CN114569021A - Suspension rope driving-based high-altitude cleaning robot system - Google Patents
Suspension rope driving-based high-altitude cleaning robot system Download PDFInfo
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- CN114569021A CN114569021A CN202210188649.5A CN202210188649A CN114569021A CN 114569021 A CN114569021 A CN 114569021A CN 202210188649 A CN202210188649 A CN 202210188649A CN 114569021 A CN114569021 A CN 114569021A
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- cleaning robot
- curtain wall
- glass curtain
- ring
- section
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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
- A47L11/4036—Parts or details of the surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a suspension rope drive-based high-altitude cleaning robot system, which comprises a cleaning robot capable of being fixedly adsorbed on the surface of a glass curtain wall, wherein the upper end of the glass curtain wall is provided with a tractor capable of transversely displacing; a first electric rope winder and a second electric rope winder are arranged on the tractor in parallel; the cleaning robot comprises a rotatable ring, and a coiling ring groove is formed in the outer edge of the ring; the traction rope sequentially comprises a plumb-shaped first suspension section, a coiling section and a plumb-shaped second suspension section along the length direction; the brush on the brush plate repeatedly and positively grinds the surface of the glass curtain wall in the process of moving along the spiral track, so that the effect of enhancing washing is achieved.
Description
Technical Field
The invention belongs to the field of glass curtain wall cleaning.
Background
The manual cleaning work of the high-altitude glass curtain wall belongs to the limit operation, has great threat to the personal safety, and particularly brings great potential safety hazard to constructors when the constructors suddenly meet strong wind weather; therefore, from the safety point of view, it is necessary to design a robot to replace a human to complete the cleaning of the high-altitude glass curtain wall.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a suspension rope drive-based high-altitude cleaning robot system which can replace a person to clean a high-altitude glass curtain wall.
The technical scheme is as follows: in order to achieve the purpose, the high-altitude cleaning robot system based on suspension rope driving comprises a cleaning robot which can be fixedly adsorbed on the surface of a glass curtain wall, wherein the upper end of the glass curtain wall is provided with a tractor capable of transversely moving;
a first electric rope winder and a second electric rope winder are arranged on the tractor in parallel;
the cleaning robot comprises a rotatable ring, and a coiling ring groove is formed in the outer edge of the ring; the traction rope sequentially comprises a plumb-shaped first suspension section, a coiling section and a plumb-shaped second suspension section along the length direction;
the coiling section of the middle section of the traction rope is coiled on the coiling ring groove of the ring, and the lower ends of the first hanging section and the second hanging section of the traction rope are respectively tangent with the left end and the right end of the ring; the upper ends of the first hanging section and the second hanging section are respectively wound on the first electric rope winder and the second electric rope winder;
when the cleaning robot is separated from the surface of the glass curtain wall, controlling the first electric rope winder and the second electric rope winder to respectively and synchronously wind the upper ends of the first hanging section and the second hanging section into the first electric rope winder and the second electric rope winder, and synchronously shortening the first hanging section and the second hanging section so as to enable the cleaning robot to do ascending motion;
when the cleaning robot is separated from the surface of the glass curtain wall, controlling the first electric rope winder and the second electric rope winder to respectively and synchronously pay out the first hanging section and the second hanging section, and synchronously lengthening the first hanging section and the second hanging section so as to enable the cleaning robot to do descending motion;
when the cleaning robot is fixedly adsorbed on the surface of the glass curtain wall, the upper end of the first suspension section is gradually wound into the first electric rope winder, and the second electric rope winder releases the second suspension section at the same speed, so that the ring rotates clockwise;
when the cleaning robot is fixedly adsorbed on the surface of the glass curtain wall, the upper end of the second suspension section is gradually wound into the second electric rope winder, and the first suspension section is discharged from the first electric rope winder at the same speed, so that the ring rotates anticlockwise.
Further, the cleaning robot comprises a rectangular frame, and a plurality of axial flow fans are fixedly mounted on the inner side of the rectangular frame in a circumferential array through a plurality of axial flow fan supports; the air outlet direction of each axial flow fan deviates from one side of the glass curtain wall, and the cleaning robot in a suspension state is attached to the surface of the glass curtain wall by the reactive force of the air blown out by the axial flow fans in the direction of deviating from the glass curtain wall.
Further, there are four electric suction cups at one side that four apex angles departments of rectangular frame are close to glass curtain wall fixed mounting respectively, and when cleaning machines people pasted on glass curtain wall surface, four electric suction cups homoenergetic is fixed to be adsorbed glass curtain wall surface.
Furthermore, a hard water tank is arranged at the geometric center of the rectangular frame and is fixedly supported and connected with the rectangular frame through a plurality of water tank supports;
one side of the hard water tank close to the glass curtain wall is fixedly connected with a central rod which is coaxial with the ring; a cylindrical arm is arranged in the enclosing range of the ring along the radial direction, a near-center disc is integrally and coaxially fixed at one end, close to the center rod, of the cylindrical arm, a far-center disc is integrally and coaxially fixed at one end, far away from the center rod, of the cylindrical arm, and the far-center disc is fixedly connected with the inner wall of the ring through a fixing rod;
the bearing frame is installed in the outer rotation of well core rod through first bearing, the bearing frame passes through linking arm fixed connection nearly heart dish to make the ring can only wind under the restraint of the integral structure that bearing frame, nearly heart dish, cylindric arm, far heart dish and dead lever formed well core rod gyration.
Further, a cylindrical sliding block is arranged in the cylinder of the cylindrical arm in a sliding mode with the same axis, and the cylindrical sliding block can move along the length direction of the cylindrical arm; a spring is coaxially arranged in the barrel of the cylindrical arm, one end of the spring, which is far away from the near-center disk, elastically presses the cylindrical sliding block, and the cylindrical sliding block moves away from the near-center disk gradually under the pressing of the spring without the action of other external forces;
the cylindrical arm is hollowed in the length direction to form a strip-shaped hollowed groove, and the strip-shaped hollowed groove divides the cylindrical arm into a left half piece and a right half piece; a bearing hole vertically penetrates through the middle part of the cylindrical sliding block, and is parallel to the axis of the ring; a brush plate rotating shaft is coaxially and integrally connected with one end of the brush plate rotating shaft close to the glass curtain wall, and brushes are uniformly distributed on one side surface of the brush plate close to the glass curtain wall; when the four electric suckers are fixedly adsorbed on the surface of the glass curtain wall, the tail end of each brush is also contacted with the surface of the glass curtain wall;
one end of the central rod, which is far away from the hard water tank, is coaxially and integrally connected with a pull wire winding rod, and two ends of the pull wire winding rod are coaxially connected with side protection discs; the nearly heart dish is gone up the axle center and is provided with the hole of acting as go-between, still includes to pass act as go-between of the hole of acting as go-between, the one end fixed connection of acting as go-between the pole lateral wall of rolling up of acting as go-between, the other end fixed connection of acting as go-between the cylindricality slider.
Furthermore, when the ring rotates around the central rod, one end of the stay wire close to the stay wire winding rod is gradually wound on the stay wire winding rod, so that the straight line section of the stay wire is gradually shortened, and the cylindrical sliding block gradually moves close to the near-center disc while rotating along with the ring; after the rotary motion of the cylindrical sliding block around the central rod and the motion of the cylindrical sliding block gradually approaching the near-center disk are synthesized, the actual motion track of the cylindrical sliding block is a spiral track gradually approaching the central rod from outside to inside, and the spiral space of the spiral track is smaller than the outer diameter of the brush disk.
Furthermore, a friction roller is coaxially fixed at one end of the rotating shaft of the brush disc, which is far away from the brush disc; one sides of the left half piece and the right half piece, which are far away from the hairbrush disc, are respectively provided with a first straight line strip and a second straight line strip which are parallel in an integrated manner along the length direction;
a plurality of A friction blocks are integrally arrayed on the first straight line at equal intervals along the length direction, and an A hollow window is formed between every two adjacent A friction blocks;
a plurality of B friction blocks are integrally arrayed on the second linear strip at equal intervals along the length direction, and a B hollow window is formed between every two adjacent B friction blocks;
the friction roller is positioned between the plurality of linear arrays of the friction blocks A and the plurality of linear arrays of the friction blocks B; the distance between the plurality of linear arrays of the friction blocks A and the plurality of linear arrays of the friction blocks B is consistent with the outer diameter of the friction roller; under the view angle of the cylindrical arm in the vertical direction in the length direction, the plurality of friction blocks A are staggered with the plurality of friction blocks B respectively; when the friction roller is tangent to any friction block A in a rolling way, the friction roller is not contacted with any friction block B; when the friction roller is tangent to any one of the friction blocks B in a rolling manner, the friction roller is not contacted with any one of the friction blocks A; when the cylindrical sliding block moves along the length direction of the cylindrical arm, the friction roller can be in periodic alternate rolling fit with the friction block A and the friction block B respectively, so that the brush disk can rotate forwards and backwards along the axis of the brush disk in a reciprocating alternate manner; and the angle of each forward or reverse rotation is no more than 30 deg..
Furthermore, an annular rotary liquid tank is hermetically and rotatably sleeved outside the central rod, an annular liquid transition cavity is arranged in the annular rotary liquid tank, and the annular rotary liquid tank is fixedly connected with the bearing seat through a linkage piece, so that the annular rotary liquid tank and the bearing seat are synchronous; the liquid transition cavity is communicated with the hard water tank through a first liquid guide channel in the central rod; a liquid pump is fixedly arranged on the annular rotary liquid tank, and the liquid inlet end of the liquid pump is communicated with the annular liquid transition cavity; a second liquid guide channel penetrates through the rotating shaft of the brush disc; the liquid outlet end of the liquid pump is communicated with one end, far away from the brush disc, of the second liquid guide channel through a flexible hose; the second liquid guide channel is communicated with the outside at the geometric center of one side surface of the brush plate with the brush.
Has the advantages that: the friction roller is in periodic alternate rolling fit with the friction block A and the friction block B respectively when the cylindrical sliding block displaces along the length direction of the cylindrical arm, so that the brush plate rotates forwards and backwards along the axis of the brush plate in a reciprocating alternate manner; and the angle of each positive rotation or negative rotation does not exceed the angle, so that the flexible hose is prevented from winding; at the moment, the brush disk also rotates forwards and backwards alternately along the axis of the brush disk in a reciprocating mode in the process of moving along the spiral track, so that the surface of the glass curtain wall is repeatedly ground forwards and backwards in the process of moving along the spiral track by the brush on the brush disk, and the effect of enhancing brushing is achieved.
Drawings
FIG. 1 is an overall side view of the apparatus;
FIG. 2 is a front view of the present apparatus;
FIG. 3 is a partial schematic view of FIG. 2;
FIG. 4 is a schematic view of a cleaning robot;
FIG. 5 is a cross-sectional view of the cleaning robot;
FIG. 6 is an enlarged schematic view of the barrel arm;
FIG. 7 is a first cross-sectional view of FIG. 6;
FIG. 8 is a second cross-sectional view of FIG. 6;
FIG. 9 is a schematic cut-away view of the cleaning robot at the cylinder arm;
FIG. 10 is an enlarged schematic view at 14 of FIG. 9;
FIG. 11 is an enlarged schematic view at 15 of FIG. 9;
FIG. 12 is a schematic view of the movement of the brush plate around the spiral path;
FIG. 13 is a schematic view of a loop configuration.
Detailed Description
The present invention will be further described with reference to the drawings (the sizes in the drawings in this document do not represent actual size ratios).
The suspension rope driving-based high-altitude cleaning robot system as shown in the attached fig. 1 to 13 comprises a cleaning robot 40 which can be fixedly adsorbed on the surface of a glass curtain wall 5, wherein the upper end of the glass curtain wall 5 is provided with a tractor 3 which can transversely displace;
a first electric rope winder 60 and a second electric rope winder 61 are arranged on the tractor 3 in parallel;
the cleaning robot 40 includes a rotatable ring 12, the outer edge of the ring 12 having a winding ring groove 39; the traction rope is characterized by further comprising a traction rope 2, wherein the traction rope 2 sequentially comprises a plumb-shaped first hanging section 2.1, a coiling section 2.2 and a plumb-shaped second hanging section 2.3 along the length direction;
the coiling section 2.2 at the middle section of the hauling rope 2 is coiled on the coiling ring groove 39 of the ring 12, and the lower ends of the first hanging section 2.1 and the second hanging section 2.3 of the hauling rope 2 are respectively tangent with the left end and the right end of the ring 12; the upper ends of the first 2.1 and second 2.3 suspension sections are wound around the first 60 and second 61 electric rope winders, respectively;
when the cleaning robot 40 is separated from the surface of the glass curtain wall 5, controlling the first electric rope winder 60 and the second electric rope winder 61 to synchronously wind the upper ends of the first suspension section 2.1 and the second suspension section 2.3 into the first electric rope winder 60 and the second electric rope winder 61 respectively, and synchronously shortening the first suspension section 2.1 and the second suspension section 2.3 so as to enable the cleaning robot 40 to do ascending motion;
when the cleaning robot 40 is separated from the surface of the glass curtain wall 5, controlling the first electric rope winder 60 and the second electric rope winder 61 to enable the first electric rope winder 60 and the second electric rope winder 61 to synchronously pay out the first hanging section 2.1 and the second hanging section 2.3 respectively, and enabling the first hanging section 2.1 and the second hanging section 2.3 to be synchronously lengthened, so that the cleaning robot 40 does descending motion;
when the cleaning robot 40 is fixedly adsorbed on the surface of the glass curtain wall 5, the upper end of the first hanging section 2.1 is gradually wound into the first electric rope winder 60, and simultaneously, the second electric rope winder 61 releases the second hanging section 2.3 at the same speed, so that the ring 12 rotates clockwise;
when the cleaning robot 40 is fixedly attached to the surface of the glass curtain wall 5, the upper end of the second hanging section 2.2 is gradually wound into the second electric rope winder 61 while the first electric rope winder 60 is paid out of the first hanging section 2.1 at the same speed, so that the ring 12 rotates counterclockwise.
The cleaning robot 40 comprises a rectangular frame 8, wherein a plurality of axial flow fans 7 are fixedly arranged on the inner side of the rectangular frame 8 in a circumferential array through a plurality of axial flow fan brackets 11; the air outlet direction of each axial flow fan 7 is deviated from one side of the glass curtain wall 5, and the cleaning robot 40 in a suspension state is attached to the surface of the glass curtain wall 5 by the reactive force of the air blown out by the axial flow fans 7 in the direction of being deviated from the glass curtain wall 5.
Four apex angle departments of rectangular frame 8 are close to one side of glass curtain wall 5 and are fixed mounting respectively has four electric chuck 10, and when cleaning machines people 40 pasted on glass curtain wall 5 surface, four electric chuck 10 homoenergetic fixed absorption are on glass curtain wall 5 surface.
A hard water tank 13 is arranged at the geometric center of the rectangular frame 8, and the hard water tank 13 is fixedly supported and connected with the rectangular frame 8 through a plurality of water tank supports 9;
one side of the hard water tank 13 close to the glass curtain wall 5 is fixedly connected with a central rod 24 which is coaxial with the ring 12; a cylindrical arm 30 is arranged in the enclosing range of the ring 12 along the radial direction, a near-center disc 44 is integrally and coaxially fixed at one end, close to the central rod 24, of the cylindrical arm 30, a far-center disc 50 is integrally and coaxially fixed at one end, far away from the central rod 24, of the cylindrical arm 30, and the far-center disc 50 is fixedly connected with the inner wall of the ring 12 through a fixing rod 19;
the bearing seat 26 is rotatably mounted outside the central rod 24 through a first bearing 49, and the bearing seat 26 is fixedly connected to the central disk 44 through a connecting arm 29, so that the ring 12 can only rotate around the central rod 24 under the constraint of an integrated structure formed by the bearing seat 26, the central disk 44, the cylindrical arm 30, the central disk 50 and the fixing rod 19.
A cylindrical sliding block 41 is coaxially and slidably arranged in the cylinder of the cylindrical arm 30, and the cylindrical sliding block 41 can displace along the length direction of the cylindrical arm 30; a spring 18 is coaxially arranged in the barrel of the barrel-shaped arm 30, one end of the spring 18, which is far away from the near-center disk 44, elastically presses the cylindrical sliding block 41, and the cylindrical sliding block 41 does movement gradually far away from the near-center disk 44 under the pressing of the spring 18 without the action of other external forces;
the cylindrical arm 30 is hollowed with a strip-shaped hollowed groove 20 along the length direction, and the strip-shaped hollowed groove 20 divides the cylindrical arm 30 into a left half 30.1 and a right half 30.2; a bearing hole 100 vertically penetrates through the middle part of the cylindrical sliding block 41, and the axis of the bearing hole 10 is parallel to the axis of the ring 12; a brush disc rotating shaft 35 is coaxially and rotatably arranged in the bearing hole 10 through a second bearing 43, one end, close to the glass curtain wall 5, of the brush disc rotating shaft 35 is coaxially and integrally connected with a brush disc 37, and brushes 36 are uniformly distributed on one side face, close to the glass curtain wall 5, of the brush disc 37; when the four electric suction cups 10 are fixedly adsorbed on the surface of the glass curtain wall 5, the tail ends of the hairbrushes 36 are also contacted with the surface of the glass curtain wall 5;
one end of the central rod 24, which is far away from the hard water tank 13, is coaxially and integrally connected with a pull wire winding rod 27, and two ends of the pull wire winding rod 27 are coaxially connected with side protection discs 28; the proximal disc 44 is coaxially provided with a pull wire through hole 45, and further comprises a pull wire 17 passing through the pull wire through hole 45, one end of the pull wire 17 is fixedly connected with the side wall of the pull wire winding rod 27, and the other end of the pull wire 17 is fixedly connected with the cylindrical sliding block 41.
When the ring 12 rotates around the central rod 24, one end of the pull wire 17 close to the pull wire winding rod 27 is gradually wound on the pull wire winding rod 27, so that the straight line section of the pull wire 17 is gradually shortened, and the cylindrical sliding block 41 gradually approaches to the proximal disc 44 while rotating along with the ring 12; after the revolving motion of the cylindrical sliding block 41 around the central rod 24 and the motion of the cylindrical sliding block 41 gradually approaching the near-center disk 44 are synthesized, the actual motion track of the cylindrical sliding block 41 is the spiral track 38 gradually approaching the central rod 24 from outside to inside, and the spiral distance of the spiral track 38 is smaller than the outer diameter of the brush disk 37.
One end of the brush disc rotating shaft 35, which is far away from the brush disc 37, is coaxially fixed with a friction roller 21; the sides of the left half piece 30.1 and the right half piece 30.2, which are far away from the brush disc 37, are respectively provided with a first straight line strip 32 and a second straight line strip 31 which are parallel in an integrated manner along the length direction;
a plurality of A friction blocks 34.1 are integrally arrayed on the first straight line 32 at equal intervals along the length direction, and an A hollow window 33.1 is formed between every two adjacent A friction blocks 34.1;
a plurality of B friction blocks 34.2 are integrally arranged on the second straight line strip 31 at equal intervals along the length direction, and a B hollow window 33.2 is formed between every two adjacent B friction blocks 34.2;
the friction roller 21 is positioned between the linear arrays of the friction blocks A34.1 and the linear arrays of the friction blocks B34.2; the distance between the plurality of linear arrays of the A friction blocks 34.1 and the plurality of linear arrays of the B friction blocks 34.2 is consistent with the outer diameter of the friction roller 21; under the view angle of the vertical direction of the length direction of the cylindrical arm 30, a plurality of friction blocks A34.1 and a plurality of friction blocks B34.2 are staggered with each other respectively; when the friction roller 21 rolls tangentially with any one A friction block 34.1, the friction roller 21 is not contacted with any one B friction block 34.2; when the friction roller 21 is tangent to any one of the B friction blocks 34.2 in a rolling way, the friction roller 21 is not contacted with any one of the A friction blocks 34.1; when the cylindrical sliding block 41 is displaced along the length direction of the cylindrical arm 30, the friction roller 21 is in periodic alternate rolling fit with the friction block A34.1 and the friction block B34.2 respectively, so that the brush disc 37 is in reciprocating alternate forward and reverse rotation along the axis of the brush disc; and the angle of each forward or reverse rotation is no more than 30 deg..
The central rod 24 is also hermetically and rotatably sleeved with an annular rotary liquid tank 300, an annular liquid transition cavity 46 is arranged in the annular rotary liquid tank 300, and the annular rotary liquid tank 300 is fixedly connected with the bearing seat 26 through a linkage 90, so that the annular rotary liquid tank 300 is synchronous with the bearing seat 26; the liquid transition cavity 46 is communicated with the hard water tank 13 through a first liquid guide channel 47 in the central rod 24; the annular rotary liquid tank 300 is fixedly provided with a liquid pump 23, and the liquid inlet end of the liquid pump 23 is communicated with the annular liquid transition cavity 46; a second liquid guide channel 24 is communicated with the inside of the rotating shaft 35 of the brush disc; the liquid outlet end of the liquid pump 23 is communicated with one end of the second liquid guide channel 24 far away from the brush disc 37 through the flexible hose 22; the second fluid conducting channel 24 is open to the outside in the geometric center of the side of the brush plate 37 having the brushes 36.
The working method of the high-altitude cleaning robot system based on the suspension rope driving comprises the following steps:
left-right displacement process: the four electric suction cups 10 are all released from the adsorption state with the glass curtain wall 5, so that the cleaning robot 40 is integrally suspended only by the first suspension section 2.1 and the second suspension section 2.3, and then the tractor 3 is controlled to transversely move left and right, so that the cleaning robot 40 is driven by the suspension of the first suspension section 2.1 and the second suspension section 2.3 to move left and right;
ascending movement: the four electric suction cups 10 release the adsorption state with the glass curtain wall 5, so that the cleaning robot 40 is only suspended by the first suspension section 2.1 and the second suspension section 2.3 on the whole; controlling the first electric rope winder 60 and the second electric rope winder 61 to synchronously wind the upper ends of the first suspension section 2.1 and the second suspension section 2.3 into the first electric rope winder 60 and the second electric rope winder 61 respectively, and synchronously shortening the first suspension section 2.1 and the second suspension section 2.3 so as to enable the cleaning robot 40 to do ascending motion;
descending movement: the four electric suction cups 10 release the adsorption state with the glass curtain wall 5, so that the cleaning robot 40 is only suspended by the first suspension section 2.1 and the second suspension section 2.3 on the whole; controlling the first electric rope winder 60 and the second electric rope winder 61 to make the first electric rope winder 60 and the second electric rope winder 61 respectively discharge the first hanging section 2.1 and the second hanging section 2.3 synchronously, and make the first hanging section 2.1 and the second hanging section 2.3 lengthen synchronously, so that the cleaning robot 40 does descending motion;
local cleaning process: the liquid pump 23 is started, and finally the cleaning liquid in the hard water tank 13 continuously overflows from the geometric center of one side surface of the brush disc 37 with the brushes 36 through the second liquid guide channel 24, so that the brushes 36 on the brush disc 37 are always in a state of being soaked by the cleaning liquid;
the cleaning robot 40 in a suspended state is attached to the surface of the glass curtain wall 5 by the reaction force of the wind blown out by each axial flow fan 7 in the direction away from the glass curtain wall 5; when the cleaning robot 40 is attached to the surface of the glass curtain wall 5, controlling the four electric suction cups 10 to be fixedly adsorbed on the surface of the glass curtain wall 5, so that the cleaning robot 40 is fixed at the local position of the glass curtain wall 5; then, the first electric rope winder 60 and the second electric rope winder 61 are simultaneously controlled, so that the upper end of the first hanging section 2.1 is gradually wound into the first electric rope winder 60, and simultaneously, the second electric rope winder 61 discharges the second hanging section 2.3 at the same speed, so that the ring 12 rotates clockwise under the tangential tension of the first hanging section 2.1; so that the cylindrical arm 30 rotates clockwise along the axis of the central rod 24 following the ring 12, at this time, one end of the pull wire 17 close to the pull wire winding rod 27 is gradually wound on the pull wire winding rod 27, so that the straight line segment of the pull wire 17 is gradually shortened, further, the cylindrical slider 41 makes a motion gradually approaching the proximal disc 44 and stores elastic potential energy of the spring 18 while the cylindrical arm 30 rotates around the central rod 24, after the rotating motion of the cylindrical slider 41 around the central rod 24 and the motion of the cylindrical slider 41 gradually approaching the proximal disc 44 are synthesized, the actual motion trajectory of the cylindrical slider 41 is a spiral trajectory 38 (as shown in fig. 12) gradually approaching the central rod 24 from outside to inside, therefore, the actual motion trajectory of the brush disc 37 is also a spiral trajectory 38 gradually approaching the central rod 24 from outside to inside, and the spiral pitch of the spiral trajectory 38 is smaller than the outer diameter of the brush disc 37; therefore, in the process that the brush disc 37 moves along the spiral track 38, the area brushed by the brushes 36 on the brush disc 37 can cover the whole range of the spiral track 38, so that no dead angle is left during cleaning;
meanwhile, when the cylindrical sliding block 41 is displaced along the length direction of the cylindrical arm 30, the friction roller 21 is in periodic alternate rolling fit with the friction block A34.1 and the friction block B34.2 respectively, so that the brush disc 37 is in reciprocating alternate forward and reverse rotation along the axis of the brush disc; and the angle of each positive rotation or negative rotation does not exceed 30 degrees, thereby avoiding the flexible hose 22 from winding; at this time, the brush disc 37 also rotates forward and backward alternately along the axis of the brush disc in a reciprocating manner in the process of moving along the spiral track 38, so that the surface of the glass curtain wall 5 is repeatedly ground forward and backward in the process of moving along the spiral track 38 by the brushes 36 on the brush disc 37, and the effect of enhancing brushing is achieved;
when the cylindrical slider 41 reaches the end of the spiral track 38 close to the center of the spiral, it is necessary to return the cylindrical slider 41 to the end of the spiral track 38 away from the center of the spiral, and the first electric winder 60 and the second electric winder 61 are simultaneously controlled, so that the first electric winder 60 pay out the first hanging section 2.1 at the same speed while the upper end of the second hanging section 2.2 is gradually wound into the second electric winder 61, thereby rotating the loop 12 counterclockwise; thereby causing the brush disc 37 to make a spiral track 38 movement which is gradually distanced from the central rod 24 from the inside to the outside, and finally the brush disc 37 returns to the end of the spiral track 38 which is distanced from the center of the spiral.
The above description is only of the preferred embodiments 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 (8)
1. The high-altitude cleaning robot system based on suspension rope driving comprises a cleaning robot (40) capable of being fixedly adsorbed on the surface of a glass curtain wall (5), wherein the upper end of the glass curtain wall (5) is provided with a tractor (3) capable of transversely moving;
the method is characterized in that: a first electric rope winder (60) and a second electric rope winder (61) are arranged on the tractor (3) in parallel;
the cleaning robot (40) comprises a rotatable ring (12), and a coiling ring groove (39) is formed in the outer edge of the ring (12); the hanging rope is characterized by further comprising a traction rope (2), wherein the traction rope (2) sequentially comprises a plumb-shaped first hanging section (2.1), a coiling section (2.2) and a plumb-shaped second hanging section (2.3) along the length direction;
a coiling section (2.2) at the middle section of the traction rope (2) is coiled on a coiling ring groove (39) of the ring (12), and the lower ends of a first hanging section (2.1) and a second hanging section (2.3) of the traction rope (2) are respectively tangent with the left end and the right end of the ring (12); the upper ends of the first suspension section (2.1) and the second suspension section (2.3) are respectively wound on a first electric rope winder (60) and a second electric rope winder (61);
when the cleaning robot (40) is separated from the surface of the glass curtain wall (5), controlling a first electric rope winder (60) and a second electric rope winder (61) to synchronously wind the upper ends of a first hanging section (2.1) and a second hanging section (2.3) into the first electric rope winder (60) and the second electric rope winder (61) respectively, and synchronously shortening the first hanging section (2.1) and the second hanging section (2.3) so as to enable the cleaning robot (40) to do ascending motion;
when the cleaning robot (40) is separated from the surface of the glass curtain wall (5), controlling a first electric rope winder (60) and a second electric rope winder (61) to enable the first electric rope winder (60) and the second electric rope winder (61) to synchronously pay out a first hanging section (2.1) and a second hanging section (2.3) respectively, and enabling the first hanging section (2.1) and the second hanging section (2.3) to be synchronously lengthened, so that the cleaning robot (40) does descending motion;
when the cleaning robot (40) is fixedly adsorbed on the surface of the glass curtain wall (5), the upper end of the first hanging section (2.1) is gradually wound into the first electric rope winder (60), and simultaneously the second electric rope winder (61) discharges the second hanging section (2.3) at the same speed, so that the ring (12) rotates clockwise;
when the cleaning robot (40) is fixedly adsorbed on the surface of the glass curtain wall (5), the upper end of the second suspension section (2.2) is gradually wound into the second electric rope winder (61), and simultaneously the first electric rope winder (60) discharges the first suspension section (2.1) at the same speed, so that the ring (12) rotates anticlockwise.
2. The suspension cord drive-based high altitude cleaning robot system of claim 1, wherein: the cleaning robot (40) comprises a rectangular frame (8), and a plurality of axial flow fans (7) are fixedly arranged on the inner side of the rectangular frame (8) in a circumferential array through a plurality of axial flow fan brackets (11); the air outlet direction of each axial flow fan (7) is deviated from one side of the glass curtain wall (5), and the cleaning robot (40) in a suspension state is attached to the surface of the glass curtain wall (5) by the reactive force of the air blown out from the axial flow fans (7) in the direction of being deviated from the glass curtain wall (5).
3. The suspension cord drive-based high altitude cleaning robot system of claim 2, wherein: four apex angle departments of rectangular frame (8) are close to one side of glass curtain wall (5) and are fixed mounting respectively have four electric chuck (10), when cleaning machines people (40) paste on glass curtain wall (5) surface, four electric chuck (10) homoenergetic is fixed to be adsorbed glass curtain wall (5) surface.
4. The suspension cord drive-based high altitude cleaning robot system of claim 3, wherein: a hard water tank (13) is arranged at the geometric center of the rectangular frame (8), and the hard water tank (13) is fixedly supported and connected with the rectangular frame (8) through a plurality of water tank supports (9);
one side of the hard water tank (13) close to the glass curtain wall (5) is fixedly connected with a central rod (24) which is coaxial with the ring (12); a cylindrical arm (30) is arranged in the enclosing range of the ring (12) along the radial direction, a near-center disc (44) is integrally and coaxially fixed at one end, close to the central rod (24), of the cylindrical arm (30), a far-center disc (50) is integrally and coaxially fixed at one end, far away from the central rod (24), of the cylindrical arm (30), and the far-center disc (50) is fixedly connected with the inner wall of the ring (12) through a fixing rod (19);
the outer portion of the central rod (24) is rotatably provided with a bearing seat (26) through a first bearing (49), the bearing seat (26) is fixedly connected with the near-center disc (44) through a connecting arm (29), and therefore the ring (12) can only rotate around the central rod (24) under the constraint of an integrated structure formed by the bearing seat (26), the near-center disc (44), the cylindrical arm (30), the far-center disc (50) and the fixing rod (19).
5. The suspension cord drive-based high altitude cleaning robot system of claim 4, wherein: a cylindrical sliding block (41) is arranged in the cylinder of the cylindrical arm (30) in a sliding manner coaxially, and the cylindrical sliding block (41) can displace along the length direction of the cylindrical arm (30); a spring (18) is coaxially arranged in the barrel of the barrel-shaped arm (30), one end, far away from the near-center disc (44), of the spring (18) elastically presses the cylindrical sliding block (41), and the cylindrical sliding block (41) does movement, far away from the near-center disc (44) gradually, under the pressing action of the spring (18) without other external forces;
the cylindrical arm (30) is hollowed with a strip-shaped hollowed groove (20) along the length direction, and the strip-shaped hollowed groove (20) divides the cylindrical arm (30) into a left half piece (30.1) and a right half piece (30.2); a bearing hole (100) vertically penetrates through the middle part of the cylindrical sliding block (41), and the axis of the bearing hole (10) is parallel to the axis of the ring (12); a brush disc rotating shaft (35) is coaxially and rotatably arranged in the bearing hole (10) through a second bearing (43), one end, close to the glass curtain wall (5), of the brush disc rotating shaft (35) is coaxially and integrally connected with a brush disc (37), and brushes (36) are uniformly distributed on one side face, close to the glass curtain wall (5), of the brush disc (37); when the four electric suction cups (10) are fixedly adsorbed on the surface of the glass curtain wall (5), the tail ends of the hairbrushes (36) are also contacted with the surface of the glass curtain wall (5);
one end of the central rod (24) far away from the hard water tank (13) is coaxially and integrally connected with a pull wire winding rod (27), and two ends of the pull wire winding rod (27) are coaxially connected with side protection discs (28); nearly heart dish (44) go up and be provided with the coaxial axle center and draw line through hole (45), still include to pass draw line (17) that draw line passed hole (45), the one end fixed connection of drawing line (17) draw line winding rod (27) lateral wall, the other end fixed connection of drawing line (17) cylindricality slider (41).
6. The suspension cord drive-based high altitude cleaning robot system of claim 5, wherein: when the ring (12) rotates around the central rod (24), one end of the pull wire (17) close to the pull wire winding rod (27) is gradually wound on the pull wire winding rod (27), so that the straight line section of the pull wire (17) is gradually shortened, and the cylindrical sliding block (41) moves gradually close to the near-center disc (44) along with the rotation of the ring (12); after the rotary motion of the cylindrical sliding block (41) around the central rod (24) and the motion of the cylindrical sliding block (41) gradually approaching the near-center disk (44) are synthesized, the actual motion track of the cylindrical sliding block (41) is a spiral track (38) gradually approaching the central rod (24) from outside to inside, and the spiral space of the spiral track (38) is smaller than the outer diameter of the brush disk (37).
7. The suspension cord drive-based high altitude cleaning robot system according to claim 6, wherein: one end of the brush disc rotating shaft (35) far away from the brush disc (37) is coaxially fixed with a friction roller (21); one sides of the left half piece (30.1) and the right half piece (30.2) far away from the brush disc (37) are respectively provided with a first straight line strip (32) and a second straight line strip (31) which are parallel in an integrated manner along the length direction;
a plurality of A friction blocks (34.1) are integrally arrayed on the first straight line (32) at equal intervals along the length direction, and an A hollow window (33.1) is formed between every two adjacent A friction blocks (34.1);
a plurality of B friction blocks (34.2) are arranged on the second linear strip (31) in an integrated equidistant array along the length direction, and a B hollow window (33.2) is formed between every two adjacent B friction blocks (34.2);
the friction roller (21) is positioned between the linear arrays of the friction blocks A (34.1) and the linear arrays of the friction blocks B (34.2); the distance between the linear arrays of the plurality of the friction blocks A (34.1) and the linear arrays of the plurality of the friction blocks B (34.2) is consistent with the outer diameter of the friction roller (21);
under the vertical direction view angle of the length direction of the cylindrical arm (30), the plurality of friction blocks A (34.1) and the plurality of friction blocks B (34.2) are staggered with each other; when the friction roller (21) is in rolling tangent with any one A friction block (34.1), the friction roller (21) is not in contact with any one B friction block (34.2); when the friction roller (21) is in rolling tangent with any one of the friction blocks B (34.2), the friction roller (21) is not in contact with any one of the friction blocks A (34.1); when the cylindrical sliding block (41) is displaced along the length direction of the cylindrical arm (30), the friction roller (21) is in periodic alternate rolling fit with the friction block A (34.1) and the friction block B (34.2) respectively, so that the brush disc (37) is in reciprocating alternate forward and reverse rotation along the axis of the brush disc; and the angle of each forward or reverse rotation is no more than 30 deg..
8. The suspension cord drive-based high altitude cleaning robot system of claim 6, wherein: an annular rotary liquid tank (300) is hermetically and rotatably sleeved outside the central rod (24), an annular liquid transition cavity (46) is arranged in the annular rotary liquid tank (300), and the annular rotary liquid tank (300) is fixedly connected with the bearing seat (26) through a linkage piece (90), so that the annular rotary liquid tank (300) and the bearing seat (26) are synchronous; the liquid transition cavity (46) is communicated with the hard water tank (13) through a first liquid guide channel (47) in the central rod (24); a liquid pump (23) is fixedly installed on the annular rotary liquid tank (300), and a liquid inlet end of the liquid pump (23) is communicated with the annular liquid transition cavity (46); a second liquid guide channel (24) penetrates through the brush disc rotating shaft (35); the liquid outlet end of the liquid pump (23) is communicated with one end, away from the brush disc (37), of the second liquid guide channel (24) through a flexible hose (22); the second liquid guide channel (24) is communicated with the outside at the geometric center of one side surface of the brush disc (37) with the brush (36).
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| CN114569021B (en) | 2023-03-24 |
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