CN112741535A - Photovoltaic curtain wall cavity cleaning robot - Google Patents
Photovoltaic curtain wall cavity cleaning robot Download PDFInfo
- Publication number
- CN112741535A CN112741535A CN202110059472.4A CN202110059472A CN112741535A CN 112741535 A CN112741535 A CN 112741535A CN 202110059472 A CN202110059472 A CN 202110059472A CN 112741535 A CN112741535 A CN 112741535A
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- CN
- China
- Prior art keywords
- axis
- axle
- curtain wall
- photovoltaic curtain
- connecting plate
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Classifications
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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
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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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
Abstract
The invention discloses a photovoltaic curtain wall cavity cleaning robot which comprises a robot body device, a cleaning device, a motion control system and a remote control system. The robot body adopts two sets of guide rails to build cross frame type structure, including moving mechanism, telescopic cylinder etc. can realize that the robot independently removes in the narrow and small space of photovoltaic curtain cavity, cleans, keeps away functions such as barrier. The cleaning device is divided into an adsorption surface cleaning mode and a non-adsorption surface cleaning mode, the adsorption surface and the non-adsorption surface cleaning mode are all cleaned by adopting the direct-current dust suction device, and the function of omnibearing cleaning of two sides of a cavity of the photovoltaic curtain wall can be realized. On the robot body structure, multiple sensors such as distance measuring sensors are installed, the controller can analyze and process collected photovoltaic curtain wall cavity environment information, and then the cleaning robot is controlled to complete autonomous movement, cleaning, obstacle avoidance and other work. The cleaning robot comprises a wireless transmission module, and can realize remote supervision and control of the robot.
Description
Technical Field
The invention relates to the technical field of photovoltaic curtain wall climbing robots, in particular to a photovoltaic curtain wall cavity cleaning robot.
Background
The cavity space of the photovoltaic curtain wall is narrow, the internal photovoltaic curtain wall is also provided with the cross beam, the junction box and other obstacles, so that the cleaning is difficult in a plurality of narrow spaces, and the difficulty of the robot structure and the moving design is greatly increased. The cavity cleaning of the photovoltaic curtain wall belongs to high-altitude operation, the adsorption stability is particularly important, and the robot is required to consider the adsorption stability when moving and cleaning and particularly crossing over obstacles such as a cross beam. The photovoltaic curtain wall cavity bottom contains the cable, does not allow with water cleanness to the cavity both sides all need clean, only has the cleaning robot of photovoltaic outer wall at present, has not involved photovoltaic curtain wall cavity cleaning robot's research for a while.
Disclosure of Invention
The invention aims to solve the problem that a photovoltaic curtain wall cavity is difficult to clean, and provides a photovoltaic curtain wall cavity cleaning robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a photovoltaic curtain wall cavity cleaning robot comprises an X-axis guide rail, a Y-axis guide rail, an X-axis lead screw, a Y-axis lead screw, a central support frame, an X-axis direct-current stepping motor, a Y-axis direct-current stepping motor, an X-axis cylinder, a Y-axis cylinder, an X-axis connecting plate, a Y-axis connecting plate, a vacuum chuck, a Y-axis cleaning device, a Z-axis telescopic rod, a Z-axis connecting plate and a Z-axis cleaning device; the X-axis guide rail is connected with the central support frame through an X-axis lead screw, the Y-axis guide rail is connected with the central support frame through a Y-axis lead screw, the X-axis guide rail and the Y-axis guide rail form a cross frame structure, the X-axis lead screw and the Y-axis lead screw are used for realizing the relative movement of the X-axis guide rail and the Y-axis guide rail, the movement of the X-axis lead screw is driven by an X-axis direct current stepping motor, and the movement of the Y-axis lead screw is driven by a Y-axis direct current stepping motor.
Preferably, the both ends of X axle guide rail installed X axle cylinder perpendicularly, X axle cylinder end-to-end connection has X axle connecting plate, installed three vacuum chuck on the X axle connecting plate, vacuum chuck is used for adsorbing on treating clear photovoltaic curtain wall, X axle cylinder is used for realizing that X axle connecting plate and vacuum chuck carry out elevating movement perpendicular to photovoltaic curtain wall.
Preferably, the both ends of Y axle guide rail installed Y axle cylinder perpendicularly, Y axle cylinder end-to-end connection has Y axle connecting plate, installed Y axle cleaning device on the Y axle connecting plate, Y axle cleaning device is used for adsorbing, the clear photovoltaic curtain wall of treating, Y axle cylinder is used for realizing that Y axle connecting plate and Y axle cleaning device carry out elevating movement perpendicular to photovoltaic curtain wall.
Preferably, the Z-axis telescopic rod is installed on the vertical direction at the two ends of the Y-axis guide rail, the Z-axis connecting plate is installed at the tail end of the Z-axis telescopic rod, the Z-axis cleaning device is installed on the Z-axis connecting plate, the Z-axis telescopic rod performs telescopic motion and is used for achieving lifting motion of the Z-axis connecting plate and the Z-axis cleaning device, and the Z-axis cleaning device is used for cleaning a photovoltaic curtain wall on the other side, namely a non-adsorption face curtain wall.
Preferably, a distance measuring sensor is further arranged and installed on the Z-axis connecting plate and used for measuring the distance between the Z-axis cleaning device and the non-adsorption surface curtain wall and providing real-time information for controlling the cleaning motion of the non-adsorption surface of the cleaning robot.
Preferably, the Z-axis cleaning device adopts a non-adsorption surface direct current dust collector, and the Z-axis cleaning device adopts a non-adsorption surface direct current dust collector.
Furthermore, a visual camera is arranged for detecting the barrier, and a controller is arranged for sending out a control command.
Furthermore, the cleaning robot can be provided with a wireless transmission module for realizing remote supervision and control of the robot.
Compared with the prior art, the invention has the beneficial effects that:
1. the photovoltaic curtain wall cavity cleaning robot can realize the functions of autonomous movement and obstacle avoidance in a narrow space of a photovoltaic curtain wall cavity, and can realize the efficient cleaning of the omnibearing dead-angle-free double-side curtain wall.
2. The photovoltaic curtain wall cavity cleaning robot takes a cross structure built by an X-axis guide rail and a Y-axis guide rail as a basic frame of the cleaning robot, and functions of moving, obstacle crossing and the like of the cleaning robot in a photovoltaic curtain wall cavity environment are realized through relative movement of the X-axis guide rail and the Y-axis guide rail and alternate adsorption of vacuum suckers at two ends of the X-axis guide rail and cleaning devices at two ends of the Y-axis guide rail.
3. The Y-axis cleaning device of the photovoltaic curtain wall cavity cleaning robot has the functions of adsorption and cleaning, is used for replacing a vacuum chuck, and ensures that the cleaning robot can continuously and stably clean in a narrow space of a photovoltaic curtain wall cavity.
4. According to the photovoltaic curtain wall cavity cleaning robot, the Z-axis telescopic rod and the Z-axis cleaning device are arranged in the vertical direction of the Y-axis guide rail, so that the cleaning and obstacle avoiding functions of the photovoltaic curtain wall on the other side are realized, the bilateral curtain walls of the cleaning robot are cleaned simultaneously, and the working efficiency of the cleaning robot is greatly improved.
5. The photovoltaic curtain wall cavity cleaning robot is provided with the visual camera on the robot body, so that the environmental information in a narrow space of a photovoltaic curtain wall can be transmitted in real time, an image processing technology is applied to cross over barriers such as a cross beam, a path is planned autonomously, and the intellectualization of the cleaning robot is realized.
6. The photovoltaic curtain wall cavity cleaning robot is provided with the wireless transmission module, so that the remote supervision and control of the cleaning robot are realized.
7. The photovoltaic curtain wall cavity cleaning robot can adapt to more complicated narrow cavity environments of photovoltaic curtain walls, and the feasibility of the cleaning robot is improved.
8. The photovoltaic curtain wall cavity cleaning robot is simple to operate, high in safety and high in application prospect.
Drawings
Fig. 1 is a schematic structural diagram of a photovoltaic curtain wall cavity robot provided in an embodiment of the present invention:
in the figure: 1. the device comprises an X-axis guide rail, a 2Y-axis guide rail, a 3X-axis lead screw, a 4Y-axis lead screw, a 5 central support frame, a 6X-axis direct-current stepping motor, a 7Y-axis direct-current stepping motor, a 8X-axis cylinder, a 9Y-axis cylinder, a 10X-axis connecting plate, a 11Y-axis connecting plate, a 12 vacuum sucker, a 13Y-axis cleaning device, a 14Z-axis telescopic rod, a 15Z-axis connecting plate, a 16Z-axis cleaning device, a 17 and a distance measuring sensor.
Fig. 2 is a top view of a main body frame of a photovoltaic curtain wall cavity robot provided by an embodiment of the invention.
Fig. 3 is a front view of a main body frame of a photovoltaic curtain wall cavity robot provided by the embodiment of the invention.
Fig. 4 is a right side view of a main body frame of a photovoltaic curtain wall cavity robot provided by the embodiment of the invention.
Fig. 5 is a working schematic diagram of a photovoltaic curtain wall cavity robot provided by the embodiment of the invention.
Detailed Description
The invention will be further described with reference to the drawings in the following examples of the invention: the invention is suitable for the environment of the photovoltaic curtain wall cavity, and can realize the omnibearing dead-corner-free cleaning of curtain walls on two sides of the photovoltaic curtain wall cavity.
As shown in fig. 1 to 4, a photovoltaic curtain wall cavity cleaning robot comprises an X-axis guide rail (1), a Y-axis guide rail (2), an X-axis lead screw (3), a Y-axis lead screw (4), a central support frame (5), an X-axis direct current stepping motor (6), a Y-axis direct current stepping motor (7), an X-axis cylinder (8), a Y-axis cylinder (9), an X-axis connecting plate (10), a Y-axis connecting plate (11), a vacuum chuck (12), a Y-axis cleaning device (13), a Z-axis telescopic rod (14), a Z-axis connecting plate (15) and a Z-axis cleaning device (16); the X-axis guide rail (1) is connected with the central support frame (5) through an X-axis lead screw (3), the Y-axis guide rail (2) is connected with the central support frame (5) through a Y-axis lead screw (4), the X-axis guide rail (1) and the Y-axis guide rail (2) form a cross-shaped frame structure, the X-axis lead screw (3) and the Y-axis lead screw (4) are used for realizing the relative movement of the X-axis guide rail (1) and the Y-axis guide rail (2), the movement of the X-axis lead screw (3) is driven by an X-axis direct current stepping motor (6), and the movement of the Y-axis lead screw (4) is driven by a Y-axis direct current stepping motor (7);
as a preferable embodiment, X-axis cylinders (8) are vertically arranged at two ends of an X-axis guide rail (1), an X-axis connecting plate (10) is connected to the tail end of each X-axis cylinder (8), and three vacuum suckers (12) are arranged on each X-axis connecting plate (10); two ends of the Y-axis guide rail (2) are vertically provided with Y-axis cylinders (9), the tail ends of the Y-axis cylinders (9) are connected with a Y-axis connecting plate (11), and a Y-axis cleaning device (13) is arranged on the Y-axis connecting plate (11) and used for replacing a vacuum chuck (12); z-axis telescopic rods (14) are arranged on the vertical direction of two ends of the Y-axis guide rail (2), a Z-axis connecting plate (15) is arranged at the tail ends of the Z-axis telescopic rods (14), and a Z-axis cleaning device (16) is arranged on the Z-axis connecting plate (15).
As shown in fig. 5, which is a working schematic diagram of a photovoltaic curtain wall cavity cleaning robot, a cleaning robot body is adsorbed on a photovoltaic curtain wall, when a vision camera detects obstacles such as a transverse frame on the photovoltaic curtain wall, a controller sends a corresponding control instruction, at this time, an X-axis cylinder (8) is in a release state, a vacuum chuck (12) is adsorbed on the photovoltaic curtain wall, a corresponding Y-axis cylinder (9) is in a contraction state, so that a Y-axis connecting plate (11) and a Y-axis cleaning device (13) move up and down, a Y-axis direct current stepping motor (7) drives a Y-axis lead screw (4), so that a Y-axis guide rail (2) and an X-axis guide rail (1) move relative to each other, and the cleaning and obstacle avoidance functions of the photovoltaic curtain wall cavity cleaning robot on an adsorption surface of the photovoltaic curtain; when a distance measuring sensor (17) arranged on a Z-axis connecting plate (15) detects an obstacle on a non-adsorption face curtain wall, a controller sends an instruction, a Z-axis contraction rod (14) is in a contraction state, descending movement of the Z-axis connecting plate (15) and a Z-axis cleaning device (16) is achieved, and the functions of cleaning and obstacle avoidance of the non-adsorption face are achieved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. The utility model provides a photovoltaic curtain wall cavity cleaning machines people which characterized in that: the device comprises an X-axis guide rail (1), a Y-axis guide rail (2), an X-axis lead screw (3), a Y-axis lead screw (4), a central support frame (5), an X-axis direct-current stepping motor (6), a Y-axis direct-current stepping motor (7), an X-axis cylinder (8), a Y-axis cylinder (9), an X-axis connecting plate (10), a Y-axis connecting plate (11), a vacuum chuck (12), a Y-axis cleaning device (13), a Z-axis telescopic rod (14), a Z-axis connecting plate (15) and a Z-axis cleaning device (16); the X-axis guide rail (1) is connected with the central support frame (5) through an X-axis lead screw (3), the Y-axis guide rail (2) is connected with the central support frame (5) through a Y-axis lead screw (4), the X-axis guide rail (1) and the Y-axis guide rail (2) form a cross-shaped frame structure, the X-axis lead screw (3) and the Y-axis lead screw (4) are used for realizing the relative movement of the X-axis guide rail (1) and the Y-axis guide rail (2), the movement of the X-axis lead screw (3) is driven by an X-axis direct current stepping motor (6), and the movement of the Y-axis lead screw (4) is driven by a Y-axis direct current stepping motor (7);
the device comprises an X-axis guide rail (1), X-axis cylinders (8) are vertically arranged at two ends of the X-axis guide rail (1), the tail ends of the X-axis cylinders (8) are connected with an X-axis connecting plate (10), three vacuum chucks (12) are arranged on the X-axis connecting plate (10), the vacuum chucks (12) are used for being adsorbed on a photovoltaic curtain wall to be cleaned, and the X-axis cylinders (8) are used for realizing the lifting motion of the X-axis connecting plate (10) and the vacuum chucks (12) perpendicular to the photovoltaic curtain wall;
y axle cylinder (9) have been installed perpendicularly at the both ends of Y axle guide rail (2), Y axle cylinder (9) end-to-end connection Y axle connecting plate (11), installed Y axle cleaning device (13) on Y axle connecting plate (11), Y axle cleaning device (13) are used for adsorbing, clean treating clear photovoltaic curtain, Y axle cylinder (9) are used for realizing Y axle connecting plate (11) and Y axle cleaning device (13) and carry out elevating movement perpendicular to photovoltaic curtain.
Z axle telescopic link (14) install on the vertical direction at the both ends of Y axle guide rail (2), Z axle connecting plate (15) are installed at the end of Z axle telescopic link (14), Z axle cleaning device (16) are installed on Z axle connecting plate (15), Z axle telescopic link (14) carry out concertina movement for realize the elevating movement of Z axle connecting plate (15) and Z axle cleaning device (16), Z axle cleaning device (16) are used for cleaning opposite side photovoltaic curtain, non-adsorption surface curtain promptly.
2. The photovoltaic curtain wall cavity cleaning robot as claimed in claim 1, wherein: the distance measuring device is further provided with a distance measuring sensor (17) which is arranged on the Z-axis connecting plate (14) and used for measuring the distance between the Z-axis cleaning device (16) and the non-adsorption surface curtain wall and providing real-time information for the control of the non-adsorption surface cleaning motion of the cleaning robot.
3. The photovoltaic curtain wall cavity cleaning robot as claimed in claim 1, wherein: the Y-axis cleaning device (13) adopts an adsorption surface direct current dust collector.
4. The photovoltaic curtain wall cavity cleaning robot as claimed in claim 1, wherein: the Z-axis cleaning device (16) adopts a non-adsorption surface direct current dust collector.
5. The photovoltaic curtain wall cavity cleaning robot as claimed in claim 1, wherein: furthermore, a visual camera is arranged for detecting the barrier, and a controller is arranged for sending out a control command.
6. The photovoltaic curtain wall cavity cleaning robot as claimed in claim 1, wherein: furthermore, a wireless transmission module is arranged for realizing remote supervision and control of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110059472.4A CN112741535A (en) | 2021-01-15 | 2021-01-15 | Photovoltaic curtain wall cavity cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110059472.4A CN112741535A (en) | 2021-01-15 | 2021-01-15 | Photovoltaic curtain wall cavity cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112741535A true CN112741535A (en) | 2021-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110059472.4A Pending CN112741535A (en) | 2021-01-15 | 2021-01-15 | Photovoltaic curtain wall cavity cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112741535A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027590A (en) * | 2022-06-21 | 2022-09-09 | 江苏镌极特种设备有限公司 | Wall-climbing obstacle-crossing robot and walking method |
| CN115381326A (en) * | 2022-09-15 | 2022-11-25 | 北京工业大学 | Vacuum adsorption photovoltaic curtain wall cavity cleaning robot |
-
2021
- 2021-01-15 CN CN202110059472.4A patent/CN112741535A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027590A (en) * | 2022-06-21 | 2022-09-09 | 江苏镌极特种设备有限公司 | Wall-climbing obstacle-crossing robot and walking method |
| CN115381326A (en) * | 2022-09-15 | 2022-11-25 | 北京工业大学 | Vacuum adsorption photovoltaic curtain wall cavity cleaning robot |
| CN115381326B (en) * | 2022-09-15 | 2023-11-21 | 北京工业大学 | Vacuum adsorption photovoltaic curtain wall cavity cleaning robot |
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