CN112998568A - High-altitude glass curtain wall scrubbing robot - Google Patents
High-altitude glass curtain wall scrubbing robot Download PDFInfo
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- CN112998568A CN112998568A CN202110129869.6A CN202110129869A CN112998568A CN 112998568 A CN112998568 A CN 112998568A CN 202110129869 A CN202110129869 A CN 202110129869A CN 112998568 A CN112998568 A CN 112998568A
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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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
- A47L11/4072—Arrangement of castors or wheels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses a high-altitude glass curtain wall scrubbing robot, which comprises an auxiliary box body and a scrubbing vehicle, wherein the auxiliary box body is connected with the scrubbing vehicle through a rope; a space for placing the control device and the glass water is arranged in the auxiliary box body; the scrubbing vehicle comprises a vehicle frame, wheels are arranged at the bottom of the vehicle frame and connected with a first motor, and a fan, a scrubbing device and a nozzle are arranged on the vehicle frame; the fan, the scrubbing device, the nozzle and the first motor are all connected with the control device; the fan exhausts air outwards so that the trolley is adsorbed on the glass curtain wall through the extrusion action by the counterforce. On one hand, the high-altitude glass curtain wall scrubbing robot can realize the continuous stability and reliability of the adsorption function of the high-altitude glass curtain wall scrubbing robot; on the other hand, the accurate and automatic control of the moving speed and the moving direction of the scrubbing robot in the scrubbing process can be realized; on the other hand, the scrubbing efficiency of the glass curtain wall scrubbing robot can be improved.
Description
Technical Field
The invention discloses a high-altitude glass curtain wall scrubbing robot.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The inventor finds that the current high-altitude glass curtain wall scrubbing robot mainly comprises the following defects:
1. the negative pressure adsorption type high-altitude glass curtain wall scrubbing robot sucks air through the sucker to form negative pressure, the robot is adsorbed on the surface of glass, the obstacle crossing function cannot be realized, when the scrubbing robot turns over, the negative pressure is reduced, and the falling accident is easy to happen;
2. the magnetic adsorption type high-altitude glass curtain wall scrubbing robot adsorbs the robot on the surface of glass through strong magnets on two sides of the glass, and the obstacle crossing function cannot be realized;
3. the electrostatic adsorption type high-altitude glass curtain wall scrubbing robot has light weight and small volume, so that the high-efficiency cleaning of large-area glass cannot be realized;
4. the brush dry-wiping type high-altitude glass curtain wall scrubbing robot can only wipe off dust on the surface of glass, and the scrubbing effect is poor;
5. high-altitude glass curtain wall scrubbing robots such as high-pressure water-spraying type and scraper type need to consider water inlet mechanism and drainage mechanism, and the structure is complicated, and scrubbing efficiency is relatively poor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the high-altitude glass curtain wall scrubbing robot which can realize the continuous stability and reliability of the adsorption function of the high-altitude glass curtain wall scrubbing robot on one hand; on the other hand, the accurate and automatic control of the moving speed and the moving direction of the scrubbing robot in the scrubbing process can be realized; on the other hand, the scrubbing efficiency of the glass curtain wall scrubbing robot can be improved.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, embodiments of the present invention provide an overhead glass curtain wall scrubbing robot; the device comprises an auxiliary box body and a scrubbing vehicle, wherein the auxiliary box body is connected with the scrubbing vehicle through a rope; a space for placing the control device and the glass water is arranged in the auxiliary box body; the scrubbing vehicle comprises a vehicle frame, wheels are arranged at the bottom of the vehicle frame and connected with a first motor, and a fan, a scrubbing device and a nozzle are arranged on the vehicle frame; the fan, the scrubbing device, the nozzle and the first motor are all connected with the control device; the fan exhausts air outwards, so that the trolley is adsorbed on the glass curtain wall through the extrusion action by using the counterforce.
As a further technical scheme, the scrubbing device is connected with the frame through a baffle telescopic structure.
As a further technical scheme, the device also comprises a second motor, and the second motor drives the scrubbing device to rotate through a transmission wheel.
As a further technical scheme, the scrubbing device comprises a plurality of scrubbing devices which are arranged in a row.
As a further technical scheme, the fan comprises a plurality of fans which are symmetrically arranged in the frame.
As a further technical scheme, the spray nozzles are arranged in front of the scrubbing device along the moving direction of the scrubbing vehicle during working.
As a further technical scheme, the plurality of nozzles are arranged in a row or a plurality of rows.
As a further technical scheme, the interior of the auxiliary box body is divided into two closed independent spaces, wherein one space is used for installing the control device, and the other space is used for containing the glass water.
The beneficial effects of the above-mentioned embodiment of the present invention are as follows:
1. the method provided by the invention is characterized in that the thrust action of the fan is utilized, so that the trolley can realize the adsorption function on the glass curtain wall, the trolley can be adsorbed on the glass curtain wall by forming a negative pressure region through outward exhaust of the fan or by the action of a sucking disc in the prior art, the stability of the negative pressure region is an important decision condition for realizing the adsorption function of the trolley, and the negative pressure region can not be ensured to be always in a stable state in the process of scrubbing the high-altitude glass curtain wall, so that the reliability and the safety of the adsorption of the trolley on the glass curtain wall can not be ensured.
2. Through singlechip programming to realize carrying out accurate control to four speed reduction direct current motor motors of four wheels, thereby make the dolly from top to bottom remove realize stronger controllability during high altitude construction, guarantee that the dolly can be normal carry out high altitude glass curtain wall and clean work.
3. The invention provides a split scrubbing mode for the scrubbing device, and compared with the integrated scrubbing device in the prior art, the scrubbing device in the prior art cannot conveniently clean the scrubbing tool, so that the scrubbing efficiency is reduced. The idea provided by the invention is that the detachable scrubbing tool is sleeved on the fixed mechanical structure to realize the scrubbing function, so that the scrubbing tool which has been operated for a period of time can be conveniently detached from the device for cleaning, and the cleaning efficiency is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a high altitude glass curtain wall scrubbing robot disclosed by the invention;
FIG. 2 is a high altitude glass curtain wall scrubbing robot disclosed by the invention;
FIG. 3 is a high altitude glass curtain wall scrubbing robot disclosed by the invention;
in the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only.
1 rope, 2 transmission chains, 3 driven gears, 4 fans, 5 electric nozzles, 6 electric nozzles, 7 fans, 8 fans, 9 electric nozzles, 10 fans, 11 driven wheels, 12 driven wheels, 13 motors, 14 driven wheels, 15 ropes, 16 scrubbing devices, 17 scrubbing devices, 18 wheels, 19 direct current speed reducing motors, 20 wheels, 21 direct current speed reducing motors, 22 direct current speed reducing motors, 23 wheels, 24 direct current speed reducing motors, 25 wheels, 26 scrubbing devices, 27 scrubbing devices, 28 auxiliary boxes, 29 baffle telescopic structures, 30 baffle telescopic structures, 31 baffle telescopic structures and 32 baffle telescopic structures.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
The terms "mounted", "connected", "fixed", and the like in the present invention are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As introduced by the background technology, the defects in the prior art are overcome, and in order to solve the technical problems, the invention provides an overhead glass curtain wall scrubbing robot.
In a typical embodiment of the invention, as shown in fig. 1, the high-altitude glass curtain wall scrubbing robot provided by the embodiment comprises an auxiliary box body and a scrubbing vehicle, wherein the auxiliary box body is connected with the scrubbing vehicle through a rope; specifically, the trolley is connected with the auxiliary box body through a rope 1 and a rope 15; on the roof where the scrubbing work is to be performed, the sub-tank 28 shown in fig. 1 is gradually released from the high place to the low place together with the scrubbing robot working carriage through the rope 1 and the rope 15.
Further, the inside of the sub-tank 28 in this embodiment is divided into two parts, one part is used for placing the single chip microcomputer control system elements for controlling the movement of the scrubbing cart and scrubbing, and the other part is used for containing the glass water for scrubbing. In this embodiment, the scrub cart is separated from the sub-housing 28, mainly to reduce the weight of the scrub cart and ensure that the scrub cart can be successfully attached to the glass curtain wall under the thrust of the fan.
The trolley comprises a frame, two direct current speed reducing motors are respectively arranged on frame bodies opposite to the two sides of the frame, and a direct current speed reducing motor 19 and a direct current speed reducing motor 21 are arranged on the upper side of the frame in a corresponding manner in fig. 2; a direct current speed reducing motor 24 and a direct current speed reducing motor 22 are arranged on the lower side of the frame, wherein the direct current speed reducing motor 19 drives the wheels 18 to rotate; the direct-current speed reduction motor 21 drives the wheels 20 to rotate; the direct-current speed reduction motor 22 drives the wheels 23 to rotate; the direct-current speed reduction motor 24 drives the wheels 25 to rotate; the trolley can move on the glass curtain wall through the four wheels. It will of course be appreciated that in some embodiments the wheels may be arranged in two, with both wheels driving the trolley.
Further, still be equipped with four fans in this embodiment inside the frame, be respectively: fan 4, fan 7, fan 8, fan 10; the four fans are arranged in the frame according to four directions, namely front, rear, left and right; open through fan 4, fan 7, fan 8, fan 10, thereby outside exhaust utilizes the reaction force to make the dolly adsorb on the glass curtain wall through the squeezing action with it, also can guarantee to have the frictional force effect between wheel and the glass curtain wall simultaneously to provide the basic condition for the normal removal of dolly on the glass curtain wall on next step. It is understood that, in other embodiments, 3, 2, 5, or 6 fans may be provided, specifically, according to the size of the glass curtain wall and the power of the fans.
Furthermore, four scrubbing devices are also arranged on the frame; respectively, scrub device 16, scrub device 17, scrub device 26, scrub device 27; assuming that the up-down moving direction of the trolley is taken as the vertical direction, the installation directions of the four scrubbing devices are transversely installed; and the four scrubbing devices are respectively connected with the frame through a baffle plate telescopic structure. Further, the scrubbing device 16 is connected with the frame through a baffle telescopic structure 29; the scrubbing device 17 is connected with the frame through a baffle telescopic structure 30, the scrubbing device 26 is connected with the frame through a baffle telescopic structure 31, and the scrubbing device 27 is connected with the frame through a baffle telescopic structure 32; the main functions of baffle extending structure 29, baffle extending structure 30, baffle extending structure 31, baffle extending structure 32 realization are, when the barrier is strideed across to the dolly, through the collision squeezing action between baffle extending structure substructure and the barrier and then drive the elastic contraction structure of baffle extending structure superstructure and realize that the spring part above that is compressed, thereby make whole scrubbing device 16, scrubbing device 17, scrubbing device 26, scrubbing device 27 rise certain height and avoid scrubbing device's damage that produces too big squeezing force effect and lead to between scrubbing device and the glass curtain wall, also can avoid scrubbing device and glass curtain wall between produce too big squeezing force effect and the dolly unstability that leads to and the incident that takes place. It should be further noted that, in other embodiments, 3, 2, 5, or 6 scrubbing devices may be further provided, specifically, the scrubbing devices are provided according to the size of the glass curtain wall; correspondingly, the number of the baffle telescopic structures is adjusted according to the number of the scrubbing devices.
In addition, the four scrubbing devices 16, 17, 26 and 27 can rotate, specifically, the direct-current speed reduction motor 13 drives the driving gear to rotate, the driving gear realizes motion transmission with the driven gear 3, the driven wheel 11, the driven wheel 12 and the driven wheel 14 through the transmission chain 2, so that the scrubbing devices 16, 17, 26 and 27 are driven to rotate, and the scrubbing function is realized through contact friction between the driving gear and the glass curtain wall.
Further, an electric spray head 5, an electric spray head 6 and an electric spray head 9 are also arranged on the frame; the working principle of the electric spray heads 5, 6 and 9 is that a plurality of spray heads are connected with a glass water storage bin of the auxiliary box body, the glass water storage bin is mainly used for providing the glass water for scrubbing, and the electric spray heads 5, 6 and 9 are controlled by programming of a single chip microcomputer to realize the automatic identification and judgment function of spraying water only in the scrubbing working process.
Further, the automatic control device also comprises a control device, the automatic control device adopts a single chip microcomputer, and the speed control of the direct current speed reducing motor 13 in the figure 1, the direct current speed reducing motor 19, the direct current speed reducing motor 21, the direct current speed reducing motor 22 and the direct current speed reducing motor 24 in the figure 2 and the speed control of the electric spray head 5, the electric spray head 6 and the electric spray head 9 in the figure 1 are mainly realized through the programming of the single chip microcomputer.
The control of the moving speed of the wheels 18 controlled by the motor is realized by controlling the speed of the DC speed reducing motor 19 through the singlechip, the control of the moving speed of the wheels 20 controlled by the motor is realized by controlling the speed of the DC speed reducing motor 21, the control of the moving speed of the wheels 23 controlled by the motor is realized by controlling the speed of the DC speed reducing motor 22, and the control of the moving speed of the wheels 25 controlled by the motor is realized by controlling the speed of the DC speed reducing motor 24, so that the moving speed and the moving direction of the trolley on the glass curtain wall are controlled.
The rotation speed of the driving gear in the scrubbing part structure shown in fig. 2 is controlled by controlling the speed of the direct current speed reducing motor 13 through the single chip microcomputer, and the gear is in motion transmission with the driven gear 3, the driven gear 11, the driven gear 12 and the driven gear 14 through the transmission chain 2, so that the scrubbing device 16, the scrubbing device 17, the scrubbing device 26 and the scrubbing device 27 are driven to rotate, and the scrubbing function is realized through contact friction between the scrubbing device and the glass curtain wall.
The electric spray heads 5, 6 and 9 are controlled by the singlechip programming, so that the automatic identification and judgment function of spraying water only in the process of scrubbing work is realized.
The specific working process of the device provided by the embodiment is as follows:
firstly, in the initial descending process of the auxiliary box body 28 and the scrubbing trolley, the auxiliary box body and the scrubbing trolley are both in a suspended state and are pulled by a rope, the gravity of the auxiliary box body and the scrubbing trolley is mainly born by a supporting structure for releasing the rope on the roof, when the scrubbing trolley descends to a working area, four fans on the trolley start to work, the fans exhaust outwards, so that the trolley is adsorbed on a glass curtain wall by utilizing the extrusion action of the reaction force, and at the moment, the auxiliary box body is still in the suspended state; the trolley is controlled by wheels, the auxiliary box body can move along with the trolley all the time by releasing the rope, the scrubbing trolley performs linear scrubbing work from top to bottom until the scrubbing trolley leaves a working area, at the moment, the fan on the scrubbing trolley stops working, the auxiliary box body and the trolley are in a suspended state, and at the moment, the auxiliary box body and the scrubbing trolley are pulled back to the roof through the support structure of the roof by contracting the rope to prepare for the next scrubbing work.
The working principle of the scrubbing robot is described in detail as follows:
in the schematic diagram shown in fig. 1, the trolley is connected with the rope 1 and the rope 15 and the auxiliary box body, and the cleaning process from the high position to the low position and the next scrubbing task from the low position to the high position are realized by winding and unwinding the rope, and it should be further noted that the scrubbing robot disclosed in the embodiment is in a single-pass working mode, that is, the scrubbing task is performed only in the releasing process from the high position to the low position, and the scrubbing is not performed in the returning process from the low position to the high position.
In the process of being pulled and hung by a rope, the fan 4, the fan 7, the fan 8 and the fan 10 are opened to exhaust air outwards, so that the trolley is adsorbed on the glass curtain wall by utilizing the reaction force through the extrusion action, and meanwhile, the friction action between the wheels and the glass curtain wall can be ensured, thereby providing basic conditions for the normal movement of the trolley on the glass curtain wall in the next step;
the control of the moving speed of the four wheels controlled by the motors is realized by controlling the speed of the four direct current motors by the singlechip, so that the moving speed and the moving direction of the trolley on the glass curtain wall are controlled;
the control of the rotation speed of a driving gear in a scrubbing part structure is realized by controlling the motor 13 through the single chip microcomputer, the gear is driven to move and transmit with the driven gear 3, the driven gear 11, the driven gear 12 and the driven gear 14 through the transmission chain 2, so that the scrubbing device 16, the scrubbing device 17, the scrubbing device 26 and the scrubbing device 27 are driven to rotate, and the scrubbing function is realized through contact friction between the scrubbing device and a glass curtain wall.
The electric spray heads 5, 6 and 9 are controlled by the singlechip programming to realize the automatic identification and judgment function of spraying water only in the process of scrubbing work;
further, when the barrier is strideed across to the dolly, through the collision squeezing action between baffle extending structure substructure and the barrier and then drive the spring part of baffle extending structure superstructure and realize that it is partly compressed to make whole wash the dress and rise certain height and avoid scrubbing the damage of device that produces too big squeezing force effect and lead to between device and the glass curtain wall, also can avoid scrubbing the dolly unstability that produces too big squeezing force effect and lead to between device and the glass curtain wall and the incident that takes place.
The trolley can realize the adsorption effect on the glass curtain wall through the thrust effect of the trolley fan, the trolley can be adsorbed on the glass curtain wall by mainly forming a negative pressure region through outward exhaust of the fan or through the action of a sucking disc in the prior art, the stability of the negative pressure region is an important determining condition for realizing the adsorption function of the trolley, and the negative pressure region cannot be ensured to be always in a stable state in the process of scrubbing the high-altitude glass curtain wall, so that the reliability and the safety of the adsorption of the trolley on the glass curtain wall cannot be ensured.
According to the invention, the four speed reducing direct current motor motors of the four wheels are accurately controlled through the programming of the single chip microcomputer, so that the trolley can move from top to bottom, and the trolley can realize strong controllability during high-altitude operation, and can be ensured to normally carry out high-altitude glass curtain wall scrubbing work.
The invention provides a split scrubbing mode for the scrubbing device, and compared with the integrated scrubbing device in the prior art, the scrubbing device in the prior art cannot conveniently clean the scrubbing tool, so that the scrubbing efficiency is reduced. The idea provided by the invention is that the detachable scrubbing tool is sleeved on the fixed mechanical structure to realize the scrubbing function, so that the scrubbing tool which has been operated for a period of time can be conveniently detached from the device for cleaning, and the cleaning efficiency is improved.
Finally, it is also noted that relational terms such as first and second, and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A high-altitude glass curtain wall scrubbing robot; the device is characterized by comprising an auxiliary box body and a scrubbing vehicle, wherein the auxiliary box body is connected with the scrubbing vehicle through a rope; a space for placing the control device and the glass water is arranged in the auxiliary box body; the scrubbing vehicle comprises a vehicle frame, wheels are arranged at the bottom of the vehicle frame and connected with a first motor, and a fan, a scrubbing device and a nozzle are arranged on the vehicle frame; the fan, the scrubbing device, the nozzle and the first motor are all connected with the control device; the fan exhausts air outwards, so that the trolley is adsorbed on the glass curtain wall through the extrusion action by using the counterforce.
2. The high altitude glass curtain wall scrubbing robot as claimed in claim 1, wherein said scrubbing means is connected to the frame by a telescopic structure of the baffle.
3. The high altitude glass curtain wall scrubbing robot of claim 1; the electric scrubbing device is characterized by further comprising a second motor, and the second motor drives the scrubbing device to rotate through a transmission wheel.
4. The overhead glass curtain wall scrubbing robot as claimed in claim 1, wherein said scrubbing means comprises a plurality of scrubbing means arranged in a row.
5. The high altitude glass curtain wall scrubbing robot as claimed in claim 1, wherein said plurality of fans are symmetrically disposed within said frame.
6. The overhead glass curtain wall scrubbing robot of claim 1 wherein said spray nozzles are positioned in front of said scrubbing means in the direction of travel of said scrubbing vehicle during operation.
7. The high altitude glass curtain wall scrubbing robot as claimed in claim 1, wherein said plurality of nozzles are arranged in a plurality of rows or a plurality of rows.
8. The high altitude glass curtain wall scrubbing robot as claimed in claim 1, wherein said secondary box is divided into two separate enclosed spaces, one for installing the control device and the other for containing the glass water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110129869.6A CN112998568A (en) | 2021-01-29 | 2021-01-29 | High-altitude glass curtain wall scrubbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110129869.6A CN112998568A (en) | 2021-01-29 | 2021-01-29 | High-altitude glass curtain wall scrubbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112998568A true CN112998568A (en) | 2021-06-22 |
Family
ID=76384671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110129869.6A Pending CN112998568A (en) | 2021-01-29 | 2021-01-29 | High-altitude glass curtain wall scrubbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454979A (en) * | 2022-02-11 | 2022-05-10 | 扬州市职业大学(扬州开放大学) | Wall crawling device |
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| CN204744022U (en) * | 2015-05-28 | 2015-11-11 | 赵少平 | Formula of breathing in wall device of keeping a public place clean |
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| CN114454979A (en) * | 2022-02-11 | 2022-05-10 | 扬州市职业大学(扬州开放大学) | Wall crawling device |
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