CN112137488B - Glass wiping robot - Google Patents
Glass wiping robot Download PDFInfo
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- CN112137488B CN112137488B CN202011244191.8A CN202011244191A CN112137488B CN 112137488 B CN112137488 B CN 112137488B CN 202011244191 A CN202011244191 A CN 202011244191A CN 112137488 B CN112137488 B CN 112137488B
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- cleaning
- glass
- fixedly connected
- curtain wall
- plate
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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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention relates to a glass cleaning robot, which comprises a supporting plate, a fixing plate, a travelling mechanism, an adsorption mechanism, a limiting protection mechanism and a cleaning mechanism, wherein the travelling mechanism comprises a transverse three-axis cylinder and a vertical three-axis cylinder; the adsorption mechanism comprises a supporting cylinder vertically arranged on one side of the movable block, and one end of a piston rod of the supporting cylinder is fixedly connected with a vacuum chuck; the limiting and protecting mechanism comprises a transverse limiting mechanism and a vertical limiting mechanism. The cooperation of the walking mechanism and the adsorption mechanism can lead the robot to freely walk and adsorb on the outer surface of the glass curtain wall, is suitable for cleaning the glass curtain wall with exposed frame support on a modern high-rise building, can vertically lift and horizontally move, has high degree of freedom, and improves the cleaning efficiency. The vacuum chuck can play a role in resistance and support by utilizing limit, can resist lateral wind power, reduces the influence of vertical gravity on the vacuum chuck, and improves the overall stability.
Description
Technical Field
The invention relates to the technical field of glass curtain wall cleaning, in particular to a glass cleaning robot.
Background
The glass curtain wall is a building outer protective structure or decorative structure which has a certain displacement capacity relative to the main structure by a supporting structure system and does not bear the action of the main structure. The wall body has two types of single-layer glass and double-layer glass. The glass curtain wall is a beautiful and novel building wall decoration method and is a remarkable characteristic of modern high-rise building times.
The glass curtain wall of modern high-rise building adopts hollow glass which is formed by combining mirror glass and common glass and filling dry air or inert gas into an interlayer. The hollow glass comprises two layers and three layers, wherein the two layers of hollow glass are sealed by the two layers of glass to form an interlayer space; the triple-layer glass is formed by two interlayer spaces formed by the triple-layer glass. The hollow glass has the advantages of sound insulation, heat insulation, frost prevention, moisture prevention, high wind pressure resistance and the like. It was measured that when the outdoor temperature was-10 deg.c, the temperature before the single-layer glass window was-2 deg.c, and the indoor temperature using the triple-layer hollow glass was 13 deg.c. In hot summer, the double-layer hollow glass can block 90% of solar radiation heat. The sunlight still can permeate the glass curtain wall, but the sunshine can not feel hot on the body mostly. The room using the hollow glass curtain wall can be warm in winter and cool in summer, and the living environment is greatly improved.
The frame-supported glass curtain wall is a glass curtain wall with the periphery of a glass panel supported by a metal frame, and mainly comprises a visible frame glass curtain wall and a hidden frame glass curtain wall, wherein the visible frame glass curtain wall is a glass curtain wall with a metal frame member exposed on the outer surface. The aluminum alloy section with special section is used as a frame, and the glass panel is fully embedded into the groove of the section. It is characterized in that the aluminum alloy section has the dual functions of framework structure and glass fixing. The metal frame of the hidden frame glass curtain wall is hidden on the back of the glass, and the metal frame cannot be seen outdoors. The hidden frame glass curtain wall can be divided into a full hidden frame glass curtain wall and a semi hidden frame glass curtain wall, and the semi hidden frame glass curtain wall can be horizontally exposed, vertically exposed and horizontally exposed or vertically exposed and horizontally exposed. The hidden frame glass curtain wall has the structural characteristics that: the glass is arranged on the outer side of the aluminum frame, and the glass is bonded with the aluminum frame by using the silicone structure sealant. The load of the curtain wall is mainly born by the sealant.
The exposed frame glass curtain wall is the most traditional form, has the most extensive application and reliable working performance. Compared with a hidden frame glass curtain wall, the hidden frame glass curtain wall is easier to meet the requirements of construction technology level. However, due to the fact that the modern building floor is high, the building adopting the exposed frame glass curtain wall is not easy to clean the glass surface on the outer side of the glass curtain wall, and the building adopting the exposed frame glass curtain wall is characterized by high-altitude operation, high risk and low working efficiency due to manual cleaning; due to the characteristics of the supporting frame of the exposed frame, a plurality of glass scrubbing robots cannot freely walk and adsorb on the outer side of the glass curtain wall, cannot complete glass cleaning tasks, and are relatively difficult to operate; therefore, a glass wiping robot is provided.
Disclosure of Invention
(1) Technical problem to be solved
The invention aims to overcome the defects of the prior art, adapt to the practical requirements and provide a glass cleaning robot so as to solve the problems in the background technology.
(2) Technical scheme
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
a glass cleaning robot comprises a supporting plate, a fixing plate, a traveling mechanism, an adsorption mechanism, a limiting protection mechanism and a cleaning mechanism, wherein the traveling mechanism is fixedly connected to one side surface of the supporting plate and comprises a transverse triaxial cylinder and a vertical triaxial cylinder, and one ends of piston rods of the transverse triaxial cylinder and the vertical triaxial cylinder are fixedly connected with movable blocks; the adsorption mechanism is fixedly arranged on one side of the movable block and comprises a supporting cylinder vertically arranged on one side of the movable block, and one end of a piston rod of the supporting cylinder is fixedly connected with a vacuum chuck; the cleaning mechanism is fixedly arranged on one side of the supporting plate and comprises a spraying plate, a gear box, a cleaning motor in transmission connection with the gear box and a rotating rod in fixed connection with a gear inside the gear box, wherein one end of the rotating rod is fixedly connected with a cleaning cotton wheel; spacing protection mechanism is including horizontal stop gear and vertical stop gear, vertical stop gear includes first electric putter and the electric putter of second of perpendicular fixed connection in backup pad one side, the first U-shaped plate of one end fixedly connected with of first electric putter, rotate on the first U-shaped plate and install first axis of rotation, the first shelves of fixedly connected with on the first axis of rotation, the first proximity sensor of one side of first U-shaped plate still through first connecting rod fixedly connected with, the one end fixedly connected with second U-shaped plate of second electric putter, rotate on the second U-shaped plate and install the second axis of rotation, the fixedly connected with second shelves of second axis of rotation, the one side of second U-shaped plate still is through second connecting rod fixedly connected with second proximity sensor.
Further, the first proximity sensor and the second proximity sensor are both provided as inductive proximity sensors.
Furthermore, one side of the cleaning fluid storage tank is communicated with a water pump, one end of the water pump is communicated with the cavity in the spray plate through a water pipe, the spray plate is fixedly connected to the surface of the lower portion of the gear box, and spray holes communicated with the interior of the cavity are formed in the surface of the lower portion of the spray plate.
Further, the inside of gear box is including intermeshing's driving gear and driven gear, the driving gear is installed on the motor shaft of cleaning motor, the motor shaft of cleaning motor rotates through first bearing and installs on the inner chamber upper portion of gear box, the dwang is fixed to be pegged graft driven gear's inside, just the dwang rotates through the second bearing and installs the inner chamber lower part at the gear box.
Further, the through hole that link up from top to bottom is seted up on the surface of spraying the board, the dwang runs through in this through hole.
Furthermore, a water absorption sponge block is fixedly sleeved on the upper portion, located on the cleaning cotton wheel, of the rotating rod, and the water absorption sponge block is of a conical structure.
Furthermore, the upper portion of the cleaning solution storage box is fixedly connected with a fixing ring and a pipe sleeve, the fixing ring is connected with a lifting rope, one side of the pipe sleeve is fixedly connected with a pull ring, one side of the supporting plate is fixedly connected with a tension sensor, and one end of the tension sensor is fixedly connected with the pull ring.
Further, a group of soft water pipes, a group of connecting wires and two groups of soft air pipes are installed in the pipe sleeve, and the two groups of soft air pipes are respectively a compressed air soft air pipe and a negative pressure air soft air pipe.
Further, the device also comprises a delivery pump used for supplying liquid to the flexible water pipe, an air compressor connected with the compressed air flexible water pipe and a negative pressure pump connected with the negative pressure air flexible water pipe.
Further, the device also comprises a control unit, wherein the control unit is a PLC controller and is respectively connected with the cleaning mechanism, the walking mechanism, the adsorption mechanism and the limiting protection mechanism.
(3) Has the advantages that:
1. according to the invention, the robot can freely travel and adsorb on the outer surface of the glass curtain wall by utilizing the cooperation of the travelling mechanism and the adsorption mechanism, is suitable for cleaning the glass curtain wall with exposed frame support on a modern high-rise building, can vertically lift and horizontally move, has high degree of freedom, and improves the cleaning efficiency; meanwhile, four groups of adsorption mechanisms are arranged in four directions of the whole robot and are respectively arranged at one end of each of the four groups of walking mechanisms, two groups of lifting mechanisms and two groups of translation mechanisms are arranged, when the robot is used, at least two adsorption supporting points are reserved at each step of walking, and stable supporting force can be kept in the moving process.
2. According to the invention, the vertical limiting mechanism can keep the robot to vertically lift and walk along the frame of the exposed frame curtain wall glass, the first stop bars are blocked at two sides of the vertical support of the curtain wall, and the robot can lift directionally in the using process, and can resist lateral wind power by using the limiting resistance effect, so that the risk resistance is stronger; and the vertical limiting mechanism can change the state through operation without influencing the overall transverse translation of the robot.
3. According to the invention, the transverse limiting mechanism can keep the robot to transversely move and walk along the frame of the exposed frame curtain wall glass, and the second bars are blocked at two sides of the curtain wall transverse bracket, so that the robot can be directionally moved in a translation manner and can play a supporting role in the use process, the influence of vertical gravity on a vacuum chuck is reduced, and the integral stability is improved; and the horizontal limiting mechanism can change the state through operation without influencing the overall vertical lifting of the robot.
4. According to the invention, the cleaning mechanism can spray and scrub all the outer surfaces of a whole piece of curtain wall glass at the same time, the pipe sleeve is connected to the cleaning solution storage box, the cleaning solution can be continuously supplied through the flexible water pipe in the pipe sleeve, the interruption is avoided in the cleaning process, the continuous operation can be realized, and the cleaning efficiency is high.
Drawings
FIG. 1 is a schematic structural view of a glass cleaning robot according to the present invention;
FIG. 2 is a schematic cross-sectional view taken along the line A-A of FIG. 1 of a robot for cleaning glass according to the present invention;
FIG. 3 is a schematic cross-sectional view of the robot for cleaning glass in FIG. 1, taken along line B-B;
FIG. 4 is a schematic side view of a first stop bar of the glass cleaning robot according to the present invention;
FIG. 5 is a schematic view of the internal structure of the pipe sleeve of the glass wiping robot of the present invention.
The reference numbers are as follows:
the curtain wall cleaning device comprises a curtain wall transverse support 1, a curtain wall vertical support 2, a curtain wall glass block 3, a support plate 4, a transverse three-shaft cylinder 5, a movable block 6, a support cylinder 601, a vacuum suction cup 602, a vertical three-shaft cylinder 7, a fixing plate 8, a cleaning liquid storage tank 801, a water pump 802, a water pipe 803, a cleaning motor 9, a first electric push rod 401, a first U-shaped plate 402, a first rotating shaft 403, a first stop bar 404, a first connecting rod 405, a first proximity sensor 406, a gear box 407, an inner cavity 408, a spray plate 409, a cavity 410, a spray hole 411, a first bearing 412, a motor shaft 413, a driving gear 414, a driven gear 415, a second bearing 416, a rotating rod 417, a water absorption sponge block 418, a cleaning cotton wheel 419, a through hole 420, a second electric push rod 101, a second U-shaped plate 102, a second rotating shaft 103, a second stop bar 104, a second connecting rod 105, a second proximity sensor 106, a fixing ring 10, a lifting rope 11, a movable block 404, a movable block 405, a cleaning rod, a cleaning device, a cleaning, A pipe sleeve 12, a water hose 1201, a connecting line 1202, a hose 1203, a pull ring 13, a tension sensor 14 and a control unit 15.
Detailed Description
The invention will be further illustrated with reference to the following figures 1 to 5 and examples:
a glass cleaning robot comprises a supporting plate 4, a fixing plate 8, a traveling mechanism, an adsorption mechanism, a limiting protection mechanism and a cleaning mechanism, wherein the traveling mechanism is fixedly connected to one side surface of the supporting plate 4 and comprises a transverse triaxial cylinder 5 and a vertical triaxial cylinder 7, and one end of a piston rod of each of the transverse triaxial cylinder 5 and the vertical triaxial cylinder 7 is fixedly connected with a movable block 6; the adsorption mechanism is fixedly arranged on one side of the movable block 6 and comprises a supporting cylinder 601 vertically arranged on one side of the movable block 6, one end of a piston rod of the supporting cylinder 601 is fixedly connected with a vacuum chuck 602, the supporting cylinder 601 can be used for regulating and controlling the distance between the supporting plate 4 and the curtain wall glass block 3, the supporting cylinder 601 contracts during cleaning to enable the cleaning mechanism to be in surface contact with the curtain wall glass block 3, and when the curtain wall glass block needs to move, the supporting cylinder 601 extends to enable the cleaning mechanism to keep a certain distance from the curtain wall glass block 3, so that the curtain wall vertical support 2 or the curtain wall transverse support 1 can be conveniently spanned; the cleaning mechanism is fixedly arranged on one side of the supporting plate 4 and comprises a spraying plate 409, a gear box 407, a cleaning motor 9 in transmission connection with the gear box 407, a rotating rod 417 fixedly connected with a gear inside the gear box 407, one end of the rotating rod 417 is fixedly connected with a cleaning cotton wheel 419, spraying can be realized through the spraying plate 409, scrubbing can be realized through the cleaning cotton wheel 419, and both spraying and scrubbing can be realized simultaneously, the cleaning mechanism also comprises a cleaning liquid storage box 801, and the cleaning liquid storage box 801 is fixedly connected to the transverse triaxial cylinder 5 and the vertical triaxial cylinder 7 through a fixing plate 8; the limiting and protecting mechanism comprises a transverse limiting mechanism and a vertical limiting mechanism, the vertical limiting mechanism comprises a first electric push rod 401 and a second electric push rod 101 which are vertically and fixedly connected to one side of the supporting plate 4, one end of the first electric push rod 401 is fixedly connected with a first U-shaped plate 402, a first rotating shaft 403 is rotatably mounted on the first U-shaped plate 402, a first stop bar 404 is fixedly connected to the first rotating shaft 403, one side of the first U-shaped plate 402 is also fixedly connected with a first proximity sensor 406 through a first connecting rod 405, in the implementation process, four first stop bars 404 are uniformly arranged on the first rotating shaft 403 in a ring shape, one end of each first stop bar 404 is a smooth arc mechanism, and the structural design enables the first stop bars 404 to span the curtain wall transverse support 1 under the condition that the first stop bars are limited, as shown in fig. 4 in particular; and first proximity sensor 406 is used for responding whether first shelves 404 are located on curtain wall vertical support 2, one end fixedly connected with second U-shaped plate 102 of second electric push rod 101, second rotation axis 103 is installed in the rotation of second U-shaped plate 102, fixedly connected with second shelves 104 on the second rotation axis 103, and in a similar way, second shelves 104 also can stride across curtain wall vertical support 2 under spacing circumstances, one side of second U-shaped plate 102 still is connected with second proximity sensor 106 through second connecting rod 105 fixedly, second proximity sensor 106 is used for responding whether second shelves 104 are located on curtain wall lateral support 1.
In this embodiment, the first proximity sensor 406 and the second proximity sensor 106 are both configured as inductive proximity sensors. The frame of the general exposed frame glass curtain wall is of a metal structure, the metal structure can be sensed by the inductive proximity sensor, and feedback information can be received through the first proximity sensor and the second proximity sensor conveniently during implementation.
In this embodiment, a water pump 802 is connected to one side of the cleaning solution storage tank 801, one end of the water pump 802 is connected to the cavity 410 in the spray plate 409 through a water pipe 803, the spray plate 409 is fixedly connected to the lower surface of the gear box 407, and a spray hole 411 connected to the inside of the cavity 410 is formed in the lower surface of the spray plate 409. The cleaning liquid with pressure output by the water pump 802 is sprayed out from the spraying holes 411, so that the surface of the curtain wall glass can be sprayed, and the curtain wall glass is convenient to clean.
In this embodiment, the gear box 407 includes a driving gear 414 and a driven gear 415 engaged with each other, the driving gear 414 can drive 3-4 sets of driven gears 415 to rotate, and the sets of driven gears 415 drive the remaining driven gears 415 to rotate, and the rotation directions of all the driven gears 415 may be different; the driving gear 414 is mounted on the motor shaft 413 of the cleaning motor 9, the motor shaft 413 of the cleaning motor 9 is rotatably mounted on the upper portion of the inner cavity 408 of the gear box 407 through the first bearing 412, the rotating rod 417 is fixedly inserted into the driven gear 415, and the rotating rod 417 is rotatably mounted on the lower portion of the inner cavity 408 of the gear box 407 through the second bearing 416.
In this embodiment, a through hole 420 is formed in the surface of the shower plate 409 so as to penetrate vertically, and the rotation lever 417 penetrates through the through hole 420. The through port 420 is designed to facilitate the passage of the rotating rod 417, but the through port 420 does not interfere with the cavity 410 of the shower plate 409, nor is it in communication with the cavity 410.
In this embodiment, the upper portion of the cleaning cotton wheel 419 of the rotating rod 417 is fixedly sleeved with a water absorption sponge block 418, and the water absorption sponge block 418 is set to be a conical structure. A portion of the water may be locked in by the absorbent sponge block 418 so that a sufficient amount of water is maintained on the cleaning cotton wheel 419 during the cleaning process.
In this embodiment, as shown in fig. 3, a fixing ring 10 and a pipe sleeve 12 are fixedly connected to an upper portion of the cleaning solution storage tank 801, a lifting rope 11 is connected to the fixing ring 10, a pull ring 13 is fixedly connected to one side of the pipe sleeve 12, a tension sensor 14 is fixedly connected to one side of the support plate 4, and one end of the tension sensor 14 is fixedly connected to the pull ring 13. It is possible to detect whether the pipe sleeve 12 is tensioned by means of the tension sensor 14, and once the pipe sleeve 12 is tensioned, it is also necessary to release more of the length of the pipe sleeve 12.
In this embodiment, as shown in fig. 5, a set of flexible hoses 1201, a set of connecting wires 1202, and two sets of flexible hoses 1203 are installed in the tube housing 12, and the two sets of flexible hoses 1203 are respectively a compressed air flexible hose and a negative pressure air flexible hose. In combination with the tension sensor 14, the pipe sleeve 12 is of a soft sleeve structure, and in implementation, two groups of winches are required to be arranged on the top of a building with curtain wall glass cleaned, one group of winches is used for releasing the lifting rope 11, the other group of winches is used for releasing the pipe sleeve 12, the winches are reasonably operated to be retracted according to the running track of the robot, and the movement is influenced by excessive release or tightening; the lifting rope 11 also plays a role of safe falling prevention.
In this embodiment, the system further includes a delivery pump for supplying liquid to the flexible water pipe 1201, an air compressor connected to the compressed air flexible pipe, and a negative pressure pump connected to the negative pressure air flexible pipe. The water hose 1201, the connecting wire 1202 and the hose 1203 in the pipe sleeve 12 are used for providing cleaning liquid, electric energy, control, compressed air energy and negative pressure air energy, so that the carrying weight of the whole robot is reduced, the working load of the robot is reduced, and the safety and the flexibility are improved.
In this embodiment, still including control unit 15, control unit 15 sets up to the PLC controller, and control unit 15 is connected with wiper mechanism, running gear, adsorption apparatus structure and spacing protection mechanism respectively. The control unit 15 can receive output signals of the first proximity sensor and the second proximity sensor, and can also control the coordinated operation of the cleaning mechanism, the walking mechanism, the adsorption mechanism and the limiting protection mechanism, so that the operation is convenient.
In a specific using process, as shown in fig. 1, the adsorption mechanisms are respectively adsorbed on four pieces of curtain wall glass around a curtain wall glass block 3 to be cleaned, when the whole robot needs to be lowered, the second electric push rod 101 in the transverse limiting mechanism is operated to retract, then the vacuum chucks 602 at one ends of the two groups of vertical three-axis cylinders 7 are closed, and the supporting cylinders 601 at the ends are operated to retract; then, two groups of vertical triaxial cylinders 7 are operated simultaneously (the vertical triaxial cylinder 7 positioned above retracts, and the vertical triaxial cylinder 7 positioned below extends), then the supporting cylinder 601 at the end part of the vertical triaxial cylinder 7 extends, the vacuum chuck 602 is opened, and adsorption and fixation are carried out; then the vacuum chucks 602 at the ends of the two sets of transverse triaxial cylinders 5 are turned off and the support cylinders 601 at the ends are retracted; then, two groups of vertical triaxial cylinders 7 are operated simultaneously (the vertical triaxial cylinder 7 positioned above is extended, and the vertical triaxial cylinder 7 positioned below is shortened), then the supporting cylinders 601 at the end parts of the two groups of transverse triaxial cylinders 5 are controlled to be extended, and the vacuum chucks 602 are started to perform adsorption fixation; then all the supporting cylinders 601 retract together, so that the cleaning mechanism is in contact with the surface of the curtain wall glass for scrubbing, and after scrubbing is completed, the four groups of supporting cylinders 601 simultaneously extend to start moving in the next direction. According to the mode, the robot can also carry out operations of vertical lifting and horizontal left-right translation; in specific implementation, all the air cylinders in the invention can be replaced by electric cylinders, electric push rods and the like.
The invention has the beneficial effects that:
according to the invention, the robot can freely travel and adsorb on the outer surface of the glass curtain wall by utilizing the cooperation of the travelling mechanism and the adsorption mechanism, is suitable for cleaning the glass curtain wall with exposed frame support on a modern high-rise building, can vertically lift and horizontally move, has high degree of freedom, and improves the cleaning efficiency; meanwhile, four groups of adsorption mechanisms are arranged in four directions of the whole robot and are respectively arranged at one end of each of the four groups of walking mechanisms, two groups of lifting mechanisms and two groups of translation mechanisms are arranged, when the robot is used, at least two adsorption supporting points are reserved at each step of walking, and stable supporting force can be kept in the moving process.
According to the invention, the vertical limiting mechanism can keep the whole robot to vertically lift and walk along the frame of the exposed frame curtain wall glass, the first stop bars 404 are utilized to stop at two sides of the curtain wall vertical support 2, and in the using process, the robot can lift directionally, and can resist lateral wind force by utilizing the limiting resistance effect, so that the anti-risk capability is stronger; and the vertical limiting mechanism can change the state through operation without influencing the overall transverse translation of the robot.
In the invention, the transverse limiting mechanism can keep the whole robot to transversely move and walk along the frame of the exposed frame curtain wall glass in a translation way, and the second baffle strips 104 are utilized to baffle the two sides of the curtain wall transverse bracket 1, so that the robot not only can directionally move in a translation way, but also can play a supporting role, the influence of vertical gravity on the vacuum chuck 602 is reduced, and the integral stability is improved; and the horizontal limiting mechanism can change the state through operation without influencing the overall vertical lifting of the robot.
According to the invention, the cleaning mechanism can spray and scrub all the outer surfaces of a whole piece of curtain wall glass at the same time, the cleaning solution storage tank 801 is connected with the pipe sleeve 12, the cleaning solution can be continuously supplied through the soft water pipe 1201 in the pipe sleeve 12, the interruption in the cleaning process is avoided, the continuous operation can be realized, and the cleaning efficiency is high.
The embodiments of the present invention are disclosed as the preferred embodiments, but not limited thereto, and those skilled in the art can easily understand the spirit of the present invention and make various extensions and changes without departing from the spirit of the present invention.
Claims (10)
1. A glass cleaning robot comprises a supporting plate, a fixing plate, a traveling mechanism, an adsorption mechanism, a limiting protection mechanism and a cleaning mechanism, and is characterized in that the traveling mechanism is fixedly connected to one side surface of the supporting plate and comprises a transverse triaxial cylinder and a vertical triaxial cylinder, and one ends of piston rods of the transverse triaxial cylinder and the vertical triaxial cylinder are fixedly connected with movable blocks; the adsorption mechanism is fixedly arranged on one side of the movable block and comprises a supporting cylinder vertically arranged on one side of the movable block, and one end of a piston rod of the supporting cylinder is fixedly connected with a vacuum chuck; the cleaning mechanism is fixedly arranged on one side of the supporting plate and comprises a spraying plate, a gear box, a cleaning motor in transmission connection with the gear box and a rotating rod in fixed connection with a gear inside the gear box, wherein one end of the rotating rod is fixedly connected with a cleaning cotton wheel; spacing protection mechanism is including horizontal stop gear and vertical stop gear, vertical stop gear includes first electric putter and the electric putter of second of perpendicular fixed connection in backup pad one side, the first U-shaped plate of one end fixedly connected with of first electric putter, rotate on the first U-shaped plate and install first axis of rotation, the first shelves of fixedly connected with on the first axis of rotation, the first proximity sensor of one side of first U-shaped plate still through first connecting rod fixedly connected with, the one end fixedly connected with second U-shaped plate of second electric putter, rotate on the second U-shaped plate and install the second axis of rotation, the fixedly connected with second shelves of second axis of rotation, the one side of second U-shaped plate still is through second connecting rod fixedly connected with second proximity sensor.
2. A glass-cleaning robot as defined in claim 1, wherein: the first proximity sensor and the second proximity sensor are both configured as inductive proximity sensors.
3. A glass-cleaning robot as defined in claim 1, wherein: one side of the cleaning fluid storage tank is communicated with a water pump, one end of the water pump is communicated with the cavity in the spray plate through a water pipe, the spray plate is fixedly connected to the surface of the lower portion of the gear box, and spray holes communicated with the interior of the cavity are formed in the surface of the lower portion of the spray plate.
4. A glass-cleaning robot as defined in claim 1, wherein: the inside of gear box is including intermeshing's driving gear and driven gear, the driving gear is installed on the motor shaft of cleaning motor, the motor shaft of cleaning motor rotates through first bearing and installs on the inner chamber upper portion of gear box, the dwang is fixed to be pegged graft driven gear's inside, just the dwang rotates through the second bearing and installs in the inner chamber lower part of gear box.
5. A glass-cleaning robot as in claim 4, wherein: the through hole that link up from top to bottom is seted up on the surface of spraying the board, the dwang runs through in this through hole.
6. A glass-cleaning robot as in claim 4, wherein: the upper portion that lies in washing cotton-padded wheel on the dwang is fixed to be cup jointed and is inhaled the sponge piece, it sets up to conical structure to inhale the sponge piece.
7. A glass-cleaning robot as defined in claim 1, wherein: the cleaning solution storage device is characterized in that the upper portion of the cleaning solution storage box is fixedly connected with a fixing ring and a pipe sleeve, the fixing ring is connected with a lifting rope, one side of the pipe sleeve is fixedly connected with a pull ring, one side of the support plate is fixedly connected with a tension sensor, and one end of the tension sensor is fixedly connected with the pull ring.
8. A glass-cleaning robot as defined in claim 7, wherein: a group of soft water pipes, a group of connecting wires and two groups of soft air pipes are arranged in the pipe sleeve, and the two groups of soft air pipes are respectively a compressed air soft air pipe and a negative pressure air soft air pipe.
9. A glass-cleaning robot as defined in claim 8, wherein: the device also comprises a delivery pump for supplying liquid to the flexible water pipe, an air compressor connected with the compressed air flexible pipe and a negative pressure pump connected with the negative pressure air flexible pipe.
10. A glass-cleaning robot as defined in claim 1, wherein: the cleaning machine is characterized by further comprising a control unit, wherein the control unit is a PLC (programmable logic controller), and is respectively connected with the cleaning mechanism, the walking mechanism, the adsorption mechanism and the limiting protection mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011244191.8A CN112137488B (en) | 2020-11-10 | 2020-11-10 | Glass wiping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011244191.8A CN112137488B (en) | 2020-11-10 | 2020-11-10 | Glass wiping robot |
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| CN112137488A CN112137488A (en) | 2020-12-29 |
| CN112137488B true CN112137488B (en) | 2022-03-01 |
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| CN202011244191.8A Active CN112137488B (en) | 2020-11-10 | 2020-11-10 | Glass wiping robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112806926A (en) * | 2020-12-30 | 2021-05-18 | 江苏五九设计营造有限公司 | Vertical adsorption self-climbing type dust binding device for attaching dust to wall surface |
| CN112914446A (en) * | 2021-01-27 | 2021-06-08 | 江门职业技术学院 | Cleaning robot |
| CN113287966B (en) * | 2021-06-18 | 2022-05-13 | 王如会 | Dust removal equipment for cleaning surface of building outer wall |
| CN114098503B (en) * | 2021-10-29 | 2022-11-18 | 安徽理工大学 | Glass curtain wall terminal surface cleans machine people based on 5G |
| CN115281556A (en) * | 2022-08-04 | 2022-11-04 | 河南峰帆安装工程有限公司 | Image processing-based self-adaptive special-shaped glass curtain wall cleaning device |
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