CN114431794A - Glass curtain wall cleaning robot system based on safety rope driving - Google Patents
Glass curtain wall cleaning robot system based on safety rope driving Download PDFInfo
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- CN114431794A CN114431794A CN202210124153.1A CN202210124153A CN114431794A CN 114431794 A CN114431794 A CN 114431794A CN 202210124153 A CN202210124153 A CN 202210124153A CN 114431794 A CN114431794 A CN 114431794A
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- negative pressure
- safety rope
- curtain wall
- suction cup
- glass curtain
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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
- A47L11/4038—Disk shaped 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
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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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Abstract
The invention discloses a cleaning robot system for a glass curtain wall based on safety rope driving, which comprises a rotary curtain wall cleaning robot, wherein the rotary curtain wall cleaning robot comprises a central shaft, one end of the central shaft is coaxially connected with a central disc, the outer ring of the central disc rotates coaxially through a first bearing and is provided with a safety rope winding ring, the periphery of the safety rope winding ring is provided with a safety rope winding ring groove, a safety rope is wound on the safety rope winding ring groove, the leading-out part wound with the safety rope on the safety rope winding ring groove is marked as a safety rope hanging and pulling section, and the safety rope winding ring can be subjected to a rotating torque by external force pulling the safety rope hanging and pulling section; the power of the walking and the brush of the invention is completely from the safety rope hanging and pulling section, so the robot does not need to carry a lithium battery with high capacity and high weight, and the whole weight of the robot is further effectively reduced.
Description
Technical Field
The invention belongs to the field of curtain wall cleaning.
Background
The manual cleaning of stains on the glass curtain wall is very dangerous, a cleaning robot which is specially used for the glass curtain wall and can walk along the glass curtain wall is already provided, the walking unit of the robot and the power of the movement of the hairbrush are all the power provided by the lithium battery carried by the robot, so that the size and the total weight of the robot are very large, and the risk of high altitude is easily caused in the process that the falling robot walks along the glass curtain wall.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a glass curtain wall cleaning robot system based on safety rope driving, which does not need to carry a high-weight power battery.
The technical scheme is as follows: in order to achieve the purpose, the cleaning robot system for the glass curtain wall based on safety rope driving comprises a rotary type curtain wall cleaning robot, the rotary type curtain wall cleaning robot comprises a central shaft, one end of the central shaft is coaxially connected with a central disc, a safety rope winding ring rotates coaxially through a first bearing on the outer ring of the central disc, a safety rope winding ring groove is formed in the periphery of the safety rope winding ring, a safety rope is wound on the safety rope winding ring groove, a leading-out part, wound with the safety rope, of the safety rope winding ring groove is marked as a safety rope hanging and pulling section, and the safety rope winding ring can be subjected to a rotating torque through the external force pulling safety rope hanging and pulling section;
a first bearing hole and a second bearing hole are respectively formed in the eccentric position of the central disc; the first bearing hole and the second bearing hole are centrosymmetric relative to the axis of the central disk;
a first friction cylinder and a second friction cylinder are respectively arranged in the first bearing hole and the second bearing hole in a rotating way through a third bearing and a fourth bearing;
a first group of retractors are fixedly arranged in the first friction cylinder through a first retractor bracket, the extension direction of a first group of telescopic rods of the first group of retractors is parallel to the axial direction of the first friction cylinder, and a first negative pressure suction cup is fixedly arranged at the tail end of the first group of telescopic rods and can be fixedly adsorbed on the smooth surface of the glass curtain wall;
a second group of expanders are fixedly arranged in the second friction cylinder through a second expander support, the expansion direction of a second group of telescopic rods of the second group of expanders is parallel to the axial direction of the second friction cylinder, and a second negative pressure sucker is fixedly arranged at the tail end of the second group of telescopic rods and can be fixedly adsorbed on the smooth surface of the glass curtain wall;
a plurality of cleaning brushes are uniformly distributed on one side of the safety rope winding ring close to the first negative pressure sucking disc and the second negative pressure sucking disc in a circumferential array manner; when the first negative pressure sucker and the second negative pressure sucker are both adsorbed on the smooth surface of the glass curtain wall, the tail ends of the plurality of cleaning brushes are both contacted with the smooth surface of the glass curtain wall;
the safety rope winding device is characterized by further comprising a conical spiral torsion transfer spring which is coaxial with the safety rope winding ring and the central shaft, the upper end of a conical spiral of the conical spiral torsion transfer spring is fixedly connected with the central shaft, the lower end of the conical spiral torsion transfer spring is fixedly connected with the safety rope winding ring, and the torque of the safety rope winding ring is transferred to the central shaft through the conical spiral torsion transfer spring.
Furthermore, a cleaning liquid tank is fixedly arranged on one side of the central disc close to the conical spiral torsion force transfer spring; and a cleaning liquid nozzle is arranged on one side of the central disc close to the first negative pressure sucker and the second negative pressure sucker, and the liquid pump can spray liquid in the cleaning liquid water tank to the glass curtain wall through the cleaning liquid nozzle.
Further, a first semicircular arc friction plate is coaxially arranged on one side, close to the central shaft, of the first friction cylinder, and the inner arc surface of the first semicircular arc friction plate is in sliding friction fit with the outer wall of the first friction cylinder; the two ends of the first semicircular arc friction plate are uniformly connected with a first guide hole seat;
a second semi-arc friction plate is coaxially arranged on one side, close to the central shaft, of the second friction cylinder, and the inner arc surface of the second semi-arc friction plate is in sliding friction fit with the outer wall of the second friction cylinder; two ends of the second semi-circular arc friction plate are connected with a second guide hole seat uniformly;
the guide hole device also comprises a pair of transverse fixed guide rods, wherein two ends of each fixed guide rod respectively movably penetrate through the guide holes in the first guide hole seat and the second guide hole seat; the end part of the fixed guide rod is fixed on the upper surface of the central disc through a fixed seat, and a spring is sleeved on the fixed guide rod; two ends of the spring elastically press the first guide hole seat and the second guide hole seat, so that elastic pressing force is formed between the inner cambered surface of the first semicircular arc friction plate and the outer wall of the first friction cylinder, and elastic pressing force is formed between the inner cambered surface of the second semicircular arc friction plate and the outer wall of the second friction cylinder.
The safety rope hanging and pulling device comprises a safety rope hanging and pulling section, a rope winding drum and a rope winding drum, wherein the safety rope hanging and pulling section is arranged at the top of the safety rope hanging and pulling section;
when the first group of telescopic rods and the second group of telescopic rods extend out and the first negative pressure pump and the second negative pressure pump on the first negative pressure suction cup and the second negative pressure suction cup are started, the first negative pressure suction cup and the second negative pressure suction cup are fixedly adsorbed on the smooth surface of the glass curtain wall at the same time;
when the first group of telescopic rods extends out and the second group of telescopic rods retracts, the first negative pressure pump on the first negative pressure suction cup is started, and the second negative pressure suction cup and the second negative pressure pump are closed; therefore, the first negative pressure sucker is fixedly adsorbed on the smooth surface of the glass curtain wall, the second negative pressure sucker is separated from the smooth surface of the glass curtain wall, and the first friction cylinder and the central disc cannot spontaneously rotate relatively under the constraint of the friction force of the first semicircular arc friction plate;
when the first group of telescopic rods retracts and the second group of telescopic rods extends, the first negative pressure pump on the first negative pressure suction cup is closed, and the second negative pressure pump on the second negative pressure suction cup and the second negative pressure pump are started; so that the first negative pressure sucker is separated from the smooth surface of the glass curtain wall, and the second negative pressure sucker is adsorbed on the smooth surface of the glass curtain wall; and under the restriction of the friction force of the second semicircular arc friction plate, the second friction cylinder and the central disc cannot spontaneously rotate relatively.
Further, a first negative pressure pump and a second negative pressure pump are respectively arranged on the first negative pressure sucking disc and the second negative pressure sucking disc, and the starting or the closing of the first negative pressure pump can enable negative pressure to be formed in the first negative pressure sucking disc or normal pressure to be recovered; the starting or the closing of the second negative pressure pump can enable negative pressure to be formed in the second negative pressure sucker or normal pressure to be recovered;
the anti-stall falling safety device comprises a first roller and a second roller which are matched with each other in a rolling manner, wheel grooves are formed in the outer wheel surfaces, and a safety rope hanging and pulling section penetrates through and is tightly clamped between the wheel groove of the first roller and the wheel groove of the second roller;
the first roller and the second roller are respectively fixed on respective wheel shafts coaxially; the wheel shafts of the first roller and the second roller are rotatably arranged on a brake device, and the brake device can brake and lock the first roller and the second roller when being started; a rotating speed sensor capable of detecting the rotating speed of the wheel shaft is also arranged on the brake device; the brake device is fixedly installed at one end of the rocker arm, and a bearing hole at the other end of the rocker arm is in running fit with the central shaft through a fifth bearing.
Further, the cleaning method of the glass curtain wall cleaning robot system based on the safety rope drive comprises the following steps:
and meanwhile, the first negative pressure sucker and the second negative pressure sucker are simultaneously fixed and adsorbed on the smooth surface of the glass curtain wall, so that the rope winding drum is quickly and periodically wound and releases the upper end of the safety rope suspension traction section, and the safety rope winding ring is periodically and quickly rotated in a positive and negative direction.
Further, the walking method of the glass curtain wall cleaning robot system based on safety rope driving is characterized in that:
recording the axis of the first friction cylinder, the axis of the second friction cylinder and the axis of the central disc as a first axis, a second axis and a third axis respectively;
in the motion mode A: the third axis can rotate around the first axis by any angle;
in the B motion mode: the third axis can rotate around the second axis by any angle;
as long as the motion mode A and the motion mode B circularly and alternately operate, the third axis can be generally displaced in any direction, so that the rotary curtain wall cleaning robot can reach any position of the glass curtain wall;
further, the falling protection method of the cleaning robot system of the glass curtain wall based on safety rope driving is characterized in that: when a rotation speed sensor on the brake device detects that the first roller and the second roller rotate at an excessive speed, the brake device is automatically started to brake the wheel shaft, so that the safety rope hanging and pulling section which is tightly clamped between the wheel groove of the first roller and the wheel groove of the second roller cannot continuously pull the safety rope winding ring clockwise under the action of the friction force of the two tightly clamped wheel grooves.
Has the beneficial effects that: the power of the walking and the hairbrush of the invention is completely from the safety rope hanging and pulling section, so that the robot does not need to carry a lithium battery with high capacity and high weight, and the whole weight of the robot is further effectively reduced;
the winch is periodically controlled, so that the rope winding drum rapidly and periodically winds and releases the upper end of the safety rope suspension traction section, the winding ring of the safety rope periodically and rapidly rotates forwards and backwards, and the cleaning brushes and the smooth surface of the glass curtain wall periodically slide relatively, so that the local washing and cleaning effect on the glass curtain wall is achieved;
in the motion mode A: the third axis can rotate around the first axis by any angle;
b, in a motion mode: the third axis can rotate around the second axis by any angle;
therefore, as long as the motion mode A and the motion mode B circularly and alternately operate, the third axis can be generally displaced in any direction, so that the rotary curtain wall cleaning robot can reach any position of the glass curtain wall;
meanwhile, when a rotation speed sensor on the brake device detects that the first roller and the second roller rotate at an overspeed, the brake device is automatically started to brake the wheel, and then the first roller and the second roller are stopped to rotate, so that the safety rope hanging and pulling section which is tightly clamped between the wheel groove of the first roller and the wheel groove of the second roller cannot continue to clockwise pull the safety rope winding ring under the action of friction force of the two tightly clamped wheel grooves, and the curtain wall cleaning robot is integrally hung by the safety rope hanging and pulling section to avoid continuing to fall down to hurt people.
Drawings
FIG. 1 is a schematic view of the overall structure of the device;
FIG. 2 is a schematic structural view of a rotary curtain wall cleaning robot;
FIG. 3 is a perspective view of the rotary curtain wall cleaning robot;
FIG. 4 is a cross-sectional view of FIG. 4;
FIG. 5 is a second cross-sectional view of FIG. 4;
FIG. 6 is a schematic reverse perspective view of "FIG. 2".
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The cleaning robot system based on glass curtain wall driven by safety rope as shown in the attached fig. 1 to 6 comprises a rotary type curtain wall cleaning robot 46, and is characterized in that: the rotary curtain wall cleaning robot 46 comprises a central shaft 19, one end of the central shaft 19 is coaxially connected with a central disc 10, the outer ring of the central disc 10 rotates coaxially through a first bearing 1 to form a safety rope winding ring 24, a safety rope winding ring groove 31 is formed in the periphery of the safety rope winding ring 24, a safety rope 31 is wound on the safety rope winding ring groove 5, the leading-out part of the safety rope 31 wound on the safety rope winding ring groove 5 is marked as a safety rope hanging and pulling section 31.1, and the safety rope hanging and pulling section 31.1 can be pulled by external force to enable the safety rope winding ring 24 to be subjected to a rotating torque;
the eccentric part of the central disk 10 is respectively provided with a first bearing hole 16 and a second bearing hole 2; the first bearing hole 16 and the second bearing hole 2 are centrosymmetric with respect to the axis of the central disk 10;
a first friction cylinder 4 and a second friction cylinder 18 are rotatably arranged in the first bearing hole 16 and the second bearing hole 2 through a third bearing 3 and a fourth bearing 15 respectively;
a first group of expanders 6 are fixedly arranged in the first friction cylinder 4 through a first expander bracket 9, the expansion direction of a first group of expansion rods 7 of the first group of expanders 6 is parallel to the axial direction of the first friction cylinder 4, a first negative pressure suction cup 8 is fixedly arranged at the tail end of the first group of expansion rods 7, and the first negative pressure suction cup 8 can be fixedly adsorbed on the smooth surface of the glass curtain wall 45;
a second group of expansion pieces 11 are fixedly arranged in the second friction cylinder 18 through a second expansion piece bracket 12, the expansion direction of a second group of expansion rods 13 of the second group of expansion pieces 11 is parallel to the axial direction of the second friction cylinder 18, a second negative pressure suction cup 14 is fixedly arranged at the tail end of the second group of expansion rods 13, and the second negative pressure suction cup 14 can be fixedly adsorbed on the smooth surface of the glass curtain wall 45;
a plurality of cleaning brushes 32 are uniformly distributed on one side of the safety rope winding ring 24 close to the first negative pressure suction cup 8 and the second negative pressure suction cup 14 in a circumferential array; when the first negative pressure suction cup 8 and the second negative pressure suction cup 14 are both adsorbed on the smooth surface of the glass curtain wall 45, the tail ends of the plurality of cleaning brushes 32 are both contacted with the smooth surface of the glass curtain wall 45;
the safety rope winding device further comprises a conical spiral torsion force transmission spring 17 which is coaxial with the safety rope winding ring 24 and the central shaft 19, the upper end of a conical spiral of the conical spiral torsion force transmission spring 17 is fixedly connected with the central shaft 19, the lower end of the conical spiral torsion force transmission spring 17 is fixedly connected with the safety rope winding ring 24, and the torque of the safety rope winding ring 24 is transmitted to the central shaft 19 through the conical spiral torsion force transmission spring 17.
A cleaning liquid water tank 42 is fixedly arranged on one side of the central disc 10 close to the conical spiral torsion force transfer spring 17; the central disc 10 is provided with a cleaning liquid nozzle 200 at one side thereof adjacent to the first negative pressure suction cup 8 and the second negative pressure suction cup 14, and the liquid pump can spray the liquid in the cleaning liquid tank 42 to the glass curtain wall 45 through the cleaning liquid nozzle 200.
One side of the first friction cylinder 4 close to the central shaft 19 is coaxially provided with a first semicircular arc friction plate 22, and the inner arc surface of the first semicircular arc friction plate 22 is in sliding friction fit with the outer wall of the first friction cylinder 4; the two ends of the first semicircular arc friction plate 22 are connected with a first guide hole seat 38 uniformly;
one side of the second friction cylinder 18 close to the central shaft 19 is coaxially provided with a second semi-arc friction plate 21, and the inner arc surface of the second semi-arc friction plate 21 is in sliding friction fit with the outer wall of the second friction cylinder 18; the two ends of the second semi-arc friction plate 21 are connected with a second guide hole seat 39 uniformly;
the device also comprises a pair of transverse fixed guide rods 37, and two ends of each fixed guide rod 37 respectively movably penetrate through guide holes in a first guide hole seat 38 and a second guide hole seat 39; the end of the fixed guide rod 37 is fixed on the upper surface of the central disc 10 through a fixed seat 41, and the fixed guide rod 37 is sleeved with a spring 36; the two ends of the spring 36 elastically press the first guiding hole seat 38 and the second guiding hole seat 39, so that an elastic pressing force is formed between the inner arc surface of the first semicircular arc friction plate 22 and the outer wall of the first friction cylinder 4, and an elastic pressing force is formed between the inner arc surface of the second semicircular arc friction plate 21 and the outer wall of the second friction cylinder 18.
The safety rope hanging and pulling device further comprises a winch 43 fixed on the top of the glass curtain wall 45, the output end of the winch 43 is a rope drum 44, and the upper end of the safety rope hanging and pulling section 31.1 is wound on the rope drum 44; when the first group of telescopic rods 7 and the second group of telescopic rods 13 both extend out and the first negative pressure pump and the second negative pressure pump on the first negative pressure suction cup 8 and the second negative pressure suction cup 14 are both started, the first negative pressure suction cup 8 and the second negative pressure suction cup 14 are simultaneously and fixedly adsorbed on the smooth surface of the glass curtain wall 45;
when the first group of telescopic rods 7 extends and the second group of telescopic rods 13 retracts, the first negative pressure pump on the first negative pressure suction cup 8 is started, and the second negative pressure pump on the second negative pressure suction cup 14 and the second negative pressure pump are closed; so that the first negative pressure suction cup 8 is fixedly adsorbed on the smooth surface of the glass curtain wall 45, the second negative pressure suction cup 14 is separated from the smooth surface of the glass curtain wall 45, and the first friction cylinder 4 and the central disc 10 cannot spontaneously rotate relatively under the constraint of the friction force of the first semicircular arc friction plate 22;
when the first group of telescopic rods 7 retracts and the second group of telescopic rods 13 extends, the first negative pressure pump on the first negative pressure suction cup 8 is closed, and the second negative pressure pump on the second negative pressure suction cup 14 and the second negative pressure pump are started; so that the first negative pressure suction cup 8 is separated from the smooth surface of the glass curtain wall 45, and the second negative pressure suction cup 14 is adsorbed on the smooth surface of the glass curtain wall 45; and the second friction cylinder 18 and the central disk 10 can not spontaneously rotate relatively under the constraint of the friction force of the second semicircular-arc friction plate 21.
The first negative pressure suction cup 8 and the second negative pressure suction cup 14 are respectively provided with a first negative pressure pump and a second negative pressure pump, and the starting or the closing of the first negative pressure pump can enable negative pressure to be formed in the first negative pressure suction cup 8 or normal pressure to be recovered; the starting or the closing of the second negative pressure pump can ensure that negative pressure is formed in the second negative pressure suction cup 14 or normal pressure is recovered;
the anti-stall falling safety device comprises a first roller 27 and a second roller 30 which are matched with each other in a rolling mode, wheel grooves 29 are formed in the outer wheel surface, and a safety rope hanging and pulling section 31.1 penetrates through and is tightly clamped between the wheel grooves 29 of the first roller 27 and the wheel grooves 29 of the second roller 30;
the first roller 27 and the second roller 30 are coaxially fixed on the respective wheel shafts 27 respectively; the wheel shafts 27 of the first roller 27 and the second roller 30 are rotatably arranged on the brake device 25, and when the brake device 25 is started, the first roller 27 and the second roller 30 can be braked and locked; a rotating speed sensor capable of detecting the rotating speed of the wheel shaft 27 is also arranged on the brake device 25; the brake device 25 is fixedly arranged at one end of the rocker arm 23, and a bearing hole at the other end of the rocker arm 23 is in rotating fit with the central shaft 19 through a fifth bearing 20.
The switching method of the sucking discs comprises the following steps:
when the first group of telescopic rods 7 and the second group of telescopic rods 13 both extend out and the first negative pressure pump and the second negative pressure pump on the first negative pressure suction cup 8 and the second negative pressure suction cup 14 are both started, the first negative pressure suction cup 8 and the second negative pressure suction cup 14 are simultaneously and fixedly adsorbed on the smooth surface of the glass curtain wall 45;
when the first group of telescopic rods 7 extends and the second group of telescopic rods 13 retracts, the first negative pressure pump on the first negative pressure suction cup 8 is started, and the second negative pressure pump on the second negative pressure suction cup 14 and the second negative pressure pump are closed; so that the first negative pressure suction cup 8 is fixedly adsorbed on the smooth surface of the glass curtain wall 45, the second negative pressure suction cup 14 is separated from the smooth surface of the glass curtain wall 45, and the first friction cylinder 4 and the central disc 10 cannot spontaneously rotate relatively under the constraint of the friction force of the first semicircular arc friction plate 22;
when the first group of telescopic rods 7 retracts and the second group of telescopic rods 13 extends, the first negative pressure pump on the first negative pressure suction cup 8 is closed, and the second negative pressure pump on the second negative pressure suction cup 14 and the second negative pressure pump are started; so that the first negative pressure suction cup 8 is separated from the smooth surface of the glass curtain wall 45, and the second negative pressure suction cup 14 is adsorbed on the smooth surface of the glass curtain wall 45; under the constraint of the friction force of the second semicircular friction plate 21, the second friction cylinder 18 and the central disk 10 can not spontaneously rotate relatively;
and (3) cleaning:
the liquid pump can spray the liquid in the cleaning liquid water tank 42 to the glass curtain wall 45 through the cleaning liquid nozzle 200; at the same time, the first negative pressure suction cup 8 and the second negative pressure suction cup 14 are simultaneously fixed and adsorbed on the smooth surface of the glass curtain wall 45, so that the central disc 10 is fixed, at this time, the winch 43 is controlled, the rope drum 44 quickly winds a section of the upper end of the safety rope suspension traction section 31.1 on the rope drum 44, so that the lower end of the tightened safety rope hanging and pulling section 31.1 forcibly pulls the safety rope winding ring 24 in the clockwise direction, the safety rope winding ring 24 rotates clockwise by a predetermined angle along the third axis 35, further, the safety rope 31 is coiled on the safety rope coiling ring groove 5 to release a section for hanging and pulling the lower end of the safety rope 31.1, thereby keeping the total length of the safety rope hanging and pulling section 31.1 unchanged, because the central disk 10 is fixed, the conical spiral torsion force transfer spring 17 accumulates elastic potential energy in the process that the safety rope winding ring 24 rotates clockwise along the third axis 35 by a preset angle; then, the winch 43 is controlled, the rope drum 44 releases the last wound section to the upper end of the safety rope suspension traction section 31.1, at this time, the safety rope winding ring 24 is mainly driven to rotate anticlockwise by a preset angle along the third axis 35 under the elastic torsion in the anticlockwise direction of the conical spiral torsion transmission spring 17, and a section of the lower end of the safety rope suspension traction section 31.1 is wound on the safety rope winding ring groove 5, so that the safety rope suspension traction section 31.1 is always in a stretched state; the winch 43 is controlled periodically in this way, so that the rope winding drum 44 rapidly and periodically winds and releases the upper end of the safety rope hanging and pulling section 31.1, the safety rope winding ring 24 rapidly and periodically rotates forwards and backwards, and the cleaning brushes 32 and the smooth surface of the glass curtain wall 45 periodically slide relatively, so that the local washing and cleaning effect on the glass curtain wall 45 is achieved;
the walking process comprises the following steps:
firstly, the axis of the first friction cylinder 4, the axis of the second friction cylinder 18 and the axis of the central disc 10 are respectively marked as a first axis 33, a second axis 34 and a third axis 35; the third axis 35 is the geometric center of the rotary curtain wall cleaning robot 46, so that the overall position change of the rotary curtain wall cleaning robot 46 can be represented by the position change of the third axis 35;
the curtain wall cleaning robot 46 can cyclically and alternately complete the following motion modes A and B:
in the motion mode A: the first negative pressure suction cup 8 is fixedly adsorbed on the smooth surface of the glass curtain wall 45, the second negative pressure suction cup 14 is separated from the smooth surface of the glass curtain wall 45, the first friction drum 4 and the central disc 10 can not spontaneously rotate relatively under the constraint of the friction force of the first semicircular arc friction plate 22, the winch 43 is controlled to enable the rope drum 44 to gradually wind one section of the upper end of the safety rope hanging and pulling section 31.1 to the rope drum 44, so that the lower end of the tightened safety rope hanging and pulling section 31.1 forcibly and slowly pulls the safety rope winding ring 24 along the clockwise direction, the elastic potential energy accumulated by the conical spiral torsion force transfer spring 17 is gradually increased, the torque force transferred to the central disc 10 by the conical spiral torsion force transfer spring 17 is gradually increased, and finally the torque force transferred by the conical spiral force transfer spring 17 is increased to overcome the friction resistance between the first semicircular arc friction plate 22 and the first friction drum 4, so that the safety rope winding ring 24, the conical helical torsion force transmission spring 17 and the central disk 10 as a whole synchronously rotate along the first axis 33, thereby realizing the clockwise rotation of the third axis 35 around the first axis 33; through the analysis, the third axis 35 in the motion mode a can rotate around the first axis 33 by any angle;
in the B motion mode: the first negative pressure suction cup 8 is separated from the smooth surface of the glass curtain wall 45, the second negative pressure suction cup 14 is fixedly adsorbed on the smooth surface of the glass curtain wall 45, under the constraint of the friction force of the second semi-circular arc friction plate 21, the second friction cylinder 18 and the central disc 10 can not spontaneously rotate relatively, the winch 43 is controlled, the rope winding cylinder 44 gradually winds one section of the upper end of the safety rope hanging and pulling section 31.1 to the rope winding cylinder 44, so that the lower end of the tightened safety rope hanging and pulling section 31.1 forcibly and slowly pulls the safety rope winding ring 24 along the clockwise direction, the elastic potential energy accumulated by the conical spiral torsion transmission spring 17 is gradually increased, the torsion transmitted to the central disc 10 by the conical spiral torsion transmission spring 17 is gradually increased, and finally the torsion transmitted by the conical spiral transmission spring 17 is increased to overcome the friction resistance between the second semi-circular arc friction plate 21 and the second friction cylinder 18, so that the safety rope winding ring 24, the conical helical torsion force transmission spring 17 and the central disk 10 as a whole synchronously rotate along the second axis 34, thereby realizing that the third axis 35 rotates clockwise around the second axis 34; through the analysis, the third axis 35 in the motion mode B can rotate around the second axis 34 by any angle;
to sum up:
in the motion mode A: the third axis 35 can rotate around the first axis 33 by any angle;
in the B motion mode: the third axis 35 can rotate around the second axis 34 by any angle;
therefore, as long as the motion mode A and the motion mode B are circularly and alternately operated, the third axis 35 can be displaced in any direction on the whole, so that the rotary curtain wall cleaning robot 46 can reach any position of the glass curtain wall 45;
the falling protection method comprises the following steps:
under normal conditions, at least one of the first negative pressure suction cup 8 and the second negative pressure suction cup 14 is fixedly adsorbed on the glass curtain wall 45, when the equipment fails, when the first negative pressure suction cup 8 and the second negative pressure suction cup 14 are completely separated from the glass curtain wall 45, the curtain wall cleaning robot 46 can fall under the action of gravity, the safety rope winding ring 24 can rotate at high speed under the clockwise pulling of the safety rope suspension traction section 31.1 in the process that the curtain wall cleaning robot 46 falls integrally, so that the safety rope 31 wound on the safety rope winding ring groove 5 is quickly released to the safety rope suspension traction section 31.1, the first roller 27 and the second roller 30 rotate at high speed under the driving of the friction force of the safety rope suspension traction section 31.1, at the moment, when the rotation speed sensor on the brake device 25 detects that the first roller 27 and the second roller 30 rotate at excessive speed, the brake device 25 is automatically started to brake the wheel shaft 27, and then the first roller 27 and the second roller 30 are stopped to rotate, so that the safety rope hanging and pulling section 31.1 which is tightly clamped between the wheel groove 29 of the first roller 27 and the wheel groove 29 of the second roller 30 cannot continuously pull the safety rope winding ring 24 clockwise under the friction force of the two tightly clamped wheel grooves 29, and the curtain wall cleaning robot 46 is integrally hung by the safety rope hanging and pulling section 31.1 to avoid the injury of people due to continuous falling.
The above is only a preferred embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (9)
1. Cleaning robot system based on insurance rope driven glass curtain wall, including rotation curtain wall cleaning robot (46), its characterized in that: the rotary curtain wall cleaning robot (46) comprises a central shaft (19), one end of the central shaft (19) is coaxially connected with a central disc (10), an outer ring of the central disc (10) rotates coaxially with a safety rope winding ring (24) through a first bearing (1), a safety rope winding ring groove (31) is formed in the periphery of the safety rope winding ring (24), a safety rope (31) is wound on the safety rope winding ring groove (5), a leading-out part of the safety rope (31) wound on the safety rope winding ring groove (5) is marked as a safety rope hanging and pulling section (31.1), and the safety rope winding ring (24) can be subjected to a rotating torque by external force pulling the safety rope hanging and pulling section (31.1);
a first bearing hole (16) and a second bearing hole (2) are respectively arranged at the eccentric position of the central disc (10); the first bearing hole (16) and the second bearing hole (2) are centrosymmetric relative to the axis of the central disc (10);
a first friction cylinder (4) and a second friction cylinder (18) are rotatably arranged in the first bearing hole (16) and the second bearing hole (2) through a third bearing (3) and a fourth bearing (15) respectively;
a first group of expanders (6) are fixedly installed in the first friction cylinder (4) through a first expander support (9), the expansion direction of a first group of expansion rods (7) of the first group of expanders (6) is parallel to the axial direction of the first friction cylinder (4), a first negative pressure suction cup (8) is fixedly installed at the tail end of the first group of expansion rods (7), and the first negative pressure suction cup (8) can be fixedly adsorbed on the smooth surface of a glass curtain wall (45);
a second group of expansion pieces (11) are fixedly arranged in the second friction cylinder (18) through a second expansion piece support (12), the expansion direction of a second group of expansion rods (13) of the second group of expansion pieces (11) is parallel to the axial direction of the second friction cylinder (18), a second negative pressure suction cup (14) is fixedly arranged at the tail end of the second group of expansion rods (13), and the second negative pressure suction cup (14) can be fixedly adsorbed on the smooth surface of the glass curtain wall (45);
a plurality of cleaning brushes (32) are uniformly distributed on one side of the safety rope winding ring (24) close to the first negative pressure suction cup (8) and the second negative pressure suction cup (14) in a circumferential array; when the first negative pressure suction cup (8) and the second negative pressure suction cup (14) are both adsorbed on the smooth surface of the glass curtain wall (45), the tail ends of the plurality of cleaning brushes (32) are both contacted with the smooth surface of the glass curtain wall (45);
the safety rope winding device is characterized by further comprising a conical spiral torsion transmission spring (17) coaxial with the safety rope winding ring (24) and the central shaft (19), the upper end of a conical spiral of the conical spiral torsion transmission spring (17) is fixedly connected with the central shaft (19), the lower end of a conical spiral of the conical spiral torsion transmission spring (17) is fixedly connected with the safety rope winding ring (24), and the torque of the safety rope winding ring (24) is transmitted to the central shaft (19) through the conical spiral torsion transmission spring (17).
2. The safety rope driven glass curtain wall based cleaning robot system as claimed in claim 1, wherein: a cleaning liquid water tank (42) is fixedly arranged on one side of the central disc (10) close to the conical spiral torsion transfer spring (17); and a cleaning liquid nozzle (200) is arranged on one side of the central disc (10) close to the first negative pressure suction cup (8) and the second negative pressure suction cup (14), and the liquid pump can spray liquid in the cleaning liquid water tank (42) to the glass curtain wall (45) through the cleaning liquid nozzle (200).
3. The safety rope driven glass curtain wall based cleaning robot system as claimed in claim 2, wherein: a first semicircular arc friction plate (22) is coaxially arranged on one side, close to the central shaft (19), of the first friction cylinder (4), and the inner arc surface of the first semicircular arc friction plate (22) is in sliding friction fit with the outer wall of the first friction cylinder (4); the two ends of the first semicircular arc friction plate (22) are connected with a first guide hole seat (38) uniformly;
a second semi-arc friction plate (21) is coaxially arranged on one side, close to the central shaft (19), of the second friction cylinder (18), and the inner arc surface of the second semi-arc friction plate (21) is in sliding friction fit with the outer wall of the second friction cylinder (18); two ends of the second semi-arc friction plate (21) are connected with a second guide hole seat (39) uniformly;
the guide device also comprises a pair of transverse fixed guide rods (37), and two ends of each fixed guide rod (37) respectively movably penetrate through guide holes in a first guide hole seat (38) and a second guide hole seat (39); the end part of the fixed guide rod (37) is fixed on the upper surface of the central disc (10) through a fixed seat (41), and a spring (36) is sleeved on the fixed guide rod (37); two ends of the spring (36) elastically press the first guide hole seat (38) and the second guide hole seat (39), so that elastic pressing force is formed between the inner arc surface of the first semicircular arc friction plate (22) and the outer wall of the first friction cylinder (4), and elastic pressing force is formed between the inner arc surface of the second semicircular arc friction plate (21) and the outer wall of the second friction cylinder (18).
4. The safety rope driven glass curtain wall based cleaning robot system as claimed in claim 3, wherein: the safety rope hanging and pulling device is characterized by further comprising a winch (43) fixed to the top of the glass curtain wall (45), the output end of the winch (43) is a rope winding drum (44), and the upper end of the safety rope hanging and pulling section (31.1) is wound on the rope winding drum (44);
when the first group of telescopic rods (7) and the second group of telescopic rods (13) extend out and the first negative pressure pump and the second negative pressure pump on the first negative pressure suction cup (8) and the second negative pressure suction cup (14) are started, the first negative pressure suction cup (8) and the second negative pressure suction cup (14) are fixedly adsorbed on the smooth surface of the glass curtain wall (45) at the same time;
when the first group of telescopic rods (7) extends out and the second group of telescopic rods (13) retracts, the first negative pressure pump on the first negative pressure suction cup (8) is started, and the second negative pressure suction cup (14) and the second negative pressure pump are closed; therefore, the first negative pressure sucker (8) is fixedly adsorbed on the smooth surface of the glass curtain wall (45), the second negative pressure sucker (14) is separated from the smooth surface of the glass curtain wall (45), and the first friction cylinder (4) and the central disc (10) cannot spontaneously rotate relatively under the constraint of the friction force of the first semicircular arc friction plate (22);
when the first group of telescopic rods (7) retracts and the second group of telescopic rods (13) extends, the first negative pressure pump on the first negative pressure suction cup (8) is closed, and the second negative pressure pump on the second negative pressure suction cup (14) and the second negative pressure pump are started; so that the first negative pressure suction cup (8) is separated from the smooth surface of the glass curtain wall (45), and the second negative pressure suction cup (14) is adsorbed on the smooth surface of the glass curtain wall (45); and under the constraint of the friction force of the second semi-arc friction plate (21), the second friction cylinder (18) and the central disc (10) can not spontaneously rotate relatively.
5. The safety rope driven glass curtain wall based cleaning robot system as claimed in claim 4, wherein: a first negative pressure pump and a second negative pressure pump are respectively arranged on the first negative pressure sucking disc (8) and the second negative pressure sucking disc (14), and the starting or the closing of the first negative pressure pump can enable the first negative pressure sucking disc (8) to form negative pressure or recover normal pressure; the starting or the closing of the second negative pressure pump can lead the second negative pressure suction cup (14) to form negative pressure or recover normal pressure.
6. The safety rope driven glass curtain wall based cleaning robot system as claimed in claim 5, wherein: the anti-stall falling safety device comprises a first roller (27) and a second roller (30) which are matched with each other in a rolling mode, wheel grooves (29) are formed in the outer wheel surfaces, and a safety rope hanging and pulling section (31.1) penetrates through and is tightly clamped between the wheel grooves (29) of the first roller (27) and the wheel grooves (29) of the second roller (30);
the first roller (27) and the second roller (30) are coaxially fixed on respective wheel shafts (27) respectively; the wheel shafts (27) of the first roller (27) and the second roller (30) are rotatably arranged on a brake device (25), and the brake device (25) can brake and lock the first roller (27) and the second roller (30) when being started; a rotating speed sensor capable of detecting the rotating speed of the wheel shaft (27) is also arranged on the brake device (25); the brake device (25) is fixedly installed at one end of the rocker arm (23), and a bearing hole at the other end of the rocker arm (23) is in running fit with the central shaft (19) through a fifth bearing (20).
7. The cleaning method of the safety rope driven glass curtain wall based cleaning robot system as claimed in claim 6, wherein:
and meanwhile, the first negative pressure suction cup (8) and the second negative pressure suction cup (14) are simultaneously fixed and adsorbed on the smooth surface of the glass curtain wall (45), so that the rope winding drum (44) can rapidly and periodically wind and release the upper end of the safety rope suspension traction section (31.1), and the safety rope winding ring (24) can periodically and rapidly rotate forwards and backwards.
8. The walking method of cleaning robot system for glass curtain wall based on safety rope driving as claimed in claim 7, wherein:
the axes of the first friction cylinder (4), the second friction cylinder (18) and the central disc (10) are respectively recorded as a first axis (33), a second axis (34) and a third axis (35);
in the motion mode A: the third axis (35) can rotate around the first axis (33) at any angle;
in the B motion mode: the third axis (35) can rotate around the second axis (34) at any angle;
as long as the motion mode A and the motion mode B are circularly and alternately operated, the third axis (35) can be displaced in any direction on the whole, so that the rotary curtain wall cleaning robot (46) can reach any position of the glass curtain wall (45).
9. The fall protection method of a safety rope driven glass curtain wall based cleaning robot system according to claim 8, wherein: when a rotating speed sensor on the brake device (25) detects that the first roller (27) and the second roller (30) rotate at an excessive speed, the brake device (25) is automatically started to brake the wheel shaft (27), so that the safety rope hanging and pulling section (31.1) tightly clamped between the wheel groove (29) of the first roller (27) and the wheel groove (29) of the second roller (30) can not continuously pull the safety rope winding ring (24) clockwise under the action of friction force of the two tightly clamped wheel grooves (29).
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| CN202210124153.1A CN114431794B (en) | 2022-02-10 | 2022-02-10 | Cleaning robot system of glass curtain wall based on safety rope driving |
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| CN202210124153.1A CN114431794B (en) | 2022-02-10 | 2022-02-10 | Cleaning robot system of glass curtain wall based on safety rope driving |
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| CN114431794B CN114431794B (en) | 2022-10-25 |
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| CN115089045A (en) * | 2022-05-16 | 2022-09-23 | 江苏师范大学 | Glass curtain wall cleaning device |
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| CN114431794B (en) | 2022-10-25 |
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