CN112890655A - Robot for cleaning glass wall and using method thereof - Google Patents
Robot for cleaning glass wall and using method thereof Download PDFInfo
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- CN112890655A CN112890655A CN202110154078.9A CN202110154078A CN112890655A CN 112890655 A CN112890655 A CN 112890655A CN 202110154078 A CN202110154078 A CN 202110154078A CN 112890655 A CN112890655 A CN 112890655A
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- sucker groups
- cylinder
- sucker
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- 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 discloses a robot for cleaning a glass wall, which relates to the technical field of glass cleaning and comprises a first cross beam, wherein two ends of the first cross beam are respectively provided with a first telescopic cylinder, two ends of a second cross beam are respectively provided with a second telescopic cylinder, the first cross beam and the second cross beam are mutually vertical and are arranged in a cross-shaped overlapping manner, the central position of the first cross beam is provided with a first stretching cylinder, the central position of the second cross beam is provided with a second stretching cylinder, and a first sliding block on the first stretching cylinder is connected with a second sliding block on the second stretching cylinder; according to the invention, through the sequential movement of the telescopic cylinder and the stretching cylinder on the first cross beam and the second cross beam and the work of the sucker, the robot can move longitudinally or transversely on the glass wall, and after the robot reaches a designated position, the cleaning mechanism is started for cleaning.
Description
Technical Field
The invention relates to the technical field of glass cleaning, in particular to a robot for glass wall cleaning and a use method of the robot for glass wall cleaning.
Background
Along with the development of society, the building industry has also obtained the development of length, and glass outer wall becomes the main form of commercial building, but glass outer wall has a drawback, that is the glass outer wall need regularly clean, and the current mode of cleaning mainly is that the manual work moves on the glass wall through the lifting rope, cleans simultaneously, but this kind of mode of cleaning not only inefficiency, has certain safe risk moreover, therefore this application has set up a robot for glass wall is clean.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a robot for cleaning a glass wall, so as to solve the problem of safety risk when a glass outer wall is manually cleaned in the prior art described in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: a robot for cleaning glass walls comprises a first cross beam, wherein two ends of the first cross beam are respectively provided with a first telescopic cylinder, two ends of a second cross beam are respectively provided with a second telescopic cylinder, the first cross beam and the second cross beam are mutually vertical and are arranged in a cross-shaped overlapping manner, a first stretching cylinder is arranged at the central position of the first cross beam, the moving direction of a first sliding block on the first stretching cylinder is the same as the extending direction of the first cross beam, a second stretching cylinder is arranged at the central position of the second cross beam, the moving direction of a second sliding block on the second stretching cylinder is the same as the extending direction of the second cross beam, the first sliding block on the first stretching cylinder is connected with a second sliding block on the second stretching cylinder, a cleaning structure and a control cabinet are arranged on the second cross beam, and the output ends of the first telescopic cylinder and the second telescopic cylinder are respectively provided with a sucker structure, the sucker structure is used for being adsorbed on a glass wall.
Preferably: the cleaning structure comprises a cover body arranged on the second cross beam, a speed reducer, a rotary disc, a liquid collecting box and a servo motor, wherein the rotary disc is arranged in the cover body in a rotating mode, the liquid collecting box is arranged in the cover body, the servo motor is arranged on the outer wall of the cover body, an output shaft of the servo motor is connected with an input shaft of the speed reducer, an output end of the speed reducer is connected with a rotating shaft of the rotary disc, a plurality of spray heads pointing to the rotary disc are arranged on the liquid collecting box, and a plurality of bristles.
Preferably: the outer wall of the cover body is further provided with a U-shaped baffle, and the servo motor is arranged in the U-shaped groove of the baffle.
Preferably: the sucker structure comprises a connecting rod connected with a first telescopic cylinder or a second telescopic cylinder, the connecting rod is connected with a positioning plate, and a plurality of suckers are arranged on the positioning plate.
Preferably: the suckers are arranged in a linear shape, a circular shape, a square shape or a triangular shape.
Preferably: the industrial computer is further respectively electrically connected with an electromagnetic switch of a first telescopic cylinder, an electromagnetic switch of a second telescopic cylinder, an electromagnetic switch of a first stretching cylinder and an electromagnetic switch of a second stretching cylinder.
A robot for cleaning glass walls is used, a telescopic cylinder and a stretching cylinder sequentially move on a first cross beam and a second cross beam, the robot is matched with a sucker to move longitudinally or transversely on the glass walls, and a cleaning mechanism is started to clean the glass walls after the robot reaches a designated position.
Preferably, the robot comprises the following steps when moving longitudinally:
s1, the longitudinal two sucker groups start to be lifted, the piston rods in the telescopic cylinders start to slowly extend and retract until the whole sucker groups are driven to be lifted to a certain height, the transverse two sucker groups do not move and are still in an adsorption state, and the two rod cylinders connected with the sucker groups are in a static state;
s2, the two longitudinal sucker groups are lifted to a certain height and then stop, the telescopic cylinder is in a static state, the stretching cylinder slide block connected to the longitudinal beam starts to slide slowly, the two sucker groups connected to the two transverse rod cylinders do not move any more and are still in an adsorption state, and the two rod cylinders are in a static state;
s3, stopping the movement of the longitudinal stretching cylinder slider, slowly descending the longitudinal two sucker groups, slowly extending the piston rods in the telescopic cylinders connected with the sucker groups until the whole sucker groups are tightly adsorbed on the glass wall, keeping the two sucker groups connected with the transverse two rod cylinders in an adsorption state without any movement, and keeping the two rod cylinders in a static state;
preferably, the robot comprises the following steps when moving transversely:
s1, the two transverse sucker groups start to lift, the piston rods in the telescopic cylinders connected with the sucker groups start to slowly extend and retract until the whole sucker groups are driven to lift by a certain height, the two longitudinal sucker groups still are in an adsorption state without any movement, and the two telescopic cylinders are in a static state.
S2, the two transverse sucker groups stop after being lifted to a certain height, the telescopic cylinder connected with the sucker groups is in a static state, the sliding block of the transverse pulling and lifting cylinder slowly slides, the two sucker groups connected with the two longitudinal rod cylinders do not move and are still in an adsorption state, and the two rod cylinders are in a static state.
S3, stopping the movement of the transverse stretching cylinder slider, slowly descending the transverse two sucker groups, slowly extending the piston rods in the telescopic cylinders connected with the sucker groups until the whole sucker groups are tightly adsorbed on the glass wall, keeping the two sucker groups connected with the longitudinal two rod cylinders in an adsorption state without any movement, and keeping the two rod cylinders in a static state.
The beneficial effect of adopting above technical scheme is:
according to the glass surface adsorption device, the sucker structure can be driven to move through the first telescopic cylinder and the second telescopic cylinder, so that the sucker structure is in contact with the glass surface, and is adsorbed to the glass surface through the sucker; the whole robot can move through the arranged first stretching cylinder and the second stretching cylinder, and the glass wall surface can be effectively cleaned; the servo motor in the cleaning structure can drive the brush hair on the turntable to scrub the glass wall surface, the cleaning solution can be sprayed by the spray head when the cleaning is carried out, the brush hair is matched to scrub, and the glass panel is washed by the spray head through sprayed clean water.
Drawings
Fig. 1 is a schematic structural view of a robot for glass wall cleaning according to the present invention.
Fig. 2 is a schematic structural view of the chuck structure of the present invention.
Fig. 3 is a schematic view of the cleaning structure of the present invention.
Fig. 4 is a schematic structural diagram of the interior of the control cabinet of the present invention.
Wherein: the cleaning device comprises a first cross beam 10, a first telescopic cylinder 11, a second cross beam 20, a second telescopic cylinder 21, a sucker structure 30, a positioning plate 31, a sucker 32, a connecting rod 33, a first stretching cylinder 40, a first sliding block 41, a second stretching cylinder 50, a second sliding block 51, a cleaning structure 60, a cover body 61, a servo motor 62, a speed reducer 63, a rotary disc 64, bristles 65, a liquid collecting box 66, a spray head 67, a baffle 68, a control cabinet 70, an industrial personal computer 71, a vacuum pump 72 and a storage battery 73.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 4, a robot for cleaning glass walls includes a first beam 10, wherein two ends of the first beam 10 are respectively provided with a first telescopic cylinder 11, two ends of the second beam 20 are respectively provided with a second telescopic cylinder 21, the first beam 10 and the second beam 20 are perpendicular to each other and arranged in a cross-shaped overlapping manner, a first stretching cylinder 40 is arranged at a central position of the first beam 10, a moving direction of a first slider 41 on the first stretching cylinder 40 is the same as an extending direction of the first beam 10, a second stretching cylinder 50 is arranged at a central position of the second beam 20, a moving direction of a second slider 51 on the second stretching cylinder 50 is the same as the extending direction of the second beam 20, the first slider 41 on the first stretching cylinder 40 is connected with the second slider 51 on the second stretching cylinder 50, a cleaning structure 60 and a control cabinet 70 are arranged on the second beam 20, the output ends of the first telescopic cylinder 11 and the second telescopic cylinder 21 are respectively provided with a sucker structure 30, and the sucker structures 30 are used for being adsorbed on a glass wall.
The cleaning structure 60 comprises a cover body 61 arranged on the second cross beam 20, a speed reducer 63, a rotary disc 64 rotatably arranged in the cover body 61, a liquid collecting box 66 arranged in the cover body 61 and a servo motor 62 arranged on the outer wall of the cover body 61 are arranged in the cover body 61, an output shaft of the servo motor 62 is connected with an input shaft of the speed reducer 63, an output end of the speed reducer 63 is connected with a rotating shaft of the rotary disc 64, a plurality of spray heads 67 pointing to the rotary disc 64 are arranged on the liquid collecting box 66, and a plurality of bristles 65 are uniformly arranged on the circumferential wall of the rotary disc 64.
The outer wall of the cover body 61 is further provided with a U-shaped baffle 68, and the servo motor 62 is arranged in the U-shaped groove of the baffle 68.
The suction cup structure 30 comprises a connecting rod 33 connected with the first telescopic cylinder 11 or the second telescopic cylinder 21, the connecting rod 33 is connected with a positioning plate 31, and a plurality of suction cups 32 are arranged on the positioning plate 31.
The suckers 32 are arranged in a linear shape, a circular shape, a square shape or a triangular shape.
Be provided with industrial computer 71, battery 73 and a plurality of vacuum pump 72 in the switch board 70, vacuum pump 72 passes through the trachea with the sucking disc 32 in the sucking disc structure 30 and is connected, industrial computer 71 respectively with battery 73, vacuum pump 72, servo motor 62 electric connection, industrial computer 71 still respectively with the electromagnetic switch of first telescopic cylinder 11, the electromagnetic switch of second telescopic cylinder 21, the electromagnetic switch of first tensile cylinder 40, the electromagnetic switch electric connection of the tensile cylinder 50 of second.
The specific implementation mode is as follows:
when the device is used, the first telescopic cylinder 11 is started firstly, so that the suction disc structure 30 of the first telescopic cylinder 11 is lifted, the suction disc 32 is separated from the glass surface, then the first sliding block 41 of the first stretching cylinder 40 moves, the first sliding block 41 is fixed according to the relative motion principle, the first stretching cylinder 40 moves relative to the first sliding block 41, the second sliding block 51 of the second non-sensing cylinder 50 can drive the first sliding block 41 to move, the first cross beam 10 is driven to move, and after the movement is completed, the first telescopic cylinder 11 drives the suction disc structure 30 to move, so that the vacuum pump 72 and the air pipe are matched with the suction disc 32 in the suction disc structure 30 to be adsorbed on the glass wall surface;
the second telescopic cylinder 21 is started again, so that the suction cup 32 in the suction cup structure 30 on the second telescopic cylinder 21 is separated from the glass wall surface, then the second stretching cylinder 50 is started, according to the relative motion principle, the second slide block 51 is fixed, the second stretching cylinder 50 can move relative to the second slide block 51, the first slide block 41 of the first non-sensing cylinder 40 can drive the second slide block 51 to move, the second cross beam 20 is driven to move, and after the movement is completed, the second telescopic cylinder 21 drives the suction cup structure 30 to move, so that the suction cup 32 is adsorbed to the glass wall surface;
through starting servo motor 62, can drive brush hair 65 on the carousel 64 and scrub the glass wall, with album liquid box 66 through pipe fitting and external pump connection, spout the cleaning solution on brush hair 65 from shower nozzle 67 through the pump body, improve clear effect.
The high-altitude glass wall cleaning robot has the main functions that the high-altitude glass wall cleaning robot can clean the high-altitude glass wall and keep the surface of a building clean, the main motion form is adsorption climbing, and the whole high-altitude glass wall cleaning robot is adsorbed on the glass wall by utilizing the adsorption effect of the vacuum chuck and moves.
In the moving process, because the working environment of the designed high-altitude glass wall cleaning robot is a vertical glass wall, the moving speed of the robot is not too high so as to avoid the situation that the robot is unstably adsorbed and falls off from the air
In the initial state, all the sucker groups are adsorbed on the glass wall to be cleaned, and all the piston rods in the rod cylinders connected with the sucker groups are in the extension state.
When the cleaning robot prepares for longitudinal movement, the two longitudinal sucker groups start to lift, the piston rods in the telescopic cylinders start to slowly extend and retract until the whole sucker groups are driven to lift by a certain height, the two transverse sucker groups still are in an adsorption state without any movement, and the two rod-containing cylinders connected with the sucker groups are in a static state.
When the cleaning robot starts to move longitudinally, the two longitudinal sucker groups stop after being lifted to a certain height, the telescopic cylinder is in a static state, the stretching cylinder sliding block connected to the longitudinal beam slowly slides, the two sucker groups connected to the two transverse rod cylinders do not move and are still in an adsorption state, and the two rod cylinders are in a static state.
When the cleaning robot stops longitudinal movement, the longitudinal stretching cylinder sliding block stops moving, the longitudinal two sucker groups start to descend slowly, the piston rods in the telescopic cylinders connected with the sucker groups extend slowly until the whole sucker group is tightly adsorbed on the glass wall, the two sucker groups connected with the transverse two rod cylinders do not move, the sucker groups are still in an adsorption state, and the two rod cylinders are in a static state.
When the cleaning robot prepares for transverse motion, the two transverse sucker groups start to lift, the piston rods in the telescopic cylinders connected with the sucker groups start to slowly stretch until the whole sucker group is driven to lift by a certain height, the two longitudinal sucker groups do not move and are still in an adsorption state, and the two telescopic cylinders are in a static state.
When the cleaning robot starts to move transversely, the two transverse sucker groups stop after being lifted to a certain height, the telescopic air cylinders connected with the two transverse sucker groups are in a static state, the transverse pulling air cylinder sliding blocks start to slowly slide, the two sucker groups connected with the two longitudinal rod-provided air cylinders do not move and are still in an adsorption state, and the two rod-provided air cylinders are in a static state.
When the cleaning robot stops transverse movement, the transverse stretching cylinder sliding block stops moving, the transverse two sucker groups start to descend slowly, the piston rods in the telescopic cylinders connected with the transverse two sucker groups extend slowly until the whole sucker group is tightly adsorbed on the glass wall, the two sucker groups connected with the longitudinal two rod cylinders do not move at all and are still in an adsorption state, and the two rod cylinders are in a static state.
When the robot stops moving and is in the initial state, all the sucker groups are adsorbed on the glass wall to be cleaned, and the piston rods in all the rod cylinders are in the extension state.
The whole high-altitude glass wall cleaning robot moves in the same way as described above, the moving process is single, but the high-altitude glass wall cleaning robot is more visual and convenient, the whole glass wall can be cleaned through transverse and longitudinal alternate movement, and if the high-altitude glass wall cleaning robot wants to clean in a single direction in the process, the high-altitude glass wall cleaning robot can also be adjusted through a control system.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications are all within the scope of the present invention.
Claims (9)
1. A robot for glass wall cleaning, comprising a first beam, characterized in that: two ends of the first cross beam are respectively provided with a first telescopic cylinder, two ends of the second cross beam are respectively provided with a second telescopic cylinder, the first cross beam and the second cross beam are mutually vertical and arranged in a cross-shaped overlapping manner, a first stretching cylinder is arranged at the central position of the first cross beam, the moving direction of a first slide block on the first stretching cylinder is the same as the extending direction of the first beam, a second stretching cylinder is arranged at the central position of the second beam, the moving direction of a second slide block on the second stretching cylinder is the same as the extending direction of the second beam, a first slide block on the first stretching cylinder is connected with a second slide block on the second stretching cylinder, a cleaning structure and a control cabinet are arranged on the second beam, the output ends of the first telescopic cylinder and the second telescopic cylinder are respectively provided with a sucker structure, and the sucker structures are used for being adsorbed on a glass wall.
2. A robot for cleaning glass walls according to claim 1, wherein the cleaning structure comprises a cover body arranged on the second cross beam, a speed reducer, a rotary table rotatably arranged in the cover body, a liquid collecting box arranged in the cover body, and a servo motor arranged on the outer wall of the cover body are arranged in the cover body, an output shaft of the servo motor is connected with an input shaft of the speed reducer, an output end of the speed reducer is connected with a rotating shaft of the rotary table, a plurality of nozzles pointing to the rotary table are arranged on the liquid collecting box, and a plurality of bristles are uniformly arranged on the circumferential wall of the rotary table.
3. A robot for cleaning glass walls according to claim 2, characterized in that the outer wall of the cover body is further provided with a U-shaped baffle plate, and the servo motor is arranged in the U-shaped groove of the baffle plate.
4. A robot for cleaning glass walls according to claim 3, characterized in that said suction cup structure comprises a connecting rod connected with the first telescopic cylinder or the second telescopic cylinder, said connecting rod is connected with a positioning plate, said positioning plate is provided with a plurality of suction cups.
5. A robot for glass wall cleaning according to claim 4, characterized in that several of said suction cups are arranged in a straight line, a circle, a square or a triangle.
6. A robot for cleaning glass walls according to claim 5, characterized in that an industrial personal computer, a storage battery and a plurality of vacuum pumps are arranged in the control cabinet, the vacuum pumps are connected with suction cups in the suction cup structures through air pipes, the industrial personal computer is respectively electrically connected with the storage battery, the vacuum pumps and the servo motor, and the industrial personal computer is also respectively electrically connected with the electromagnetic switch of the first telescopic cylinder, the electromagnetic switch of the second telescopic cylinder, the electromagnetic switch of the first stretching cylinder and the electromagnetic switch of the second stretching cylinder.
7. The use method of the robot for cleaning the glass wall is characterized in that the robot is moved longitudinally or transversely on the glass wall through the sequential movement of the telescopic cylinder and the stretching cylinder on the first cross beam and the second cross beam and the work of the suckers, and after the robot reaches a designated position, the cleaning mechanism is started for cleaning.
8. A method of using a robot for glass wall cleaning as defined in claim 7, wherein the robot includes the following steps when moving longitudinally:
s1, the longitudinal two sucker groups start to be lifted, the piston rods in the telescopic cylinders start to slowly extend and retract until the whole sucker groups are driven to be lifted to a certain height, the transverse two sucker groups do not move and are still in an adsorption state, and the two rod cylinders connected with the sucker groups are in a static state;
s2, the two longitudinal sucker groups are lifted to a certain height and then stop, the telescopic cylinder is in a static state, the stretching cylinder slide block connected to the longitudinal beam starts to slide slowly, the two sucker groups connected to the two transverse rod cylinders do not move any more and are still in an adsorption state, and the two rod cylinders are in a static state;
s3, stopping the movement of the longitudinal stretching cylinder slider, slowly descending the longitudinal two sucker groups, slowly extending the piston rods in the telescopic cylinders connected with the sucker groups until the whole sucker group is tightly adsorbed on the glass wall, keeping the two sucker groups connected with the transverse two rod cylinders in an adsorption state without any movement, and keeping the two rod cylinders in a static state.
9. A method of using a robot for glass wall cleaning as claimed in claim 7, characterized in that the robot comprises the following steps when moving laterally:
s1, the two transverse sucker groups start to lift, the piston rods in the telescopic cylinders connected with the sucker groups start to slowly extend and retract until the whole sucker groups are driven to lift by a certain height, the two longitudinal sucker groups still are in an adsorption state without any movement, and the two telescopic cylinders are in a static state.
S2, the two transverse sucker groups stop after being lifted to a certain height, the telescopic cylinder connected with the sucker groups is in a static state, the sliding block of the transverse pulling and lifting cylinder slowly slides, the two sucker groups connected with the two longitudinal rod cylinders do not move and are still in an adsorption state, and the two rod cylinders are in a static state.
S3, stopping the movement of the transverse stretching cylinder slider, slowly descending the transverse two sucker groups, slowly extending the piston rods in the telescopic cylinders connected with the sucker groups until the whole sucker groups are tightly adsorbed on the glass wall, keeping the two sucker groups connected with the longitudinal two rod cylinders in an adsorption state without any movement, and keeping the two rod cylinders in a static state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110154078.9A CN112890655A (en) | 2021-02-04 | 2021-02-04 | Robot for cleaning glass wall and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110154078.9A CN112890655A (en) | 2021-02-04 | 2021-02-04 | Robot for cleaning glass wall and using method thereof |
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| Publication Number | Publication Date |
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| CN112890655A true CN112890655A (en) | 2021-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110154078.9A Pending CN112890655A (en) | 2021-02-04 | 2021-02-04 | Robot for cleaning glass wall and using method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113520205A (en) * | 2021-07-19 | 2021-10-22 | 广州理工学院 | Glass curtain wall cleaning robot |
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| DE20311252U1 (en) * | 2003-07-21 | 2003-10-30 | Grabarits Dieter | Window cleaning device, comprising transversal rotation axle with locking facility facilitating access to all areas of window pane |
| CN103584805A (en) * | 2013-11-04 | 2014-02-19 | 上海应用技术学院 | High-rise glass curtain cleaning machine |
| CN108056711A (en) * | 2017-12-04 | 2018-05-22 | 广州大学 | A kind of wall clean robot control method and control system |
| CN109691936A (en) * | 2019-01-16 | 2019-04-30 | 湘潭大学 | A kind of steam-type climbs wall wall cleaning machine automatically |
| CN111728545A (en) * | 2020-06-08 | 2020-10-02 | 浙江圣帝亚建筑科技有限公司 | Wall-climbing cleaning robot |
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2021
- 2021-02-04 CN CN202110154078.9A patent/CN112890655A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20311252U1 (en) * | 2003-07-21 | 2003-10-30 | Grabarits Dieter | Window cleaning device, comprising transversal rotation axle with locking facility facilitating access to all areas of window pane |
| CN103584805A (en) * | 2013-11-04 | 2014-02-19 | 上海应用技术学院 | High-rise glass curtain cleaning machine |
| CN108056711A (en) * | 2017-12-04 | 2018-05-22 | 广州大学 | A kind of wall clean robot control method and control system |
| CN109691936A (en) * | 2019-01-16 | 2019-04-30 | 湘潭大学 | A kind of steam-type climbs wall wall cleaning machine automatically |
| CN111728545A (en) * | 2020-06-08 | 2020-10-02 | 浙江圣帝亚建筑科技有限公司 | Wall-climbing cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113520205A (en) * | 2021-07-19 | 2021-10-22 | 广州理工学院 | Glass curtain wall cleaning robot |
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Application publication date: 20210604 |
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| RJ01 | Rejection of invention patent application after publication |