CN114052552A - Automatic curtain wall detection and cleaning device - Google Patents
Automatic curtain wall detection and cleaning device Download PDFInfo
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- CN114052552A CN114052552A CN202111221764.XA CN202111221764A CN114052552A CN 114052552 A CN114052552 A CN 114052552A CN 202111221764 A CN202111221764 A CN 202111221764A CN 114052552 A CN114052552 A CN 114052552A
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention provides an automatic curtain wall detection and cleaning device which comprises a multi-pole rotating manipulator, wherein the manipulator is rotatably installed on a base, a main machine seat connected with a multi-pole linear module assembly is installed in the base, the free end of the manipulator is connected with a rotary disk seat through an electromagnet, the lower part of the disk seat is rotatably connected with an installation seat plate capable of installing a detection module and a cleaning module, and bent arms are symmetrically installed on the side part of the disk seat. The invention provides an equipment device which can be used for assisting in attaching an installation detection cleaning unit to a curtain wall through a manipulator and crawling on the curtain wall through the self structure of the detection cleaning unit so as to finish the detection cleaning, has higher automation degree and can partially replace manpower to finish the detection and cleaning tasks in a region which is difficult to reach.
Description
Technical Field
The invention relates to the field of curtain wall detection and cleaning, in particular to an automatic curtain wall detection and cleaning device.
Background
The curtain wall is the outer wall enclosure of the building, does not bear the weight, hangs like a curtain, so is also called as a curtain wall, and is a light wall with decorative effect commonly used by modern large-scale and high-rise buildings. The building outer protective structure or decorative structure consists of a panel and a support structure system, can have certain displacement capacity or certain deformation capacity relative to the main structure, and does not bear the function of the main structure.
The architectural decoration curtain wall has been used in the building engineering before 150 years (in the middle of 19 th century), and due to the limitation of materials and processing technology at that time, the curtain wall cannot meet the requirements of absolute water tightness, air tightness, resistance to attack of various natural external forces (such as wind, earthquake and air temperature), thermophysical factors (thermal radiation and condensation), sound insulation, fire prevention and the like, and cannot be well developed and popularized all the time.
Since the 20 th century and the 50 th century, due to the rapid development of building materials and processing techniques, various types of building materials have been successfully developed, such as the invention of various sealants and the appearance of other sound-insulating and fireproof filling materials, the index requirements of the periphery of a building on curtain walls are well met, and the building material gradually becomes a new decoration trend of the current exterior wall buildings. Today, curtain walls are not only widely used for exterior walls of various buildings, but also applied to interior walls of buildings with various functions, such as communication rooms, television studios, airports, bus stations, gymnasiums, museums, cultural centers, hotels, and shopping malls. In future, due to the combination of curtain wall technology and science and technology, the intelligent curtain wall responds to the global call for energy conservation and emission reduction, and the unique charm of the building can be displayed if the intelligent curtain wall such as a solar photovoltaic curtain wall, an air duct breathing curtain wall, an induction wind and rain intelligent curtain wall and the like.
The curtain wall is a structure with stronger independent unit property, and most of outdoor curtain wall structures have the greatest advantage of being independently replaceable. However, due to the need for manual work at high altitudes, the cost of maintenance or cleaning of curtain walls is relatively high and the frequency is relatively low. How to provide an equipment unit which has high automation degree and can detect and clean curtain wall products is a direction which needs to be researched.
Disclosure of Invention
The invention provides a curtain wall automatic detection cleaning device, which solves the problems in the prior art.
The technical scheme of the invention is realized as follows:
curtain automated inspection cleaning device, including multipolar pivoted manipulator, the manipulator is installed on a base with rotating, install the host computer seat of being connected with multipolar sharp module subassembly in the base, the free end of manipulator passes through the electro-magnet and connects the rotary type dish seat, the installation bedplate that the dish seat lower part rotates and is connected with mountable detection module and clean module, the arm of buckling is installed to dish seat lateral part symmetry.
As a preferred scheme of the invention, the upper part of the main base is rotatably connected with a main turntable, a base motor is arranged on the main turntable, and the base motor drives the main turntable to rotate relative to the main base; the manipulator is fixed on the main turntable.
As a preferable scheme of the present invention, the manipulator includes a first connecting seat fixed on the base, the first connecting seat is rotatably connected to a main arm, the first connecting seat is provided with a first rotating motor for driving the main arm to rotate, and a driving rotating shaft of the first rotating motor is horizontally disposed.
As a preferable scheme of the present invention, a second rotating motor is installed at a free end of the main arm, and a second connecting seat rotating relative to the main arm is fixed on the second rotating motor.
As a preferable scheme of the present invention, the second connecting seat is rotatably connected with a free end arm, the free end arm is driven to rotate by a third rotating motor disposed on the second connecting seat, and a free end of the free end arm is provided with an electromagnetic suction joint.
As a preferable scheme of the present invention, the tray base includes an upper fixing plate and a lower fixing plate which are arranged in parallel, the upper fixing plate and the lower fixing plate are connected and fixed by a plurality of connecting rods, an upper mounting cavity structure is arranged at the upper portion of the upper fixing plate, a vertical rotating shaft is arranged in the middle of the upper mounting cavity structure, the lower portion of the rotating shaft penetrates through the upper fixing plate and then is linked with the upper rotating motor, and the upper rotating motor is fixed on the lower surface of the upper fixing plate.
As a preferred scheme of the present invention, a main gear is mounted on the top surface of the upper mounting cavity structure, the main gear is fixedly connected to the rotating shaft, at least one driven gear engaged with the main gear is mounted on the top surface of the upper mounting cavity structure, a connecting block magnetically connected to a free end of the manipulator is disposed on the upper surface of the upper mounting cavity structure, and the connecting block is fixedly connected to the driven gear through a rod member penetrating through the upper mounting cavity structure.
According to the preferable scheme of the invention, the lower surface of the lower fixing plate is provided with a mounting box, a plurality of multi-stage rotating rods are arranged in the mounting box, the multi-stage rotating rods in the same group are linked through a synchronous belt, and each group of multi-stage rotating rod is driven to rotate through a follow-up motor.
As a preferable scheme of the invention, the lower part of the multi-stage rotating rod penetrates out of the mounting box, the free end of the lower part of the multi-stage rotating rod is connected with a plug socket, and the mounting seat plate is detachably plugged in the plug socket.
As a preferable scheme of the invention, the bending arm comprises a vertical rotating shaft motor fixed on the side part of the disc seat, the vertical rotating shaft motor is linked with a bending seat, the free end of the bending seat is linked with a first connecting arm through the rotating shaft motor, the first connecting arm is linked with a second connecting arm through the rotating shaft motor, the free end of the second connecting arm is provided with a control cavity, the free end of the control cavity is provided with a rubber bowl, and the control cavity is internally provided with an air suction pump connected with the rubber bowl.
Has the advantages that:
curtain automated inspection cleaning device, including multipolar pivoted manipulator, the manipulator is installed on a base with rotating, install the host computer seat of being connected with multipolar sharp module subassembly in the base, the free end of manipulator passes through the electro-magnet and connects the rotary type dish seat, the installation bedplate that the dish seat lower part rotates and is connected with mountable detection module and clean module, the arm of buckling is installed to dish seat lateral part symmetry. The invention provides an equipment device which can be used for assisting in attaching an installation detection cleaning unit to a curtain wall through a manipulator and crawling on the curtain wall through the self structure of the detection cleaning unit so as to finish the detection cleaning, has higher automation degree and can partially replace manpower to finish the detection and cleaning tasks in a region which is difficult to reach.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a base robot according to the present invention;
FIG. 3 is a cross-sectional view of the disk seat of the present invention;
FIG. 4 is a schematic structural diagram of a detection module according to the present invention.
In the figure, a base 100, a main base 101, a base motor 102, a main turntable 103, a robot 200, a main arm 201, a first connecting base 202, a first rotating motor 203, an electromagnetic suction head 204, a second rotating motor 205, a second connecting base 206, a third rotating motor 207, a free end arm 208, a disk base 300, an upper fixing plate 301, a lower fixing plate 302, an upper rotating motor 303, a main gear 304, a driven gear 305, a connecting block 306, a mounting box 307, a servo motor 308, a synchronous belt 309, a multi-stage rotating rod 310, a mounting base plate 311, a socket 312, a bending arm 400, a vertical rotating shaft motor 401, a bending base 402, a first connecting arm 403, a second connecting arm 404, an air suction pump 405, a control cavity 406 and a rubber bowl 407 are shown.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The curtain wall automatic detection cleaning device as shown in fig. 1 and fig. 2 comprises a multi-stage rotating manipulator 200, wherein the manipulator 200 is rotatably mounted on a base 100, and a main machine base 101 connected with a multi-stage linear module assembly is mounted in the base 100.
This design multipolar sharp module main effect is the removal that drives main engine mount 101 and accomplish X axle direction and Y axle direction, it accomplishes most basic horizontal migration state to drive whole detection cleaning device, chinese patent number 202120051878.3's a low-cost well low accuracy straight line module structure in being applicable to this design, it includes X to sharp module and install the Y to sharp module on X to sharp module, X includes the truss to sharp module, install the channel-section steel on the truss, install X on the channel-section steel to the slip subassembly and install the X at the truss tip to drive mechanism, Y includes the mount to sharp module, install the channel-section steel on the mount, install Y on the channel-section steel to the slip subassembly and install the Y at the mount tip to drive mechanism, Y still installs the revolving stage to last the sharp module. The X-direction transmission mechanism comprises a motor, an X-direction transmission rod, a gear piece and a synchronous wheel which are arranged on the X-direction transmission rod, a fastening wheel arranged on the truss, a belt used for connecting the motor and the gear piece and a synchronous belt used for transmission. The truss has two, and parallel arrangement, be connected with link and fixed bolster between two trusss, X is to the bottom at the fixed bolster of transfer line installation, its both ends respectively with the end connection of two trusss, the synchronizing wheel has four, wherein two synchronizing wheels are installed respectively at the both ends of X to the transfer line, the tip at two trusss is installed respectively to two other synchronizing wheels, the bottom at the truss is installed to the motor, gear piece installs the tip at X to the transfer line, motor and gear piece are connected respectively to the both ends of belt, the hold-in range passes the bottom of X to sliding assembly and rather than fixed connection, the both ends of hold-in range are connected with the synchronizing wheel at truss both ends respectively, the both ends at the hold-in range bottom are installed respectively to the fastening wheel. The channel-section steel is installed in the both sides on truss upper portion, and X is to the slip subassembly including the sliding seat, install the dead lever on the sliding seat and install the bearing on the dead lever, and the dead lever is installed at four ends of sliding seat, and the bearing is located the inside of channel-section steel. The Y-direction transmission mechanism comprises a motor, a Y-direction transmission rod, a belt, a synchronous wheel and a gear piece which are arranged on the Y-direction transmission rod, and a synchronous belt used for connecting the synchronous wheel. The two Y-direction transmission rods and the two fixing frames are arranged in parallel, the two Y-direction transmission rods are respectively arranged at two ends of the two fixing frames, the gear piece is arranged at the end of one Y-direction transmission rod, two synchronizing wheels are arranged on each Y-direction transmission rod, the motor is arranged at the end of the bottom of the fixing frame, two ends of the belt are respectively connected with the gear piece and the motor, the synchronous belt penetrates through the bottom of the rotating table and is fixedly connected with the rotating table, and two ends of the synchronous belt are respectively connected with the synchronizing wheels on the two Y-direction transmission rods. The revolving stage is fixed on Y is to the slip subassembly, and Y includes the bottom plate to the slip subassembly, installs at the dead lever at bottom plate both ends, installs the bearing on the dead lever and installs the chassis on the bottom plate, and the bottom plate is installed on the channel-section steel of Y to sharp module, and the bearing is located the channel-section steel.
As shown in fig. 1 and fig. 2, the free end of the robot 200 is connected to the rotary tray 300 through an electromagnet, a small-scale electromagnet of chinese patent No. 201420012560.4, can be used as the basic design of the electromagnet in the robot, the miniature proportional electromagnet comprises a stop iron, a connecting ring, an armature, a pole shoe, a coil and a yoke iron, wherein a stop iron inner hole is formed in the stop iron, the left end of the conical surface is provided with a circular ring-shaped plane and a conical surface with a specific angle, a connecting ring inner hole is formed in the connecting ring, a pole shoe inner hole is formed in the pole shoe, the connecting ring is located between the stop iron and the pole shoe, the armature is cylindrical, an input signal connector is arranged on the coil, a through hole which is not concentric with the outer diameter of the armature is formed in the armature, the armature is not in contact with the surface of the connecting ring inner hole, the outer cylindrical surface of the armature is in clearance fit with the stop iron inner hole, and the pole shoe inner hole is 0.01-0.03 mm, the maximum outer diameter of the miniature proportional electromagnet is not larger than 22mm, and the length is not larger than 33 mm. The connecting ring is a non-magnetic-conduction connecting ring, the stop iron is a soft magnetic stop iron, the stop iron is provided with a cylindrical surface used for realizing interference fit connection with the connecting ring, the pole shoe is a soft magnetic pole shoe, and the pole shoe is provided with a cylindrical surface used for realizing interference fit connection with the connecting ring. The armature is a soft magnetic armature, and a non-magnetic-conductive wear-resistant layer with the thickness of 0.01-0.04 mm and low friction coefficient is arranged on the surface of the armature. The surfaces of the stop iron and the pole shoe are both provided with corrosion-resistant and wear-resistant layers for resisting corrosion and reducing friction coefficient. Through the design of electro-magnet, the disk seat has become an independent module that can peel off at any time, and this kind of independent module self sets up the adsorption structure that can adsorb on the wall, and it is very nimble changeable to use.
The lower part of the disk seat 300 is rotatably connected with an installation seat plate 311 which can be provided with a detection module and a cleaning module, wherein the detection module mainly has the function of detecting cracks or uneven parts in the front, the technical realization is easy, and the low-power-consumption bridge surface crack detection system of Chinese patent No. 201921951809.7 can be loaded on the detection module and comprises a GNSS positioning system, a comprehensive weather station, a video monitoring system, a vehicle load monitoring system, a server cloud platform, a wall climbing robot and a detection device, wherein the GNSS positioning system, the comprehensive weather station, the video monitoring system and the vehicle load monitoring system are connected with the server cloud platform through GPRS or 4G and transmit data to the server cloud platform which is also connected with the wall climbing robot, and the wall climbing robot is connected with the detection device through wires or wirelessly; the wall climbing robot comprises a microprocessor, a storage module, a power supply module, a positioning module, a wireless communication module and an RS-485 communication circuit, wherein the microprocessor is respectively connected with the storage module, the power supply module, the positioning module, the wireless communication module and the RS-485 communication circuit; the detection device comprises a crack observation instrument, a corrosion detector, a cable force dynamic measuring instrument, a shooting device and an illuminating device; crack visulizer, corrosion detector, cable power dynamic tester all with lighting device with wall climbing robot wired connection, shoot the device pass through wiFi or bluetooth with wall climbing robot wireless connection. The wall climbing robot can be replaced by a disk seat and a bending arm group connected with the disk seat.
The side of the disk seat 300 in fig. 3, convex 4, is symmetrically provided with a bending arm 400.
This equipment can also carry out overhanging action indoor at outdoor use, connects the plate holder through the characteristic of electro-magnet, treats that plate holder 300 position is put surely, and the rubber bowl in the bending arm passes through the assistance of aspirator pump 405, makes to detect clean unit "absorption" on the curtain wall, accomplishes the walking action through control module control bending arm in turn. An adaptive detection device or a cleaning device is installed in the installation seat plate 311 to perform a corresponding detection cleaning operation.
The detection cleaning unit is internally provided with a control module which comprises a control circuit, a power supply circuit, an MCU, a signal transceiver and other modules which are connected, and the specific structure is not repeated for the control scheme existing in the prior art.
The upper part of the main machine base 101 is rotatably connected with a main turntable 103, a base motor 102 is arranged on the main turntable 103, and the base motor 102 drives the main turntable 103 to rotate relative to the main machine base 101; the robot 200 is fixed to the main turntable 103.
The manipulator 200 includes a first connecting seat 202 fixed on the base 100, a main arm 201 is rotatably connected to the first connecting seat 202, a first rotating motor 203 for driving the main arm 201 to rotate is arranged on the first connecting seat 202, and a driving rotating shaft of the first rotating motor 203 is horizontally arranged.
A second rotating motor 205 is installed at the free end of the main arm 201, and a second connecting seat 206 rotating relative to the main arm 201 is fixed on the second rotating motor 205.
The second connecting seat 206 is rotatably connected with a free end arm 208, the free end arm 208 is driven to rotate by a third rotating motor 207 arranged on the second connecting seat 206, and the free end of the free end arm 208 is provided with an electromagnetic suction connector 204.
Example 2
The curtain wall automatic detection and cleaning device as shown in fig. 1 and fig. 2 comprises a multi-stage rotating manipulator 200, wherein the manipulator 200 is rotatably installed on a base 100, a main machine seat 101 connected with a multi-stage linear module assembly is installed in the base 100, the free end of the manipulator 200 is connected with a rotary type tray 300 through an electromagnet, the lower part of the tray 300 is rotatably connected with an installation seat plate 311 capable of installing a detection module and a cleaning module, and the side part of the tray 300 is symmetrically provided with a bending arm 400.
As shown in fig. 3, the tray base 300 includes an upper fixing plate 301 and a lower fixing plate 302 which are arranged in parallel, the upper fixing plate 301 and the lower fixing plate 302 are connected and fixed through a plurality of connecting rods, an upper mounting cavity structure is arranged on the upper portion of the upper fixing plate 301, a vertical rotating shaft is arranged in the middle of the upper mounting cavity structure, the lower portion of the rotating shaft penetrates through the upper fixing plate 301 and then is linked with the upper rotating motor 303, and the upper rotating motor 303 is fixed on the lower surface of the upper fixing plate 301.
The top surface of the upper mounting cavity structure is provided with a main gear 304, the main gear 304 is fixedly connected with the rotating shaft, the top surface of the upper mounting cavity structure is provided with at least one driven gear 305 meshed with the main gear 304, the upper surface of the upper mounting cavity structure is provided with a connecting block 306 magnetically connected with the free end of the manipulator 200, and the connecting block 306 is fixedly connected with the driven gear 305 through a rod penetrating through the upper mounting cavity structure.
The lower surface of the lower fixing plate 302 is provided with a mounting box 307, a plurality of multi-stage rotating rods 310 are arranged in the mounting box 307, the multi-stage rotating rods 310 in the same group are linked through a synchronous belt 309, and each group of multi-stage rotating rods 310 is driven to rotate through a servo motor 308. On multistage dwang outer wall, set up a plurality of concentric draw-in grooves along the axial, the effect of draw-in groove is the position of restriction hold-in range, sets up the draw-in groove of same position on every adjacent multistage dwang with the group, is equipped with a drive one-level dwang pivoted motor simultaneously, and the one-level dwang here is elected in by multistage dwang.
The lower part of the multi-stage rotating rod 310 penetrates out of the mounting box 307, the free end of the lower part of the multi-stage rotating rod is connected with a socket 312, and the mounting seat plate 311 is detachably plugged in the socket 312.
The curtain wall automatic detection cleaning device shown in fig. 1 comprises a multi-stage rotating manipulator 200, the manipulator 200 is rotatably installed on a base 100, a main machine seat 101 connected with a multi-stage linear module assembly is installed in the base 100, the free end of the manipulator 200 is connected with a rotary disk seat 300 through an electromagnet, the lower part of the disk seat 300 is rotatably connected with an installation seat plate 311 capable of installing a detection module and a cleaning module, and the side part of the disk seat 300 is symmetrically provided with a bending arm 400.
Example 3
As shown in fig. 4, the bending arm 400 includes a vertical rotating shaft motor 401 fixed on the side of the disc seat 300, the vertical rotating shaft motor 401 is linked with a bending seat 402, the free end of the bending seat 402 is linked with a first connecting arm 403 through the rotating shaft motor, the first connecting arm 403 is linked with a second connecting arm 404 through the rotating shaft motor, the free end of the second connecting arm 404 is provided with a control cavity 406, the free end of the control cavity 406 is provided with a rubber cup 407, and a suction pump 405 connected with the rubber cup 407 is arranged in the control cavity 406.
Chinese patent No. 201720844096.9's absorption mechanism of crawling and absorption glass curtain wall's cleaning robot, the logic of its walking and the walking logic in this design are in the bud west, and it specifically includes at least one device of crawling, and the device of crawling includes drive arrangement, flexible mechanical leg and removal support frame, wherein: the number of the telescopic mechanical legs is more than two, and the telescopic mechanical legs are distributed on the movable support rack along the circumferential direction of the movable support rack; drive arrangement is connected with flexible mechanical leg drive and can drive flexible mechanical leg for remove the support frame along the direction of perpendicular to face of washing and remove to the position that adsorbs in the position of face of washing and break away from the face of washing, and drive flexible mechanical leg around removing the support frame along the direction rotation that is on a parallel with the face of washing and removing, it crawls along rectilinear direction and curve direction to rotate in-process drive adsorb the mechanism of crawling on the face of washing, the cleaning device who adsorbs the curtain that exists among the solution prior art removes inflexible technical problem, adsorb the state of face of washing and drive flexible mechanical leg and rotate on removing the support frame through changing flexible mechanical leg, it can be linear motion and can turn on the face of washing to realize adsorbing the mechanism of crawling, the cleaning robot who adsorbs the curtain removes in a flexible way.
As an alternative embodiment, the driving device comprises an engine and a chain transmission mechanism, wherein the engine is positioned on the movable supporting rack, and the chain transmission mechanism is wound on the movable supporting rack; the engine can drive the movable support frame to move along the direction parallel to the cleaning surface through the chain transmission mechanism; the driving device also comprises an air compressor and an air cylinder; the telescopic mechanical leg comprises a sucker, a pneumatic valve and a connecting plate, the sucker is connected with the pneumatic valve, the connecting plate is connected with the pneumatic valve and a chain transmission mechanism, and a piston rod of the air cylinder is connected with the pneumatic valve; the telescopic mechanical leg comprises a sucker and a pneumatic valve, the sucker is connected with the pneumatic valve, and a piston rod of the cylinder is connected with the pneumatic valve; the air cylinder is communicated with the air compressor through a pneumatic valve, and the pneumatic valve controls the air cylinder to realize that the sucker and the pneumatic valve move along the direction vertical to the cleaning surface; the sucker is communicated with an air compressor through a pneumatic valve, and the pneumatic valve controls the state of the sucker for adsorbing the cleaning surface. Chain drive includes drive sprocket, driven sprocket and chain, wherein: the engine drives the driving chain wheel to rotate, the driving chain wheel drives the driven chain wheel to rotate through the chain, and the driving chain wheel and the driven chain wheel are both arranged between the upper supporting plate and the lower supporting plate. When the sucker needs to be adsorbed on the cleaning surface, the pneumatic valve controls the air cylinder, the piston rod drives the pneumatic valve and the sucker to move towards the cleaning surface until the sucker is contacted with the cleaning surface, the air compressor leads air to the pneumatic valve and the sucker, at the moment, the pneumatic valve is opened to release pressure, air in the sucker and the pneumatic valve quickly leaves the pneumatic valve and the sucker, the sucker is in a vacuum state, and the sucker is adsorbed on the cleaning surface under the action of external atmospheric pressure; when not needing the sucking disc to adsorb on the face of wasing, the pressure release department is closed to the pneumatic valve, and air compressor lets in the air through the pneumatic valve in to the sucking disc, and until the sucking disc with wash the absorption of face and remove, then under the control of pneumatic valve, the piston rod of cylinder drives pneumatic valve and sucking disc and moves toward the direction of keeping away from the face of wasing. The number of the telescopic mechanical legs can be one, and the shape of the movable support frame can be kidney-shaped; adsorb the in-process of crawling mechanism forward, flexible mechanical leg can rotate at least to the three position of preceding position, meso position and back position on the removal support frame, when adsorbing the mechanism of crawling and being linear motion, move for preceding towards that direction, adsorb when crawling the mechanism and be rotary motion, rotate for preceding towards which direction, wherein: the middle telescopic mechanical leg is adsorbed on the cleaning surface, the front telescopic mechanical leg is switched to the state of adsorbing the cleaning surface from the state of being separated from the cleaning surface, and the rear telescopic mechanical leg is switched to the state of being separated from the cleaning surface from the state of adsorbing the cleaning surface; the state switching time point of the rear telescopic mechanical leg is earlier than that of the front telescopic mechanical leg; the rest telescopic mechanical legs are in a state of being separated from the cleaning surface, and the time difference between the state switching of the rear telescopic mechanical leg and the state switching of the front telescopic mechanical leg enables the driving device to drive the movable support frame to move forwards. The movable support frame comprises an upper support plate and a lower support plate connected with the upper support plate, and the chain transmission mechanism is positioned between the upper support plate and the lower support plate.
When the crawling device does linear motion, the middle telescopic mechanical leg and the rear telescopic mechanical leg are positioned on the linear part, the front telescopic mechanical leg is positioned on the curved part, referring to the figure, the rear telescopic mechanical leg is switched to be separated from the cleaning surface from the state of adsorbing the cleaning surface, the driving sprocket rotates clockwise, the middle telescopic mechanical leg is adsorbed on the cleaning surface and is connected with the chain through the connecting plate, the driving sprocket rotates downwards along the chain on the linear part, the driving sprocket drives the movable support frame to move towards the direction of an arrow in the figure, the chain drives the driven sprocket to rotate clockwise as the length of the chain of the linear part is reduced until the front telescopic mechanical leg rotates to the linear part and is switched to be adsorbed on the cleaning surface from the state of being separated from the cleaning surface, and the front telescopic mechanical leg at the moment becomes the middle telescopic mechanical leg, the telescopic mechanical legs continuously change, so that the crawling device can move in the direction of an arrow in the figure;
when the crawling device rotates, the middle telescopic mechanical leg and the rear telescopic mechanical leg are positioned on the curved part, the front telescopic mechanical leg is positioned on the linear part, referring to the figure, the rear telescopic mechanical leg is changed from the state of adsorbing the cleaning surface to the state of separating from the cleaning surface, the driving sprocket rotates anticlockwise, because the middle telescopic mechanical leg is adsorbed on the cleaning surface and is connected with the chain through the connecting plate, make drive sprocket rotate downwards along the chain in the curve portion, drive sprocket drives and removes the direction rotation of support frame toward arrow point in the picture, and the chain drives driven sprocket and rotates, and the flexible mechanical leg of leading turns to the curve portion by the state of separating with the cleaning surface and truns into the state of adsorbing the cleaning surface and the flexible mechanical leg of leading becomes the flexible mechanical leg of meso position this moment, and flexible mechanical leg above-mentioned change in succession can make the device of crawling rotate to the direction of arrow point in the picture.
The adsorption crawling mechanism further comprises a rack, the rack is connected with the two crawling devices, and a gap is reserved between the two crawling devices. When the moving directions of the two crawling devices are the same, the adsorption crawling mechanism can move or rotate, for example: the two crawling devices move linearly in one direction at the same time, and the adsorption crawling mechanism moves linearly; the two crawling devices do curvilinear motion in the same direction, and the adsorption crawling mechanism does turning movement. The adsorption crawling mechanism further comprises a control device, the control device is electrically connected with the pneumatic valve, and the control device controls the pneumatic valve.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. Automatic curtain wall detection and cleaning device, which is characterized in that the device comprises a multi-pole rotating manipulator, the manipulator is rotatably installed on a base, a main machine seat connected with a multi-pole linear module assembly is installed in the base, the free end of the manipulator is connected with a rotary disc seat through an electromagnet, the lower part of the disc seat is rotatably connected with an installation seat plate capable of installing a detection module and a cleaning module, and a bending arm is symmetrically installed on the lateral part of the disc seat.
2. The curtain wall automatic detection and cleaning device according to claim 1, wherein a main turntable is rotatably connected to the upper portion of the main base, a base motor is arranged on the main turntable, and the base motor drives the main turntable to rotate relative to the main base; the manipulator is fixed on the main turntable.
3. The curtain wall automatic detection and cleaning device according to claim 1, wherein the manipulator comprises a first connecting seat fixed on the base, a main machine arm is rotatably connected to the first connecting seat, a first rotating motor for driving the main machine arm to rotate is arranged on the first connecting seat, and a driving rotating shaft of the first rotating motor is horizontally arranged.
4. The curtain wall automatic detection and cleaning device as claimed in claim 3, wherein a second rotating motor is mounted at a free end of the main arm, and a second connecting seat which rotates relative to the main arm is fixed on the second rotating motor.
5. The curtain wall automatic detection and cleaning device according to claim 4, wherein a free end arm is rotatably connected to the second connecting seat, the free end arm is driven to rotate by a third rotating motor arranged on the second connecting seat, and an electromagnetic suction joint is mounted at a free end of the free end arm.
6. The curtain wall automatic detection and cleaning device according to claim 1, wherein the tray base comprises an upper fixing plate and a lower fixing plate which are arranged in parallel, the upper fixing plate and the lower fixing plate are fixedly connected through a plurality of connecting rods, an upper mounting cavity structure is arranged on the upper portion of the upper fixing plate, a vertical rotating shaft is arranged in the middle of the upper mounting cavity structure, the lower portion of the rotating shaft penetrates through the upper fixing plate and then is linked with an upper rotating motor, and the upper rotating motor is fixed on the lower surface of the upper fixing plate.
7. The curtain wall automatic detection and cleaning device as claimed in claim 6, wherein a main gear is mounted on the top surface of the upper mounting cavity structure, the main gear is fixedly connected with the rotating shaft, at least one driven gear meshed with the main gear is mounted on the top surface of the upper mounting cavity structure, a connecting block magnetically connected with a free end of the manipulator is arranged on the upper surface of the upper mounting cavity structure, and the connecting block is fixedly connected with the driven gear through a rod penetrating through the upper mounting cavity structure.
8. The curtain wall automatic detection and cleaning device according to claim 6, wherein a mounting box is mounted on the lower surface of the lower fixing plate, a plurality of multi-stage rotating rods are arranged in the mounting box, the multi-stage rotating rods in the same group are linked through a synchronous belt, and each group of multi-stage rotating rod is driven to rotate through a follow-up motor.
9. The curtain wall automatic detection and cleaning device according to claim 8, wherein the lower portion of the multi-stage rotating rod penetrates through the mounting box, a plug socket is connected to the free end of the lower portion of the multi-stage rotating rod, and the mounting seat plate is detachably plugged in the plug socket.
10. The curtain wall automatic detection and cleaning device according to claim 1, wherein the bending arm comprises a vertical rotating shaft motor fixed on the side portion of the disc seat, the vertical rotating shaft motor is linked with a bending seat, the free end of the bending seat is linked with a first connecting arm through the rotating shaft motor, the first connecting arm is linked with a second connecting arm through the rotating shaft motor, the free end of the second connecting arm is provided with a control cavity, the free end of the control cavity is provided with a rubber bowl, and an air suction pump connected with the rubber bowl is arranged in the control cavity.
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| CN202111221764.XA CN114052552A (en) | 2021-10-20 | 2021-10-20 | Automatic curtain wall detection and cleaning device |
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| CN202111221764.XA CN114052552A (en) | 2021-10-20 | 2021-10-20 | Automatic curtain wall detection and cleaning device |
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| CN114052552A true CN114052552A (en) | 2022-02-18 |
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| US20050051200A1 (en) * | 2003-09-05 | 2005-03-10 | Chih-Kun Chen | Wafer cleaning apparatus with multiple wash-heads |
| CN105534392A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Walking-type glass-curtain-wall cleaning robot |
| CN106137021A (en) * | 2016-07-12 | 2016-11-23 | 张学衡 | A kind of bridge-cut-off aluminum door and window clean robot |
| CN108378765A (en) * | 2018-02-28 | 2018-08-10 | 贾国媛 | A kind of sucker type glass curtain cleaning device |
| CN112056981A (en) * | 2020-09-11 | 2020-12-11 | 郑州大学 | Novel vehicle-mounted glass cleaning robot |
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2021
- 2021-10-20 CN CN202111221764.XA patent/CN114052552A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050051200A1 (en) * | 2003-09-05 | 2005-03-10 | Chih-Kun Chen | Wafer cleaning apparatus with multiple wash-heads |
| CN105534392A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Walking-type glass-curtain-wall cleaning robot |
| CN106137021A (en) * | 2016-07-12 | 2016-11-23 | 张学衡 | A kind of bridge-cut-off aluminum door and window clean robot |
| CN108378765A (en) * | 2018-02-28 | 2018-08-10 | 贾国媛 | A kind of sucker type glass curtain cleaning device |
| CN112056981A (en) * | 2020-09-11 | 2020-12-11 | 郑州大学 | Novel vehicle-mounted glass cleaning robot |
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