CN112568829A - High-rise building curtain wall cleaning robot - Google Patents

High-rise building curtain wall cleaning robot Download PDF

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Publication number
CN112568829A
CN112568829A CN202011415558.8A CN202011415558A CN112568829A CN 112568829 A CN112568829 A CN 112568829A CN 202011415558 A CN202011415558 A CN 202011415558A CN 112568829 A CN112568829 A CN 112568829A
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cleaning
curtain wall
section
wall glass
fan
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CN202011415558.8A
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CN112568829B (en
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赵瀛政
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Tianjin Wantong Blue Whale Intelligent Technology Co ltd
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Tianjin Wantong Blue Whale Intelligent Technology Co ltd
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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
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4044—Vacuuming or pick-up tools; Squeegees
    • 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
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L19/00—Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/55—Specular reflectivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/94—Investigating contamination, e.g. dust
    • 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 provides a high-rise building curtain wall cleaning robot which comprises a head section and a plurality of cleaning sections which are sequentially connected in series, wherein the connecting part of the head section and the cleaning sections which are connected in series can rotate or bend; the head section and the cleaning section both comprise section bodies, the side surfaces of the section bodies in the same direction are provided with a travelling mechanism and a cleaning mechanism, and the travelling mechanism is used for travelling on the surface of the curtain wall glass; the cleaning mechanism is used for cleaning the curtain wall glass; the head section is provided with a control system for controlling the cooperative movement of the head section and the cleaning of the curtain wall glass. The cleaning robot adopts a sectional design, adjacent sections are flexibly connected in a rotating or bending way, and a long flexible line shape is integrally formed, so that the cleaning time can be shortened, and the cleaning efficiency can be improved; can better adapt to different building outer wall shapes, and enables the cleaning to be more complete. In addition, the cleaning robot can be folded in a bending or curling mode due to the flexible connection, so that the size is reduced, and the cleaning robot is convenient to transport.

Description

High-rise building curtain wall cleaning robot
Technical Field
The invention relates to the technical field of curtain wall intelligent cleaning equipment, in particular to a high-rise building curtain wall cleaning robot.
Background
The glass curtain wall is adopted mostly for the outer wall of modern commercial building, and the glass curtain wall makes the building more pleasing to the eye, and the daylighting performance is better, can also be favorable to inside ornamental building outside peripheral view.
Dust in the air, dust carried in rainwater, excrement of birds and the like can be gradually deposited on the surface of the curtain wall of the building, so that the attractiveness of the curtain wall and the cleanness degree of the appearance of the building are affected; therefore, the cleaning of the glass curtain wall has been receiving more and more attention, and a huge curtain wall cleaning market is gradually formed.
The glass curtain wall is mainly cleaned in the prior art by adopting a manual mode, after a cleaner is suspended from a roof to the side wall of a building, the surface of the curtain wall is cleaned manually by the cleaner, and the mode has the problems of low cleaning efficiency, large danger coefficient and the like in the whole process and higher cleaning cost.
In recent years, due to the development of technology, robots for cleaning glass curtain walls have come to appear, for example, robots for cleaning glass curtain walls disclosed in patent documents with patent application numbers CN201610812138, CN201610541738, CN201610812324 and CN201710787378, etc., can be used to replace manual cleaning, and some robots can also automatically climb the glass curtain walls or climb over obstacles.
However, the existing glass curtain wall cleaning robot has two problems: firstly, most cleaning robots are small relative to the size of a building, the number of times of back and forth required when cleaning a glass curtain wall of the whole building is completed is large, time is consumed due to long stroke, efficiency is low, and interference to personnel inside and around the building is large; secondly, for the sake of beauty, the external shape of the modern building is not monotonous straight line shape, but has curve and broken line shapes, if the cleaning robot is lengthened for reducing the number of times of round trip and the cleaning time, the cleaning robot with longer size can not adapt to various building shapes.
Disclosure of Invention
In order to solve the technical problem, the invention provides a high-rise building curtain wall cleaning robot which comprises a head section and a plurality of cleaning sections which are sequentially connected in series, wherein the connecting part of the head section and the cleaning sections which are connected in series can rotate or bend;
the head section and the cleaning section both comprise section bodies, the side surfaces of the section bodies in the same direction are provided with a travelling mechanism and a cleaning mechanism, and the travelling mechanism is used for travelling on the surface of the curtain wall glass; the cleaning mechanism is used for cleaning the curtain wall glass;
the head section is provided with a control system for controlling the cooperative movement of the head section and the cleaning of the curtain wall glass.
Optionally, the travelling mechanism comprises a driving device, a transmission assembly, a crawler wheel and a sucker-type crawler belt, the driving device is fixedly connected with the joint body, the crawler wheel is installed on the side face of the joint body provided with the cleaning mechanism, the driving device drives the crawler wheel to rotate through the transmission assembly, the sucker-type crawler belt is sleeved on the crawler wheel, the sucker surface of the sucker-type crawler belt faces outwards, and the sucker surface of the sucker-type crawler belt is used for being adsorbed on the surface of the curtain wall glass; the driving device is electrically connected with the control system;
the head section is provided with a rail hanging mechanism, the rail hanging mechanism comprises a roller frame with a cross section in a shape like a Chinese character 'pin', and a first rolling wheel, a second rolling wheel and a third rolling wheel which are arranged in the roller frame, wherein the first rolling wheel, the second rolling wheel and the third rolling wheel are respectively contacted with the I-shaped track and form a three-surface clamping shape for the I-shaped track;
the safety belt is made of polyester, polypropylene or nylon materials and is fixedly connected with the head section and the cleaning section in sequence, and a metal hook is arranged at the end of the safety belt.
Optionally, the cleaning mechanism comprises a cleaning roller and a liquid pipe, the cleaning roller comprises a roller core and a cleaning towel, the diameters of two ends of the roller core are smaller than the diameter of the middle part, and the two ends of the roller core with the smaller diameter are connected with the joint body and the roller core can rotate; the roller core is in a barrel shape with an opening at one end, a plurality of through holes communicated with the hollow cavity of the roller core are formed in the part with the larger diameter in the middle of the roller core, the liquid pipe is fixedly connected with the joint body, and the liquid pipe is connected with the opening end of the roller core through the joint body and a pipe sleeve joint; the cleaning cloth wraps the outer surface of the larger diameter portion of the center of the roll core.
Optionally, the outer surface of the opening end of the roller core is provided with an annular clamping groove, the pipe sleeve joint comprises a fixed body, a sliding sleeve, a ball and a spring, the fixed body is tubular with two ends having different inner diameters, the sliding sleeve is arranged outside the end with the larger inner diameter of the fixed body and can slide relatively, the spring is sleeved between the sliding sleeve and the fixed body, the end with the larger inner diameter on the fixed body on the inner side of the sliding sleeve is provided with spherical holes at intervals in the annular direction, the ball is arranged in the spherical hole and is in clearance fit with the spherical holes, and the sliding sleeve extrudes the ball on the inner surface under the action of the spring so that the ball protrudes towards; the smaller inner diameter end of the fixed body is fixedly connected with the port of the joint body provided with the hole cavity, and the fixed body and the hole cavity realize the communication of the liquid pipe and the hollow cavity of the roller core.
Optionally, the head section and the plurality of cleaning sections are sequentially connected in series by using a hose, and the hose is connected with the liquid pipe to convey the cleaning liquid; or the head section and the plurality of cleaning sections are sequentially connected in series by adopting an articulated component, the articulated component comprises a first connecting piece and a second connecting piece, the first connecting piece is T-shaped, the second connecting piece is Y-shaped, two ends of the T-shaped head of the first connecting piece are respectively rotatably connected with two ends of a Y-shaped fork of the second connecting piece, communicated pore passages are arranged in the first connecting piece and the second connecting piece after connection, and the pore passages are connected with a liquid pipe to convey cleaning liquid.
Optionally, the festival body is equipped with dry mechanism, dry mechanism sets up the same side at the festival body with wiper mechanism, dry mechanism includes wiper, fan and electric heat parts, the wiper sets up the back of wiper mechanism when the festival body is at curtain glass surface walking direction, wiper and curtain glass surface contact, the air outlet setting of fan is at the back of wiper, electric heat parts sets up in the air outlet of fan, the fan can be bloied to the curtain glass surface at the back of wiper, fan and electric heat parts and control system electric connection.
Optionally, the section body is provided with a cleaning and checking mechanism, the cleaning and checking mechanism is arranged behind the cleaning mechanism when the section body is in the traveling direction of the surface of the curtain wall glass, the cleaning and checking mechanism is electrically connected with the control system, and the cleaning and checking mechanism performs cleaning and checking on the surface of the curtain wall glass in a light wave reflection mode.
Optionally, the control system includes a data acquisition module, an operation module and an execution module, the operation module is respectively connected with the data acquisition module and the execution module, and the liquid tube is provided with a pressure sensor;
the data acquisition module is respectively connected with the pressure sensor and the cleaning inspection mechanism and is used for acquiring the supply pressure of the cleaning solution and the surface cleaning condition of the curtain wall glass in real time;
the operation module adopts the following set formula to calculate the consumption of the cleaning solution in unit time:
Figure BDA0002817631000000031
in the above formula, Q represents the consumption amount of the cleaning liquid per unit time; n represents the number of cleaning mechanisms of the robot;
Figure BDA0002817631000000032
the correction coefficient is expressed, is related to the surface cleanness of the curtain wall glass, and has a value range of 1-2; v represents the advancing speed of the robot on the surface of the curtain wall glass; l isiIndicating the length of a joint body connected with the ith cleaning mechanism; p1Representing a cleaning liquid supply pressure measurement; p0Represents a cleaning liquid supply pressure design value; q represents the consumption of standard cleaning solution for cleaning curtain wall glass in unit area;
and the execution module controls the supply pump of the cleaning liquid according to the calculation result of the operation module.
Optionally, the operation module calculates the estimated air volume of the drying mechanism connected to each segment by using the following formula:
Figure BDA0002817631000000041
in the above formula, QEstimation ofShowing the estimated air volume of the ith drying mechanism; ρ represents the density of water; v represents the advancing speed of the robot on the surface of the curtain wall glass; l isiThe length of a joint body connected with the ith drying mechanism is shown; diThe thickness of the water film remained behind the wiper of the ith drying mechanism is measured through a preliminary test; d1The humidity of air blown out by a fan of the ith drying mechanism after being reflected by the curtain wall glass is measured by a humidity sensor; d0The humidity of the ambient air is represented and is measured by arranging an ambient humidity sensor;
then, the execution module controls the operation of the fan according to the estimated air volume obtained by calculation, and whether the surface of the curtain wall glass is completely dry is analyzed through reflected light waves of the cleaning inspection mechanism;
and finally, if the curtain wall glass is not completely dried, controlling the fan to increase the air volume by 5 percent, analyzing whether the surface of the curtain wall glass is completely dried again through the reflected light waves of the cleaning inspection mechanism, adjusting the surface of the curtain wall glass to be completely dried by 5 percent each time, and keeping the blowing state of the fan at the moment.
Optionally, the cleaning section is provided with an air injection mechanism, the air injection mechanism comprises a fan, an air pipe and a nozzle, the fan is fixedly connected with the section body of the cleaning section, the nozzle is fixed on the surface of the cleaning section departing from the cleaning mechanism, the nozzle of the nozzle faces the direction far away from the section body, and the air outlet of the fan is connected with the nozzle through the air pipe.
Optionally, the control system includes a wireless signal receiving module and a WIFI module, the wireless signal receiving module and the WIFI module are both connected with the operation module, the wireless signal receiving module is used for receiving a wireless remote control signal and transmitting the wireless remote control signal to the operation module, and the WIFI module is used for connecting a network to perform data interaction.
The robot for cleaning the curtain wall of the high-rise building adopts a sectional design, adjacent sections are connected in a rotating or bending flexible way to form a flexible line shape integrally, the overall length can be selected according to the height of the building, and the robot can walk on the curtain wall glass through a walking mechanism and clean the curtain wall glass by a cleaning mechanism while moving. Through the long linear flexible design, the difference between the length and the building height is reduced, the number of times of walking back and forth on the curtain wall glass in cleaning can be reduced, the cleaning time is shortened, and the cleaning efficiency is improved; the cleaning robot adopts the sectional flexible connection, can better adapt to different building outer wall shapes, and enables the cleaning to be more complete. In addition, the cleaning robot can be folded in a bending or curling mode due to the flexible connection, so that the size is reduced, and the cleaning robot is convenient to transport.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a longitudinal schematic view of a curtain wall cleaning robot for high-rise buildings according to an embodiment of the invention;
FIG. 2 is a transverse schematic view of an embodiment of a curtain wall cleaning robot for a high-rise building according to the present invention;
FIG. 3 is a schematic view of the combination of a rail hanging mechanism and an I-shaped rail provided in the embodiment of the robot for cleaning curtain walls of high-rise buildings according to the present invention;
FIG. 4 is a sectional view of a cleaning roller used in a cleaning mechanism of an embodiment of the robot for cleaning curtain walls of high-rise buildings according to the present invention;
FIG. 5 is a cross-sectional view of a union joint used in connection with the segment body of the scrub roller of the embodiment of FIG. 4;
FIG. 6 is a schematic view of an air injection mechanism of the high-rise building curtain wall cleaning robot according to the embodiment of the invention;
FIG. 7 is a schematic diagram of a control system of the high-rise building curtain wall cleaning robot according to the embodiment of the invention.
In the figure: 1-head section, 2-cleaning section, 3-joint type component, 4-walking mechanism, 5-cleaning mechanism, 6-control system, 7-pipe sleeve joint, 8-rail hanging mechanism, 9-air injection mechanism, 10-I-shaped rail, 11-joint body, 41-driving device, 42-transmission component, 43-track wheel, 44-sucker type track, 50-cleaning roller, 51-roller core, 52-hollow cavity, 53-through hole, 54-cleaning towel, 55-annular clamping groove, 71-fixed body, 72-sliding sleeve, 73-ball, 74-spring, 75-sealing pad, 81-roller frame, 82-first roller, 83-second roller, 84-third roller, 91-fan, 92-air pipe, 93-nozzle.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1, an embodiment of the invention provides a high-rise building curtain wall cleaning robot, which comprises a head section 1 and a plurality of cleaning sections 2 which are sequentially connected in series, wherein the connection part of the series connection can rotate or bend;
the head section 1 and the cleaning section 2 both comprise a section body 11, a traveling mechanism 4 and a cleaning mechanism 5 are arranged on the side surface of the section body 11 in the same direction, and the traveling mechanism 4 is used for traveling on the surface of the curtain wall glass; the cleaning mechanism 5 is used for cleaning the curtain wall glass;
the head section 1 is provided with a control system 6 for controlling the cooperative movement of the head section 1 and the cleaning section 2 and the cleaning of the curtain wall glass.
The working principle of the technical scheme is as follows: the cleaning robot for the curtain wall of the high-rise building adopts a sectional design, adjacent sections are connected in a flexible way capable of rotating or bending, for example, the adjacent sections can be connected in a pin shaft way, and can rotate around the pin shaft to enable the cleaning robot to be in a bent shape, so that the cleaning robot is in a flexible line shape integrally, and the total length can be selected according to the height of the building; the robot can walk on the curtain wall glass through the walking mechanism, and the curtain wall glass is cleaned by the cleaning mechanism while moving.
The beneficial effects of the above technical scheme are: through the long linear flexible design, the length size can be consistent with the height of a building, and the cleaning can be completed at one time by walking around the surface of the outer wall of the building for one circle, so that the times of walking back and forth on the curtain wall glass in the cleaning process are greatly reduced, the cleaning time is shortened, and the cleaning efficiency is improved; the cleaning robot adopts the sectional flexible connection, can better adapt to different building outer wall shapes, and enables the cleaning to be more complete. In addition, the cleaning robot can be folded in a bending or curling mode due to the flexible connection, so that the size is reduced, and the cleaning robot is convenient to transport.
In one embodiment, as shown in fig. 2, the traveling mechanism 4 includes a driving device 41, a transmission assembly 42, a track wheel 43 and a sucker-type track 44, the driving device 41 is fixedly connected with the segment body 11, the track wheel 43 is installed on the side of the segment body 11 where the cleaning mechanism 5 is located, the driving device 41 drives the track wheel 43 to rotate through the transmission assembly 42, the sucker-type track 44 is sleeved on the track wheel 43, the sucker surface of the sucker-type track 44 faces outwards, and the sucker surface of the sucker-type track 44 is used for being sucked on the surface of the curtain wall glass; the driving device 41 is electrically connected with the control system 6;
as shown in fig. 3, the head section is provided with a rail hanging mechanism 8, the rail hanging mechanism 8 includes a roller frame 81 with a cross section in a delta shape, and a first rolling wheel 82, a second rolling wheel 83 and a third rolling wheel 84 which are installed in the roller frame 81, an axis of the first rolling wheel 82 is perpendicular to an axis of the second rolling wheel 83 and an axis of the third rolling wheel 84, the first rolling wheel 82, the second rolling wheel 83 and the third rolling wheel 84 are respectively in contact with the i-shaped rail 10 and present a three-surface clamping shape to the i-shaped rail 10, the first rolling wheel 82 is arranged at the upper end of the i-shaped rail 10, and the second rolling wheel 83 and the third rolling wheel 84 are respectively arranged at two sides of the i-shaped rail 10;
the head section 1 and the cleaning section 2 are further provided with safety belts, the safety belts are made of polyester, polypropylene or nylon materials, the safety belts are fixedly connected with the head section 1 and the cleaning section 2 in sequence, and metal hooks are arranged at ends of the safety belts.
The working principle and the beneficial effects of the technical scheme are as follows: the walking mechanism adopts the crawler type, and the outer surface of the crawler is provided with the sucker, so that the adsorption force on the curtain wall glass can be enhanced while walking, the stress of the adjacent connecting pieces is reduced, the walking is more stable, the cleaning robot is prevented from falling off from the curtain wall glass, and equipment is prevented from being broken or safety accidents are prevented; the head section is provided with the rail hanging mechanism, when the cleaning robot is used, the I-shaped rail is fixedly arranged on the top of a building along the outer wall, the rail hanging mechanism is combined with the I-shaped rail, and the first rolling wheel, the second rolling wheel and the third rolling wheel can be driven by the motor to enhance the mobility of the cleaning robot, so that the cleaning robot does not influence the walking of the cleaning robot, can prevent falling and improves the safety; the sensor connected with the control system can be arranged on the rail hanging mechanism, and if the rail hanging mechanism is separated from the I-shaped rail, the sensor sends derailing information to the control system, and the control system sends derailing alarm; in addition, a safety belt is further arranged at the head section and the cleaning section, a metal hook is arranged at the end of the safety belt, and the metal hook can be hooked on the I-shaped rail, so that the falling risk is prevented, and the safety is further improved.
In one embodiment, the cleaning mechanism 5 comprises a cleaning roller 50 and a liquid pipe, as shown in fig. 4, the cleaning roller 50 comprises a roller core 51 and a cleaning cloth 54, the diameter of two ends of the roller core 51 is smaller than the diameter of the middle, the two ends of the roller core 51 with smaller diameter are connected with the node body 11, and the roller core 51 can rotate; the roller core 51 is in a barrel shape with an opening at one end, a plurality of through holes 53 communicated with the hollow cavity 52 in the roller core 51 are formed in the larger diameter part of the middle of the roller core 51, the liquid pipe is fixedly connected with the joint body 11, and the liquid pipe is connected with the opening end of the roller core 51 through the joint body 11 and the pipe sleeve joint 7; the cleaning sheet 54 wraps around the outer surface of the central larger diameter portion of the roll core 51.
The working principle and the beneficial effects of the technical scheme are as follows: the cleaning mechanism adopts a drum-type cleaning roller, the cleaning roller is in a mode that a cleaning cloth is sleeved outside a roller core, the roller core is provided with a hollow cavity, the hollow cavity is connected with a liquid pipe, radial through holes are formed in the wall of the hollow cavity at intervals to form a conveying channel, when the cleaning roller rolls on curtain wall glass and wipes the curtain wall glass through the cleaning cloth, cleaning liquid can be continuously conveyed to the cleaning cloth, the humidity of the cleaning cloth is kept, and the cleaning effect is enhanced; the cleaning mechanisms of the adjacent joint bodies can also be staggered front and back in the walking direction and partially overlapped, so that seamless cleaning is formed.
In one embodiment, as shown in fig. 4 and 5, an annular clamping groove 55 is formed in an outer surface of an open end of the roller core 51, the pipe sleeve joint 7 includes a fixed body 71, a sliding sleeve 72, balls 73 and a spring 74, the fixed body 71 is tubular with two ends having different inner diameters, the sliding sleeve 72 is disposed outside an end having a larger inner diameter of the fixed body 71 and can slide relatively, the spring 74 is sleeved between the sliding sleeve 72 and the fixed body 71, spherical holes are circumferentially spaced at an end having a larger inner diameter on the fixed body 71 inside the sliding sleeve 72, the balls 73 are installed in the spherical holes and are in clearance fit with the spherical holes, and the sliding sleeve 72 presses the balls 73 at an inner surface under the action of the spring 74, so that the balls 73 protrude towards the inside of the fixed body 71 and are in fit; the smaller inner diameter end of the fixed body 71 is fixedly connected with a port of the joint body 11 provided with a hole cavity, and the fixed body 71 and the hole cavity realize the communication between a liquid pipe and the hollow cavity 52 in the roller core 51; and a sealing gasket 75 is used for sealing between the end surface of the opening end of the roller core 51 and the reducing ring surface on the inner side of the fixed body 71.
The working principle and the beneficial effects of the technical scheme are as follows: this scheme is for guaranteeing cleaning solution transfer passage, has adopted unique pipe box joint to the roller core of wiper mechanism and the connection of the festival body, and pipe box joint one end and festival body fixed connection, the other end adopts the ball joint with the open end of roller core, realizes through the ball that dynamic component is connected with the conversion of static component, when the roller core rolls rotatoryly, still can guarantee its validity and cleaning solution transfer passage's leakproofness with the festival body coupling.
In one embodiment, the head section 1 and the plurality of cleaning sections 2 are connected in series in sequence by using a hose, and the hose is connected with a liquid pipe to convey cleaning liquid; or head section 1 and a plurality of clean festival 2 adopt articulated component 3 to establish ties in proper order, articulated component 3 includes first connecting piece and second connecting piece, first connecting piece is T shape, the second connecting piece is Y shape, the T shape head both ends of first connecting piece rotate with the Y shape fork both ends of second connecting piece respectively and are connected, establish communicating pore behind the connection in first connecting piece and the second connecting piece, the pore is connected with liquid pipe and is carried out the cleaning solution.
The working principle and the beneficial effects of the technical scheme are as follows: the scheme provides two different flexible connection modes of adjacent sections, the first mode is that the adjacent sections are connected through a hose, the hose is connected with a liquid pipe in a section body of each section, cleaning liquid can be supplied to a cleaning mechanism of each section through the hose uniformly, and the hose must have certain strength so as to avoid fracture in use; the second type is to adopt the joint type component connection, the joint type component includes the T-shaped connecting piece and the Y-shaped connecting piece that mutually support, the communicating pore canal after the T-shaped connecting piece and the Y-shaped connecting piece are connected is equipped with inside to realize the liquid pipe intercommunication of each section, if communicate the liquid pipe of head section with the cleaning solution supply source like this, just can realize the unified a pair of each section transport cleaning solution.
In one embodiment, the section body 11 is provided with a drying mechanism, the drying mechanism and the cleaning mechanism 5 are arranged on the same side of the section body 11, the drying mechanism comprises a wiper, a fan and an electric heating component, the wiper is arranged behind the cleaning mechanism 5 when the section body 11 moves in the traveling direction of the surface of the curtain wall glass, the wiper is in contact with the surface of the curtain wall glass, an air outlet of the fan is arranged behind the wiper, the electric heating component is arranged in an air outlet of the fan, the fan can blow air to the surface of the curtain wall glass behind the wiper, and the fan and the electric heating component are electrically connected with the control system 6.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the drying mechanism is arranged behind the cleaning mechanism, so that residual water on the surface of the curtain wall glass cleaned by the cleaning mechanism is removed, the influence on people coming and going in a building and around is avoided, and the influence on cleaning quality caused by the fact that dust in air is adsorbed due to the existence of water is also avoided; drying mechanism includes wiper, fan and electric heating element, strikes off more water with the wiper earlier, weathers with hot-blast again, has improved air-dry efficiency, reinforcing drying effect.
In one embodiment, the joint 11 is provided with a cleaning and checking mechanism, the cleaning and checking mechanism is arranged behind the cleaning mechanism 5 when the joint 11 runs on the surface of the curtain wall glass, the cleaning and checking mechanism is electrically connected with the control system 6, and the cleaning and checking mechanism performs cleaning and checking on the surface of the curtain wall glass in a light wave reflection mode.
The working principle and the beneficial effects of the technical scheme are as follows: this scheme is through setting up clean inspection mechanism behind wiper mechanism, adopts the light wave reflection method to inspect the clean condition in curtain glass surface after the cleanness, utilizes clean glass and dirty glass to distinguish the clean condition to the difference that the light wave reflection exists, can carry out the repeated cleaning of second time if the cleanness does not reach the requirement to guarantee that final clean effect reaches the requirement.
In one embodiment, as shown in fig. 7, the control system includes a data acquisition module 100, an operation module 200 and an execution module 300, the operation module 200 is connected to the data acquisition module 100 and the execution module 300 respectively, and the liquid tube is provided with a pressure sensor 30;
the data acquisition module 100 is respectively connected with the pressure sensor 30 and the cleaning inspection mechanism 20, and acquires the supply pressure of the cleaning solution and the surface cleaning condition of the curtain wall glass in real time;
the operation module 200 calculates the consumption of the cleaning solution in unit time by using the following formula:
Figure BDA0002817631000000091
in the above formula, Q represents the consumption amount of the cleaning liquid per unit time; n represents the number of cleaning mechanisms of the robot;
Figure BDA0002817631000000092
the correction coefficient is expressed and related to the surface cleanness of the curtain wall glass, and the value range is obtainedThe circumference is 1-2; v represents the advancing speed of the robot on the surface of the curtain wall glass; l isiIndicating the length of a joint body connected with the ith cleaning mechanism; p1Representing a cleaning liquid supply pressure measurement; p0Represents a cleaning liquid supply pressure design value; q represents the consumption of standard cleaning solution for cleaning curtain wall glass in unit area;
the execution module 300 controls the supply pump of the cleaning liquid according to the calculation result of the operation module.
The working principle and the beneficial effects of the technical scheme are as follows: the control system adopted by the scheme adjusts the supply quantity of the cleaning solution in real time according to the algorithm formula by detecting the supply pressure of the cleaning solution and the surface cleaning condition of the curtain wall glass, so that the use quantity of the cleaning solution is saved under the condition of ensuring the cleaning quality, the waste of the cleaning solution is avoided, the cost is reduced, and the smooth proceeding and the efficiency of cleaning are ensured; the setting algorithm considers a plurality of main factors which have influence on the using amount of the cleaning liquid, neglects other secondary factors, simplifies the calculation process, improves the calculation speed and ensures the real-time property of adjustment.
In one embodiment, the computing module 200 calculates the estimated air volume of the drying mechanism connected to each segment by using the following formula:
Figure BDA0002817631000000101
in the above formula, QEstimation ofShowing the estimated air volume of the ith drying mechanism; ρ represents the density of water; v represents the advancing speed of the robot on the surface of the curtain wall glass; l isiThe length of a joint body connected with the ith drying mechanism is shown; diThe thickness of the water film remained behind the wiper of the ith drying mechanism is measured through a preliminary test; d1The humidity of air blown out by a fan of the ith drying mechanism after being reflected by the curtain wall glass is measured by a humidity sensor; d0The humidity of the ambient air is represented and is measured by arranging an ambient humidity sensor;
then, the execution module 300 controls the operation of the fan according to the calculated estimated air volume, and whether the surface of the curtain wall glass is completely dry is analyzed through the reflected light wave of the cleaning inspection mechanism;
and finally, if the curtain wall glass is not completely dried, controlling the fan to increase the air volume by 5 percent, analyzing whether the surface of the curtain wall glass is completely dried again through the reflected light waves of the cleaning inspection mechanism, adjusting the surface of the curtain wall glass to be completely dried by 5 percent each time, and keeping the blowing state of the fan at the moment.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the required fan air volume of the drying mechanism is estimated through a formula, the fan is controlled according to the calculation result, then the drying effect of the fan is detected, when the drying effect is found to be unsatisfactory through inspection, the air volume control is adjusted by taking 5% as a proportion each time, the air volume control is corrected in an equal proportion mode, the energy consumption of the fan can be reduced through the equal proportion mode, and the cost is saved; the serious consequence that the adhesion force of the cleaning robot to the curtain wall glass is caused to fall due to the influence of too fast wind speed is avoided, and the noise is reduced.
In one embodiment, as shown in fig. 6, the cleaning segment is provided with an air injection mechanism 9, the air injection mechanism 9 comprises a fan 91, an air pipe 92 and a nozzle 93, the fan 91 is fixedly connected with the segment body 11 of the cleaning segment, the nozzle 93 is fixed on the surface of the cleaning segment 2 facing away from the cleaning mechanism 5, the nozzle of the nozzle 93 faces away from the segment body 11, and the air outlet of the fan 91 is connected with the nozzle 93 through the air pipe 92.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the air injection mechanism is arranged, the end with the larger caliber of the nozzle is connected with the air pipe, and the smaller caliber of the nozzle is that the nozzle of the air faces to the direction far away from the outer wall of the building; when the cleaning joint is used, the fan is started, the fan conveys gas to the nozzle through the air pipe, the gas is sprayed out at a high speed through the nozzle, and high-speed gas flow forms certain reverse acting force on the joint body, so that the cleaning joint can be tightly attached to the surface of an outer wall.
In one embodiment, the control system comprises a wireless signal receiving module and a WIFI module, the wireless signal receiving module and the WIFI module are both connected with the operation module, the wireless signal receiving module is used for receiving a wireless remote control signal and transmitting the wireless remote control signal to the operation module, and the WIFI module is used for connecting a network to perform data interaction.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the wireless signal receiving module is arranged to receive the wireless remote control signal and transmit the wireless remote control signal to the operation module so as to remotely control the working condition of the cleaning robot; the WIFI module is used for being connected with a network to perform data interaction, and the mobile terminal can be connected with the network and bound, so that the working state of the cleaning robot can be checked and observed in real time when the cleaning robot works, effective countermeasures can be taken in time if problems are found, and the influence on smooth proceeding and quality of cleaning work is avoided.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A high-rise building curtain wall cleaning robot is characterized by comprising a head section and a plurality of cleaning sections which are sequentially connected in series, wherein the serial connection part can rotate or bend;
the head section and the cleaning section both comprise section bodies, the side surfaces of the section bodies in the same direction are provided with a travelling mechanism and a cleaning mechanism, and the travelling mechanism is used for travelling on the surface of the curtain wall glass; the cleaning mechanism is used for cleaning the curtain wall glass;
the head section is provided with a control system for controlling the cooperative movement of the head section and the cleaning of the curtain wall glass.
2. The curtain wall cleaning robot for the high-rise building as claimed in claim 1, wherein the traveling mechanism comprises a driving device, a transmission assembly, a track wheel and a sucker-type track, the driving device is fixedly connected with the joint body, the track wheel is installed on the side face of the joint body where the cleaning mechanism is arranged, the driving device drives the track wheel to rotate through the transmission assembly, the sucker-type track is sleeved on the track wheel, the sucker surface of the sucker-type track faces outwards, and the sucker surface of the sucker-type track is used for being adsorbed on the surface of the curtain wall glass; the driving device is electrically connected with the control system;
the head section is provided with a rail hanging mechanism, the rail hanging mechanism comprises a roller frame with a cross section in a shape like a Chinese character 'pin', and a first rolling wheel, a second rolling wheel and a third rolling wheel which are arranged in the roller frame, wherein the first rolling wheel, the second rolling wheel and the third rolling wheel are respectively contacted with the I-shaped track and form a three-surface clamping shape for the I-shaped track;
the safety belt is made of polyester, polypropylene or nylon materials and is fixedly connected with the head section and the cleaning section in sequence, and a metal hook is arranged at the end of the safety belt.
3. The curtain wall cleaning robot for the high-rise buildings according to claim 1, wherein the cleaning mechanism comprises a cleaning roller and a liquid pipe, the cleaning roller comprises a roller core and a cleaning towel, the diameter of two ends of the roller core is smaller than that of the middle of the roller core, the two ends of the roller core with the smaller diameter are connected with the joint body, and the roller core can rotate; the roller core is in a barrel shape with an opening at one end, a plurality of through holes communicated with the hollow cavity of the roller core are formed in the part with the larger diameter in the middle of the roller core, the liquid pipe is fixedly connected with the joint body, and the liquid pipe is connected with the opening end of the roller core through the joint body and a pipe sleeve joint; the cleaning cloth wraps the outer surface of the larger diameter portion of the center of the roll core.
4. The curtain wall cleaning robot for the high-rise building as claimed in claim 3, wherein the outer surface of the opening end of the roller core is provided with an annular clamping groove, the pipe sleeve joint comprises a fixed body, a sliding sleeve, balls and a spring, the fixed body is tubular with two ends having different inner diameters, the sliding sleeve is arranged outside the end with the larger inner diameter of the fixed body and can slide relatively, the spring is sleeved between the sliding sleeve and the fixed body, the end with the larger inner diameter of the fixed body on the inner side of the sliding sleeve is annularly provided with spherical holes at intervals, the balls are arranged in the spherical holes and are in clearance fit with the spherical holes, and the sliding sleeve extrudes the balls on the inner surface under the action of the spring so that the balls protrude towards the inner side; the smaller inner diameter end of the fixed body is fixedly connected with the port of the joint body provided with the hole cavity, and the fixed body and the hole cavity realize the communication of the liquid pipe and the hollow cavity of the roller core.
5. The curtain wall cleaning robot for the high-rise building according to claim 3, wherein the head section and the plurality of cleaning sections are sequentially connected in series by using a hose, and the hose is connected with a liquid pipe to convey cleaning liquid; or the head section and the plurality of cleaning sections are sequentially connected in series by adopting an articulated component, the articulated component comprises a first connecting piece and a second connecting piece, the first connecting piece is T-shaped, the second connecting piece is Y-shaped, two ends of the T-shaped head of the first connecting piece are respectively rotatably connected with two ends of a Y-shaped fork of the second connecting piece, communicated pore passages are arranged in the first connecting piece and the second connecting piece after connection, and the pore passages are connected with a liquid pipe to convey cleaning liquid.
6. The curtain wall cleaning robot for the high-rise building as claimed in claim 3, wherein the section body is provided with a drying mechanism, the drying mechanism and the cleaning mechanism are arranged on the same side surface of the section body, the drying mechanism comprises a wiper, a fan and an electric heating component, the wiper is arranged behind the cleaning mechanism when the section body moves in the traveling direction of the surface of the curtain wall glass, the wiper is in contact with the surface of the curtain wall glass, an air outlet of the fan is arranged behind the wiper, the electric heating component is arranged in the air outlet of the fan, the fan can blow air to the surface of the curtain wall glass behind the wiper, and the fan and the electric heating component are electrically connected with the control system.
7. The curtain wall cleaning robot for the high-rise building according to claim 6, wherein the joint body is provided with a cleaning and checking mechanism, the cleaning and checking mechanism is arranged behind the cleaning mechanism when the joint body moves in the traveling direction of the surface of the curtain wall glass, the cleaning and checking mechanism is electrically connected with the control system, and the cleaning and checking mechanism performs cleaning and checking on the surface of the curtain wall glass in a light wave reflection mode.
8. The curtain wall cleaning robot for the high-rise building according to claim 7, wherein the control system comprises a data acquisition module, an operation module and an execution module, the operation module is respectively connected with the data acquisition module and the execution module, and the liquid pipe is provided with a pressure sensor;
the data acquisition module is respectively connected with the pressure sensor and the cleaning inspection mechanism and is used for acquiring the supply pressure of the cleaning solution and the surface cleaning condition of the curtain wall glass in real time;
the operation module adopts the following set formula to calculate the consumption of the cleaning solution in unit time:
Figure FDA0002817630990000031
in the above formula, Q represents the consumption amount of the cleaning liquid per unit time; n represents the number of cleaning mechanisms of the robot;
Figure FDA0002817630990000032
the correction coefficient is expressed, is related to the surface cleanness of the curtain wall glass, and has a value range of 1-2; v represents the advancing speed of the robot on the surface of the curtain wall glass; l isiIndicating the length of a joint body connected with the ith cleaning mechanism; p1Representing a cleaning liquid supply pressure measurement; p0Represents a cleaning liquid supply pressure design value; q represents the consumption of standard cleaning solution for cleaning curtain wall glass in unit area;
and the execution module controls the supply pump of the cleaning liquid according to the calculation result of the operation module.
9. The curtain wall cleaning robot for the high-rise building according to claim 8, wherein the operation module calculates the estimated air volume of the drying mechanism connected with each segment by adopting the following formula:
Figure FDA0002817630990000033
in the above formula, QEstimation ofShowing the estimated air volume of the ith drying mechanism; ρ represents the density of water; v represents the advancing speed of the robot on the surface of the curtain wall glass; l isiThe length of a joint body connected with the ith drying mechanism is shown; diThe thickness of the water film remained behind the wiper of the ith drying mechanism is measured through a preliminary test; d1The humidity of air blown out by a fan of the ith drying mechanism after being reflected by the curtain wall glass is measured by a humidity sensor; d0The humidity of the ambient air is represented and is measured by arranging an ambient humidity sensor;
then, the execution module controls the operation of the fan according to the estimated air volume obtained by calculation, and whether the surface of the curtain wall glass is completely dry is analyzed through reflected light waves of the cleaning inspection mechanism;
and finally, if the curtain wall glass is not completely dried, controlling the fan to increase the air volume by 5 percent, analyzing whether the surface of the curtain wall glass is completely dried again through the reflected light waves of the cleaning inspection mechanism, adjusting the surface of the curtain wall glass to be completely dried by 5 percent each time, and keeping the blowing state of the fan at the moment.
10. The curtain wall cleaning robot for the high-rise building according to claim 8, wherein the cleaning section is provided with an air injection mechanism, the air injection mechanism comprises a fan, an air pipe and a nozzle, the fan is fixedly connected with the section body of the cleaning section, the nozzle is fixed on the surface of the cleaning section, which is away from the cleaning mechanism, the nozzle of the nozzle faces the direction far away from the section body, and the air outlet of the fan is connected with the nozzle through the air pipe.
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Publication number Priority date Publication date Assignee Title
CN113530047A (en) * 2021-08-06 2021-10-22 浙江华尔达建设有限公司 Curtain wall and construction method thereof
CN113768428A (en) * 2021-09-14 2021-12-10 林独强 Equipment for cleaning outer wall of high-rise glass
CN114345600A (en) * 2021-12-31 2022-04-15 贵州电网有限责任公司 Painting device and construction method thereof

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CN207179365U (en) * 2017-08-25 2018-04-03 深圳市简工智能科技有限公司 A kind of track fixture, track lamp and small rail car
CN211104019U (en) * 2019-11-04 2020-07-28 杭州埃欧珞机器人科技有限公司 Sucking disc formula snakelike curtain robot of crawling
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Publication number Priority date Publication date Assignee Title
CN202769141U (en) * 2012-09-10 2013-03-06 马福庆 Ball clamping type connector
CN207179365U (en) * 2017-08-25 2018-04-03 深圳市简工智能科技有限公司 A kind of track fixture, track lamp and small rail car
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CN113530047A (en) * 2021-08-06 2021-10-22 浙江华尔达建设有限公司 Curtain wall and construction method thereof
CN113768428A (en) * 2021-09-14 2021-12-10 林独强 Equipment for cleaning outer wall of high-rise glass
CN114345600A (en) * 2021-12-31 2022-04-15 贵州电网有限责任公司 Painting device and construction method thereof
CN114345600B (en) * 2021-12-31 2023-01-06 贵州电网有限责任公司 Painting device and construction method thereof

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