CN114568995B

CN114568995B - High-rise curtain wall automatic cleaning robot based on guide rod structure

Info

Publication number: CN114568995B
Application number: CN202210347498.3A
Authority: CN
Inventors: 黄义强
Original assignee: Wuchang University of Technology
Current assignee: Wuchang University of Technology
Priority date: 2022-04-01
Filing date: 2022-04-01
Publication date: 2023-03-24
Anticipated expiration: 2042-04-01
Also published as: CN114568995A

Abstract

The utility model provides a high-rise curtain self-cleaning robot based on guide rod structure, is including the guide rod structure that is located high-rise building wall outside, the pole-climbing unit that can climb on the guide rod structure and install the cleaning unit on the pole-climbing unit. According to the invention, the guide rod structure is installed to match with the pole-climbing robot to automatically clean the high-rise curtain wall, so that the labor cost is saved, and the cleaning process is safer; for high buildings with insufficient glass surfaces or special-shaped wall surfaces, the invention can realize automatic cleaning; the guide rod adopts a guide rope and a guide unit structure, can adopt a winder structure to realize winding and unwinding, and is convenient to mount, time-saving and labor-saving.

Description

High-rise curtain wall automatic cleaning robot based on guide rod structure

Technical Field

The invention relates to the technical field of high-altitude cleaning, in particular to an automatic cleaning robot for a high-rise curtain wall based on a guide rod structure.

Background

At present, the high-rise curtain wall is cleaned manually, cleaning personnel and an installation rope are fixedly connected together at the top of a high-rise building, and the cleaning personnel can stand in a hanging basket together with the hanging basket and the installation rope. From top to bottom, the cleaning personnel are put down to the ground from high altitude by the installation rope, and in the descending process, the cleaning personnel clean the curtain wall of the high building by using tools such as brushes, cleaning cloth, water pipes and the like. The cleaning device has the disadvantages that 1, the safety of cleaning personnel is ensured by mounting a rope, the cleaning personnel is easy to fall from high altitude to die, and the safety is poor; 2. the whole process needs manual work, and the waste cleaning cost is high; 3. in the cleaning process, cleaning personnel need to exert force on the wall surface of the high-rise, and easily push people away from the wall surface under the reaction of the force, so that the cleaning effect is poor; 4. for a tall building with a big-end-up structure or a special-shaped wall surface, workers cannot clean the high building.

To the more smooth and flat glass wall of wall, also can adopt cleaning robot to wash, cleaning robot generally adopts sucker structure, adsorbs glass wall in turn through a plurality of sucking discs and realizes the removal function at the wall. The defects are as follows: 1. the adsorption force of the sucker structure is not stable, and if the glass wall surface is polluted by oil and the like, the unstable adsorption is easy to occur in the moving process; 2. for a high building with a large-upper structure and a small-lower structure or a special-shaped wall surface, the sucker structure cannot climb to be cleaned; 3. the building with the insufficient glass surface cannot be cleaned.

Disclosure of Invention

The invention aims to provide a high-rise curtain wall automatic cleaning robot based on a guide rod structure, which is used for automatically cleaning a high-rise curtain wall by installing a guide rod and matching with a rod-climbing robot.

The invention aims to realize the technical scheme, which comprises a guide rod structure positioned outside the wall surface of a high-rise building, a climbing rod unit capable of climbing on the guide rod structure and a cleaning unit arranged on the climbing rod unit;

the guide rod structure comprises a plurality of guide units, each guide unit comprises a hollow first guide pipe, the top of each first guide pipe is fixedly connected with a hollow second guide pipe, the outer diameter of each second guide pipe is smaller than the inner diameter of each first guide pipe, two first elastic clamping blocks are symmetrically and fixedly connected to the annular top end face of each second guide pipe, two first clamping holes are symmetrically designed in the outer wall of each first guide pipe, and the first clamping holes and the first elastic clamping blocks can be clamped in a matched mode;

the guide rod structure also comprises a guide rope, and the guide rope sequentially penetrates through all the guide units from top to bottom and is fixedly connected with the inner walls of all the first guide pipes or the second guide pipes; the guide units are distributed on the guide rope at intervals.

Furthermore, an annular concave first clamping groove is formed in the outer wall of the first conduit;

the guide rod structure is characterized by further comprising an auxiliary fixedly connecting unit fixedly connected with the guide unit on the side wall of the high-rise building, the auxiliary fixedly connecting unit comprises a mounting piece capable of being fixed on the side wall of the high-rise building, one end of a first connecting rod is mounted on the mounting piece, and a clamping piece used for fixedly connecting the guide rod structure is mounted at the other end of the first connecting rod.

Further, the mounting piece is a first clamping block clamped on the high-rise building and/or a sucker adsorbed on glass;

the first connecting rod comprises a plurality of connecting sub-rods which are hinged together, and a hinge locking structure is arranged between the connecting sub-rods;

the clamping piece comprises a first cylinder and a first clamping hand arranged at the telescopic end of the first cylinder, and a first arc-shaped clamping block matched with the outer wall of the guide rod structure is fixedly connected to the end part of the first clamping hand.

Furthermore, the guide rod structure also comprises an angle deflection unit, and the angle deflection unit can be arranged between any two adjacent guide units;

the angle deflection unit comprises a third guide pipe, a fourth guide pipe and an arc-shaped guide pipe, the third guide pipe is fixedly connected with the fourth guide pipe through the arc-shaped guide pipe, and the pipe walls of the third guide pipe, the fourth guide pipe and the arc-shaped guide pipe are provided with introducing ports capable of penetrating through the guide rope; the sum of the lengths of the third guide pipe, the fourth guide pipe and the arc-shaped guide pipe is less than the length of the guide rope between two adjacent guide units; two second elastic clamping blocks are symmetrically and fixedly connected to the top end face of the fourth conduit, and a second clamping hole is formed in the side wall of the third conduit.

Furthermore, the robot also comprises a first winding machine for storing the guide rod structure, and one end of the guide rope is arranged on a rotating shaft of the first winding machine;

the first winding machine is installed on the workbench, the workbench is installed on the roof of the high-rise building, one side of the workbench extends out of the side wall of the high-rise building and is rotatably provided with a first roller, and one end of the guide rope sequentially penetrates through the workbench and the first roller to pull the guide unit to hang down the high-rise building from the first winding machine.

Furthermore, a channel penetrating through the upper surface and the lower surface of the workbench is arranged on the workbench, two sides of the channel are fixedly connected with a limiting plate, the bottom end of the limiting plate is installed on the roof of a high-rise building, the roof of the high-rise building is also provided with an ejector rod, the telescopic end of the ejector rod is fixedly connected with a push plate, and the push plate can be installed between the two limiting plates in a vertically sliding manner; the workbench is also provided with a guide block, the narrowed end of the guide block corresponds to the part of the limiting plate extending out of the workbench, and the widened end of the guide block faces the first roller;

a plurality of elastic cylindrical protective sleeves capable of being wrapped on the outer surface of the guide unit are stacked on the push plate from bottom to top, and pull openings are formed in the side walls of the protective sleeves; and the side walls of the two limiting plates are fixedly connected with elastic pull rods, and the end parts of the elastic pull rods are provided with pull blocks corresponding to the pull openings.

Furthermore, the pole climbing unit comprises a long mounting rod, a slide rail is arranged on the surface of the long mounting rod, and the slide rail is parallel to the guide rod structure and has the same orientation;

the upper end wall and the lower end wall of the sliding rail are respectively provided with a first telescopic rod, the telescopic end of each first telescopic rod is fixedly connected with a first sliding block, the first sliding block can be arranged in the sliding rail in a sliding mode, the side wall of each first sliding block is fixedly connected with a second air cylinder, the telescopic end of each second air cylinder is provided with a second clamping hand, and the end part of each second clamping hand is fixedly connected with a second arc-shaped block matched with the outer wall of the guide rod structure;

and a falling-proof safety rope is also arranged between the slide rail and the roof of the high-rise building.

Furthermore, a rotating unit and a clamping unit are also arranged on the two second arc-shaped blocks with higher relative positions;

the rotating unit comprises a first notch arranged in the second arc-shaped block, second notches are arranged on the upper end surface and the lower end surface of the first notch, the rotating wheel can be rotatably and slidably arranged in the first notch, the rotating wheel is fixedly connected to the electric rotating shaft, and the two ends of the electric rotating shaft extend into the second notches and are rotatably connected with a second sliding block which is arranged in the second notches in a sliding manner; a spring is arranged between the second sliding block and the side wall of the second notch, and the spring pushes the rotating wheel out of the inner cambered surface of the second arc-shaped block in a compressed state;

the clamping structure comprises a third notch formed in one side of the inner arc surface of the second arc-shaped block, a second telescopic rod is fixedly connected in the third notch, and the telescopic end of the second telescopic rod can extend out of the third notch and is matched with the first clamping hole for use.

Further, the cleaning unit is including the base of mountable on the installation stock, and the rigid coupling has a plurality of rotation motors on a lateral wall of base, and equal rigid coupling has the third telescopic link in the pivot of rotation motor, and the flexible end rigid coupling of third telescopic link has the washing dish that can be used to wash the wall.

Still be provided with the shower nozzle on the stock lateral wall, the shower nozzle passes through hose and water source intercommunication, and the shower nozzle is towards the wall.

Furthermore, the robot also comprises a guide rod structure mounting seat, the mounting seat is mounted on the ground, and the mounting end of the mounting seat can be mounted together with the guide rod structure.

Due to the adoption of the technical scheme, the invention has the following advantages:

1. according to the invention, the guide rod is arranged to match with the climbing rod robot to automatically clean the high-rise curtain wall, so that the labor cost is saved, and the cleaning process is safer;

2. for high buildings with insufficient glass surfaces, the invention can also be automatically cleaned;

3. for a high building with a special-shaped wall surface, the bending of the guide rod can be realized through the arc-shaped guide pipe, and for the wall body above the bent and disassembled part, the automatic cleaning can be realized;

4. the guide rod adopts a guide rope and guide unit structure, can adopt a winder structure to realize winding and unwinding, and can effectively prevent the winding condition by combining with a protective sleeve;

5. the climbing rod unit adopts an arc-shaped clamping block design, so that the climbing function can be realized, and the upper arc-shaped clamping block can also install the upper guide units on the ground one by one through the rotating unit and the clamping unit; when the guide unit is disassembled, the clamping unit can also disassemble the guide unit section by section from top to bottom;

6. the auxiliary fixed connection unit provides a cleaning foundation for a higher building, and when the guide rod structure is too high, the guide rod structure is easy to deviate, so that the climbing rod unit cannot be supported; the auxiliary fixedly connecting unit can fixedly connect the guide rod structure on the wall surface by adopting different fixedly connecting modes according to different wall surface structures, and is suitable for cleaning high-rise buildings.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof.

Drawings

The drawings of the present invention are described below.

FIG. 1 is a schematic perspective view of the present invention in use;

FIG. 2 is a perspective view of the guide unit in the deployed and connected state;

FIG. 3 is a cross-sectional view of the guide unit in a deployed and connected state;

FIG. 4 is a schematic perspective view of an auxiliary fastening unit;

FIG. 5 is a schematic perspective view of an angle deflection unit;

FIG. 6 is a schematic perspective view of a drop guide unit of the winder;

FIG. 7 is a perspective view of the winder and table;

FIG. 8 is a cross-sectional view of the mounting structure of the protective sheath;

FIG. 9 is a perspective view of the climbing pole unit and the cleaning unit;

FIG. 10 is a perspective view of a second arcuate block;

FIG. 11 is a schematic cross-sectional view of a second arcuate block;

in the figure: 1. a guide rod structure; 2. a pole-climbing unit; 3. a cleaning unit; 4. a guide unit; 5. a first conduit; 6. a second conduit; 7. a first elastic clamping block; 8. a first card hole; 9. a guide rope; 10. a first card slot; 11. an auxiliary fixing unit; 12. a mounting member; 13. a first connecting rod; 14. a clamping member; 15. a first cylinder; 16. a first gripper; 17. a first arc-shaped clamping block; 18. a third conduit; 19. a fourth conduit; 20. an arcuate conduit; 21. an inlet port; 22. a second elastic clamping block; 23. a second card hole; 24. a first winder; 25. a work table; 26. a first roller; 27. a limiting plate; 28. a top rod; 29. pushing the plate; 30. a guide block; 31. a protective sleeve; 32. opening by drawing; 33. an elastic pull rod; 34. pulling the block; 36. installing a long rod; 37. a slide rail; 38. a first telescopic rod; 39. a first slider; 40. a second cylinder; 41. a second gripper; 42. a second arc-shaped block; 43. a first notch; 44. a second notch; 45. a rotating wheel; 46. a second slider; 47. a spring; 48. a third notch; 49. a second telescopic rod; 50. a base; 51. rotating the motor; 52. a third telescopic rod; 53. cleaning the disc; 54. and (7) mounting a seat.

Detailed Description

The invention is further illustrated by the following figures and examples.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1, 2 and 3, the robot for automatically cleaning the high-rise curtain wall based on the guide rod structure comprises a guide rod structure 1 positioned outside the wall surface of a high-rise building, a climbing rod unit 2 capable of climbing on the guide rod structure 1 and a cleaning unit 3 arranged on the climbing rod unit 2;

the guide rod structure 1 comprises a plurality of guide units 4, each guide unit 4 comprises a hollow first guide pipe 5, the top of each first guide pipe 5 is fixedly connected with a hollow second guide pipe 6, the outer diameter of each second guide pipe 6 is smaller than the inner diameter of each first guide pipe 5, two first elastic clamping blocks 7 are symmetrically and fixedly connected to the annular top end face of each second guide pipe 6, two first clamping holes 8 are symmetrically designed on the outer wall of each first guide pipe 5, and the first clamping holes 8 and the first elastic clamping blocks 7 can be clamped in a matched mode;

the guiding rod structure 1 also comprises a guiding rope 9, and the guiding rope 9 sequentially penetrates through all the guiding units 4 from top to bottom and is fixedly connected with the inner walls of all the first guide pipes 5 or the second guide pipes 6; the guide units 4 are spaced apart on the guide rope 9.

In this embodiment, with guide rod structure outside standing on the high-rise building outer wall, with high-rise building outer wall parallel arrangement, climbing the pole unit and driving the cleaning unit and creep along the guide rod, the cleaning unit is cleaning the wall at the in-process of crawling. The guide rod is formed by combining a plurality of guide units, and two adjacent guide units are clamped together through a first hole and a first elastic clamping block. During installation, the guide units are placed to the ground from the top of a building through the guide ropes, and then the guide unit on the upper portion is sleeved into the guide unit on the lower portion from the bottom to the top. When the guide unit is detached, the first elastic clamping block of the section of the guide unit positioned above is pressed down from top to bottom, and the guide unit above is pulled out. The installation and the disassembly are convenient, the operation can be completed through the climbing rod unit, and the manual operation is not needed; when the guide units are connected to each other, the guide rope can be received in the hollow cylinder wall without causing any influence.

As shown in fig. 1, 2 and 4, an annular concave first clamping groove 10 is arranged on the outer wall of the first conduit 5;

the guide rod structure 1 further comprises an auxiliary fixedly connecting unit 11 fixedly connecting the guide unit 4 to the side wall of the high-rise building, the auxiliary fixedly connecting unit 11 comprises a mounting piece 12 capable of being fixed to the side wall of the high-rise building, one end of a first connecting rod 13 is mounted on the mounting piece 12, and a clamping piece 14 fixedly connected with the guide rod structure 1 is mounted at the other end of the first connecting rod 13.

In the embodiment, the first clamping groove can be used for assisting the clamping piece of the fixedly connecting unit to be connected in an encircling manner, so that the guide rod structure is fixedly connected to the wall surface of a high-rise building, and the fixing device is suitable for a higher skyscraper. When the guide rod structure is installed, the guide rod structure and the wall surface can be connected according to the height and the position of the wall surface, which is convenient to install, and the auxiliary fixing unit can be used for connection after the guide rod structure is installed.

As shown in fig. 4, the mounting member 12 is a first clamping block clamped on a high-rise building and/or a suction cup adsorbed on glass;

the first connecting rod 13 comprises a plurality of connecting sub-rods which are hinged together, and a hinged locking structure is arranged between the connecting sub-rods;

the clamping piece 14 comprises a first cylinder and a first clamping hand 16 arranged at the telescopic end of the first cylinder 15, and a first arc-shaped clamping block 17 matched with the outer wall of the guide rod structure 1 is fixedly connected to the end part of the first clamping hand 16.

In this embodiment, first grip block is used for the connection of wall structure, and the sucking disc is used for the installation of glass structure, and angle and the length adjustment through connecting the sub-pole are applicable in most wall structure and connect. The structure of first cylinder, first tong and first arc clamp splice is the installation scheme of wall structure, easy operation, safe firm, application scope are wide.

As shown in fig. 5, the guide rod structure 1 further includes an angle deflection unit, which can be installed between any two adjacent guide units 4;

the angle deflection unit comprises a third guide pipe 18, a fourth guide pipe 19 and an arc-shaped guide pipe 20, the third guide pipe 18 is fixedly connected with the fourth guide pipe 19 through the arc-shaped guide pipe 20, and the pipe walls of the third guide pipe 18, the fourth guide pipe 19 and the arc-shaped guide pipe 20 are provided with an introducing port 21 through which a guide rope 9 can pass; the sum of the lengths of the third guide pipe 18, the fourth guide pipe 19 and the arc-shaped guide pipe 20 is less than the length of the guide rope 9 between two adjacent guide units 4; two second elastic blocks 22 are symmetrically fixed on the top end surface of the fourth conduit 19, and a second clamping hole 23 is further arranged on the side wall of the third conduit 18.

In this embodiment, to heterotypic wall, when the guide bar structure can't be straight up directly down, can be through angle deflection unit installation guide bar structure, no matter be arcwall face or right angle face all can be suitable for. Because the pole-climbing unit always walks along the guide rod structure, the cleaning of special conditions such as abnormal shape wall, right angle wall can be realized. When the angle deflection unit is installed, the guide rope can be clamped into the angle deflection unit through the guide inlet at the position of a window in a building through a grabbing tool, then the third guide pipe is sleeved above the installed guide unit, and finally the guide unit which is not installed above the third guide pipe is sleeved above the fourth guide pipe, so that the installation work is completed.

As shown in fig. 6 and 7, the robot further includes a first winder 24 for storing the guide rod structure, and one end of the guide rope 9 is disposed on a rotating shaft of the first winder 24;

the first winding machine 24 is installed on the workbench 25, the workbench 25 is installed on the roof of the high-rise building, one side of the workbench 25 extends out of the side wall of the high-rise building and is rotatably provided with a first roller 26, and one end of the guide rope 9 sequentially penetrates through the workbench 25 and the first roller 26 from the first winding machine 24 to pull the guide unit 4 to hang down the high-rise building.

In this embodiment, when folding up, the guiding unit is separated one section by one section, and the middle is connected through the guiding rope, similar to a nine-section whip structure, and then folding up can be completed by rotating the first winding machine, otherwise, the guiding unit can be hung down.

As shown in fig. 7 and 8, a channel penetrating through the upper surface and the lower surface of the workbench is arranged on the workbench 25, a limiting plate 27 is fixedly connected to each of the two sides of the channel, the bottom end of the limiting plate 27 is installed on the roof of a high-rise building, a top rod 28 is further installed on the roof of the high-rise building, a push plate 29 is fixedly connected to the telescopic end of the top rod 28, and the push plate 29 is installed between the two limiting plates 27 in a vertically sliding manner; the workbench 25 is also provided with a guide block 30, the narrowed end of the guide block 30 corresponds to the part of the limiting plate extending out of the workbench 25, and the widened end of the guide block 30 faces the first roller 26;

a plurality of elastic cylindrical protective sleeves 31 capable of wrapping the outer surface of the guide unit 4 are stacked on the push plate 29 from bottom to top, and pull openings 32 are formed in the side walls of the protective sleeves 31; elastic pull rods 33 are fixedly connected to the side walls of the two limit plates 27, and pull blocks 34 corresponding to the pull openings 32 are arranged at the end parts of the elastic pull rods 33.

In this embodiment, in order to avoid the winding of the guiding rope and the first elastic fixture block during folding, the dragging process during folding is utilized to sleeve the protecting sleeve on each guiding unit, and the protecting function is also achieved. The during operation, the ejector pin drives the push pedal upward movement, and the push pedal drives protective sheath rebound, when drawing the mouth to contact the elastic pull rod and draw the piece, the elastic pull rod upwards deforms, draws a movement track that the piece elastic pull rod takes place to be similar to and pulls open to drawing the mouth big, the ejector pin continues to rise, the protective sheath breaks away from and draws the piece, deformation has accomplished the work of cup jointing of guide unit for the in-process of initial shape, the equal automatic completion of overall process, the cost of labor sparingly.

As shown in fig. 9 and 10, the pole-climbing unit 2 includes a long mounting bar 36, a sliding rail 37 is disposed on the surface of the long mounting bar 36, and the sliding rail 37 is parallel to the guide bar structure 1 and has the same orientation;

a first telescopic rod 38 is arranged on the upper end wall and the lower end wall of the slide rail 37, a first sliding block 39 is fixedly connected to the telescopic end of the first telescopic rod 38, the first sliding block 39 is slidably arranged in the slide rail 37, a second air cylinder 40 is fixedly connected to the side wall of the first sliding block 39, a second clamping hand 41 is mounted at the telescopic end of the second air cylinder 40, and a second arc-shaped block 42 matched with the outer wall of the guide rod structure 1 is fixedly connected to the end portion of the second clamping hand 41;

In this embodiment, the action of the people climbing tree has been simulated to the pole-climbing unit, has realized through opening and shutting of two upper and lower second cylinders with the guide rod structure with having released, has accomplished the pole-climbing action in the lift of two first sliders of deuterogamying, and safety is strong and is connected with another winder as supplementary safety structure also to alleviate the heavy burden of guide rod structure.

As shown in fig. 9, 10 and 11, two second arc-shaped blocks 42 at relatively high positions are further provided with a rotating unit and a clamping unit;

the rotating unit comprises a first notch 43 arranged in the second arc-shaped block 42, second notches 44 are respectively arranged on the upper end surface and the lower end surface of the first notch 43, a rotating wheel 45 is rotatably and slidably arranged in the first notch 43, the rotating wheel 45 is fixedly connected on the electric rotating shaft, and the two ends of the electric rotating shaft extend into the second notches 44 and are rotatably connected with a second sliding block 46 which is arranged in the second notches 44 in a sliding manner; a spring 47 is arranged between the second sliding block 46 and the side wall of the second notch 44, and the spring 47 is in a compressed state to push the rotating wheel 45 out of the inner arc surface of the second arc-shaped block 42;

the clamping structure comprises a third notch 48 formed in one side of the inner arc surface of the second arc-shaped block 42, a second telescopic rod 49 is fixedly connected into the third notch 48, and the telescopic end of the second telescopic rod 49 can extend out of the third notch 48 and is matched with the first clamping hole 8 for use.

In the embodiment, when the guide unit needs to be installed, the long installation rod climbs to the highest position of the installed guide unit through the lifting matching of the two second arc-shaped blocks and the first sliding block; the second arc-shaped block at the lower part is used as a supporting point and is fixedly connected with the installed guide rod structure, the second arc-shaped block at the upper part rises upwards to grab the guide unit which is not installed, the direction of the guide unit which is not installed is adjusted through the rotating wheel, the first clamping hole of the guide unit which is not installed is aligned with the first elastic clamping block of the guide unit which is installed, and finally the second arc-shaped block at the upper part drives the guide unit which is not installed to be sleeved above the guide unit which is installed. When the mounting long rod is dismounted, the mounting long rod climbs to the highest position of the mounted guide unit through the lifting matching of the two second arc-shaped blocks and the first sliding block; the second arc block of below is regarded as the strong point and is installed guide rod structure rigid coupling, and the second arc block of top rises to and is as high as first elasticity fixture block, through the extension of second telescopic link, presses first unicity fixture block from first card hole, and the second arc block of top snatchs the guide unit and breaks away from this moment, and at last at the guide unit of loosening, the guide unit rises under the drive of winder, accomplishes the dismantlement.

As shown in fig. 9, the cleaning unit includes a base 50 capable of being mounted on a long mounting rod, a plurality of rotating motors 51 are fixedly connected to one side wall of the base 50, third telescopic rods 52 are fixedly connected to rotating shafts of the rotating motors 51, and a cleaning disc 53 capable of being used for cleaning a wall surface is fixedly connected to a telescopic end of each third telescopic rod 52.

In this embodiment, when installing or dismantling the guide rod structure, the base breaks away from with the pole-climbing unit, and after the guide rod structure installation was accomplished, the base was installed again, and the pole-climbing unit drives the cleaning unit and rises or descends along the guide rod structure, and the wall cleaning work can be accomplished to the cooperation tap shower nozzle of washing dish.

As shown in fig. 1, the robot further includes a guide rod structure mounting seat 54, the mounting seat 54 is installed on the ground, and the mounting end of the mounting seat 54 can be installed together with the guide rod structure.

In this embodiment, the mounting seat may reinforce the stability of the guide bar structure.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims

1. A high-rise curtain wall automatic cleaning robot based on a guide rod structure is characterized by comprising a guide rod structure (1) positioned outside the wall surface of a high-rise building, a climbing rod unit (2) capable of climbing on the guide rod structure (1) and a cleaning unit (3) installed on the climbing rod unit (2);

the guide rod structure (1) comprises a plurality of guide units (4), each guide unit (4) comprises a hollow first guide pipe (5), the top of each first guide pipe (5) is fixedly connected with a hollow second guide pipe (6), the outer diameter of each second guide pipe (6) is smaller than the inner diameter of each first guide pipe (5), two first elastic clamping blocks (7) are symmetrically and fixedly connected to the top end face of the ring shape of each second guide pipe (6), two first clamping holes (8) are symmetrically designed in the outer wall of each first guide pipe (5), and the first clamping holes (8) and the first elastic clamping blocks (7) can be clamped in a matched mode;

the guide rod structure (1) further comprises a guide rope (9), and the guide rope (9) sequentially penetrates through all the guide units (4) from top to bottom and is fixedly connected with the inner walls of all the first guide pipes (5) or the second guide pipes (6); the guide units (4) are distributed on the guide rope (9) at intervals;

the guide rod structure (1) further comprises an angle deflection unit, and the angle deflection unit can be installed between any two adjacent guide units (4);

the angle deflection unit comprises a third guide pipe (18), a fourth guide pipe (19) and an arc-shaped guide pipe (20), the third guide pipe (18) is fixedly connected with the fourth guide pipe (19) through the arc-shaped guide pipe (20), and the pipe walls of the third guide pipe (18), the fourth guide pipe (19) and the arc-shaped guide pipe (20) are provided with a guide opening (21) through which the guide rope (9) can pass; the sum of the lengths of the third guide pipe (18), the fourth guide pipe (19) and the arc-shaped guide pipe (20) is less than the length of the guide rope (9) between two adjacent guide units (4); two second elastic clamping blocks (22) are symmetrically and fixedly connected to the top end surface of the fourth conduit (19), and a second clamping hole (23) is further formed in the side wall of the third conduit (18).

2. The automatic cleaning robot for the high-rise curtain wall based on the guide rod structure is characterized in that a first clamping groove (10) which is annular and concave is arranged on the outer wall of the first guide pipe (5);

guide rod structure (1) is still including supplementary rigid coupling unit (11) with guide unit (4) rigid coupling at the high-rise building lateral wall, supplementary rigid coupling unit (11) is including installing piece (12) that can fix at the high-rise building lateral wall, installs the one end of head rod (13) on installing piece (12), and holder (14) that are used for fixed connection guide rod structure (1) are installed to the other end of head rod (13).

3. The automatic cleaning robot for the high-rise curtain wall based on the guide rod structure is characterized in that the mounting piece (12) is a first clamping block clamped on a high-rise building and/or a sucking disc sucked on glass;

the first connecting rod (13) comprises a plurality of connecting sub-rods which are hinged together, and a hinged locking structure is arranged between the connecting sub-rods;

the clamping piece (14) comprises a first cylinder and a first clamping hand (16) arranged at the telescopic end of the first cylinder (15), and a first arc-shaped clamping block (17) matched with the outer wall of the guide rod structure (1) is fixedly connected to the end part of the first clamping hand (16).

4. The automatic cleaning robot for high-rise curtain walls based on the guide rod structure is characterized in that the robot further comprises a first winding machine (24) for storing the guide rod structure, wherein one end of the guide rope (9) is arranged on a rotating shaft of the first winding machine (24);

the high-rise building guide rope is characterized in that the first winding machine (24) is installed on the workbench (25), the workbench (25) is installed on the roof of the high-rise building, one side of the workbench (25) extends out of the side wall of the high-rise building and is rotatably provided with a first roller (26), and one end of the guide rope (9) sequentially penetrates through the workbench (25) and the first roller (26) from the first winding machine (24) to pull the guide unit (4) to hang down the high-rise building.

5. The automatic cleaning robot for the high-rise curtain wall based on the guide rod structure as claimed in claim 4, wherein a channel penetrating through the upper surface and the lower surface of the workbench is arranged on the workbench (25), a limiting plate (27) is fixedly connected to each of two sides of the channel, the bottom end of the limiting plate (27) is mounted on the top of the high-rise building, a top rod (28) is further mounted on the top of the high-rise building, a push plate (29) is fixedly connected to the telescopic end of the top rod (28), and the push plate (29) is mounted between the two limiting plates (27) in a vertically sliding manner; the workbench (25) is also provided with a guide block (30), the narrowed end of the guide block (30) corresponds to the part of the limiting plate extending out of the workbench (25), and the widened end of the guide block (30) faces the first roller (26);

a plurality of elastic cylindrical protective sleeves (31) capable of wrapping the outer surface of the guide unit (4) are stacked on the push plate (29) from bottom to top, and pull openings (32) are formed in the side walls of the protective sleeves (31); elastic pull rods (33) are fixedly connected to the side walls of the two limit plates (27), and pull blocks (34) corresponding to the pull openings (32) are arranged at the end parts of the elastic pull rods (33).

6. The automatic cleaning robot for high-rise curtain walls based on the guide rod structure as claimed in claim 1, wherein the climbing rod unit (2) comprises a long mounting rod (36), a sliding rail (37) is arranged on the surface of the long mounting rod (36), and the sliding rail (37) is parallel to the guide rod structure (1) and is oriented in the same direction;

the upper end wall and the lower end wall of the sliding rail (37) are respectively provided with a first telescopic rod (38), the telescopic end of each first telescopic rod (38) is fixedly connected with a first sliding block (39), each first sliding block (39) is slidably arranged in the sliding rail (37), the side wall of each first sliding block (39) is fixedly connected with a second air cylinder (40), the telescopic end of each second air cylinder (40) is provided with a second clamping hand (41), and the end part of each second clamping hand (41) is fixedly connected with a second arc-shaped block (42) matched with the outer wall of the guide rod structure (1);

7. The automatic cleaning robot for the high-rise curtain wall based on the guide rod structure as claimed in claim 6, wherein a rotating unit and a clamping unit are further arranged on the two second arc-shaped blocks (42) which are relatively higher;

the rotating unit comprises a first notch (43) arranged in a second arc-shaped block (42), second notches (44) are respectively arranged on the upper end surface and the lower end surface of the first notch (43), a rotating wheel (45) is rotatably and slidably arranged in the first notch (43), the rotating wheel (45) is fixedly connected onto the electric rotating shaft, and the two ends of the electric rotating shaft extend into the second notches (44) and are rotatably connected with a second sliding block (46) which is arranged in the second notch (44) in a sliding manner; a spring (47) is arranged between the second sliding block (46) and the side wall of the second notch (44), and the spring (47) is in a compressed state to push the rotating wheel (45) out of the inner arc surface of the second arc-shaped block (42);

the clamping unit comprises a third notch (48) formed in one side of the inner arc surface of the second arc-shaped block (42), a second telescopic rod (49) is fixedly connected into the third notch (48), and the telescopic end of the second telescopic rod (49) can extend out of the third notch (48) and is matched with the first clamping hole (8) for use.

8. The automatic cleaning robot for high-rise curtain walls based on the guide rod structure as claimed in claim 6, wherein the cleaning unit comprises a base (50) capable of being mounted on the long mounting rod, a plurality of rotating motors (51) are fixedly connected to one side wall of the base (50), a third telescopic rod (52) is fixedly connected to each rotating shaft of the rotating motors (51), and a cleaning disc (53) capable of being used for cleaning the wall surface is fixedly connected to the telescopic end of the third telescopic rod (52);

9. The guide-rod-structure-based automatic cleaning robot for the high-rise curtain wall is characterized in that the robot further comprises a guide rod structure mounting seat (54), the mounting seat (54) is mounted on the ground, and the mounting end of the mounting seat (54) can be mounted together with the guide rod structure.