrically connected with the processor (37).
6. The robot with the increased applicable guiding range for cleaning the building curtain wall as claimed in claim 5, wherein the upper and lower inner walls of the heating cylinder (47) are symmetrically and fixedly provided with electric connectors, and heating wires are arranged between the corresponding electric connectors and electrically connected with the processor (37).
7. The robot capable of increasing the applicable guide range for cleaning the building curtain wall as claimed in claim 1, wherein a water filling port is arranged on the water tank (34) and a sealing cover is in threaded connection with the water filling port.
8. The robot with the increased applicable guiding range for cleaning the building curtain wall as claimed in claim 7, wherein a ball float type liquid level meter (49) is installed in the water tank (34), an alarm (50) is fixedly arranged in the electrical box (35), and the ball float type liquid level meter (49) and the alarm (50) are both electrically connected with the processor (37).
9. The robot capable of increasing the applicable guiding range for cleaning the building curtain wall as claimed in claim 1, wherein a cover plate is fixed on the electrical box (35) through screws, a heat dissipation window is formed in the middle of the cover plate, a dust screen is fixed in the heat dissipation window, and a wire hole is formed in one side wall of the electrical box (35).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010830620.3A CN112056979B (en) | 2020-08-18 | 2020-08-18 | Robot capable of increasing applicable guide range and used for cleaning building curtain wall |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010830620.3A CN112056979B (en) | 2020-08-18 | 2020-08-18 | Robot capable of increasing applicable guide range and used for cleaning building curtain wall |
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| CN112056979A true CN112056979A (en) | 2020-12-11 |
| CN112056979B CN112056979B (en) | 2021-08-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112956942A (en) * | 2021-01-21 | 2021-06-15 | 郑州科技学院 | Automatic cleaning machine for high-rise glass curtain wall |
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| WO2019024180A1 (en) * | 2017-08-01 | 2019-02-07 | 蓝兆彤 | Pneumatic self-propelled steam cycle window cleaning robot |
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| CN112056979B (en) | 2021-08-10 |
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