CN114766957A - Full-automatic glass curtain wall cleaning robot - Google Patents
Full-automatic glass curtain wall cleaning robot Download PDFInfo
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- CN114766957A CN114766957A CN202210238829.XA CN202210238829A CN114766957A CN 114766957 A CN114766957 A CN 114766957A CN 202210238829 A CN202210238829 A CN 202210238829A CN 114766957 A CN114766957 A CN 114766957A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 110
- 239000011521 glass Substances 0.000 title claims abstract description 85
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000009193 crawling Effects 0.000 claims abstract description 34
- 238000001179 sorption measurement Methods 0.000 claims abstract description 34
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 19
- 239000010959 steel Substances 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 52
- 230000005540 biological transmission Effects 0.000 claims description 38
- 238000005096 rolling process Methods 0.000 claims description 32
- 239000000758 substrate Substances 0.000 claims description 21
- 239000007921 spray Substances 0.000 claims description 17
- 238000010521 absorption reaction Methods 0.000 claims description 12
- 239000010865 sewage Substances 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 230000002567 autonomic effect Effects 0.000 claims description 2
- 238000011086 high cleaning Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
- E04G23/004—Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-automatic glass curtain wall cleaning robot which comprises an adsorption crawling device, a cleaning device and a controller, wherein the cleaning device is suspended below the adsorption crawling device through a steel wire rope, an operator stores a planned path in the controller, and the controller controls the adsorption crawling device to move on a glass curtain wall. During cleaning operation, the adsorption crawling device moves to one end of the top layer of the glass curtain wall and then is fixed, the hoisting mechanism contracts the steel wire rope, the cleaning device moves upwards to clean the glass curtain wall, after the top of the glass curtain wall is reached, the adsorption crawling device moves towards the other end of the glass curtain wall and is fixed after one body position, the hoisting mechanism releases the steel wire rope, the cleaning device moves downwards to clean the glass curtain wall, the adsorption crawling device moves sequentially, and the cleaning device periodically performs up-and-down cleaning operation until the cleaning task of the whole glass curtain wall is completed; the cleaning robot has the advantages of simple structure, reasonable design, convenience in use, high cleaning efficiency and the like.
Description
Technical Field
The invention relates to the technical field of curtain wall cleaning, in particular to a full-automatic glass curtain wall cleaning robot.
Background
With the increasing of large high-rise buildings in cities, the glass curtain wall is used more and more frequently. The glass curtain wall has better beautifying effect on buildings and makes rooms brighter. However, the glass curtain wall is difficult to clean while having the effect. Because the glass curtain wall is exposed in the air, dust in the air and erosion of rainwater can cause stains on the glass curtain wall. Stains not only affect the appearance of the whole building, but also cause the interior to be dark.
The traditional method adopts manual cleaning, but safety accidents are easy to happen due to high-altitude operation, and cleaning efficiency is low, so that cleaning cost is high. The existing curtain wall cleaning equipment is complex in movement, difficult to carry and required to be adjusted manually, and although the problem of high-altitude operation is solved, the cleaning efficiency is still low.
Therefore, how to develop a fully autonomous glass curtain wall cleaning robot system to solve the problem of low cleaning efficiency of high-rise glass becomes an urgent solution.
Disclosure of Invention
In view of the above, the invention provides a full-automatic glass curtain wall cleaning robot, which aims to solve the problem of low cleaning efficiency of the conventional high-rise glass curtain wall.
The invention provides a technical scheme, in particular to a full-automatic glass curtain wall cleaning robot, which comprises: the device comprises an adsorption crawling device, a cleaning device and a controller;
the adsorption crawling device comprises: the device comprises a base plate, a first sucker, a first vacuum pump, a first motor, a support plate, two sets of telescopic movable mechanical arms, a second motor, a first transmission mechanism, two second vacuum pumps and a hoisting mechanism;
the first suction disc is fixedly arranged below the substrate;
the first vacuum pump is fixedly arranged above the substrate and penetrates through the substrate to be communicated with the first suction disc;
the first motor is arranged above the substrate, and an output shaft of the first motor is provided with a thread;
the supporting plate is positioned between the first motor and the base plate, the thread of the supporting plate is sleeved on an output shaft of the first motor, and the supporting plate can move up and down along the output shaft of the first motor relative to the base plate under the driving of the first motor;
the two sets of telescopic movable mechanical arms are respectively rotatably mounted on two sides of the supporting plate and extend outwards relative to the supporting plate, and a second sucker used for being adsorbed with the glass curtain wall is arranged below each set of movable telescopic arms;
the second motor is arranged above the substrate and is fixedly connected with the substrate;
one end of the first transmission device is in driving connection with the second motor, the other end of the first transmission device is in driving connection with the two sets of sucker type movable mechanical arms, and the first transmission device can drive the two sets of sucker type movable mechanical arms to swing and climb relative to the substrate under the driving of the second motor;
the second vacuum pumps correspond to the telescopic movable mechanical arms one by one, each second vacuum pump is fixed on the base plate, and each second vacuum pump is communicated with a second sucking disc in the corresponding telescopic movable mechanical arm through a pipeline;
the hoisting mechanism is arranged on the base plate, and two steel wire ropes are wound on the hoisting mechanism at intervals;
the cleaning device includes: the device comprises a rack, a rolling brush, a third motor, a water tank, a plurality of spray heads, a water collecting rake, a water sucking rake, a sewage tank and two propellers;
the top of the rack is provided with two lifting hooks at intervals, the lifting hooks correspond to the steel wire ropes on the hoisting mechanism one by one, and each lifting hook is fixedly connected with the corresponding steel wire rope;
the rolling brush is arranged in the middle of the rack;
the third motor is fixedly connected with the rack, the output end of the third motor is in driving connection with the rolling brush, and the rolling brush can rotate under the driving of the third motor;
the water tank is arranged in the rack and fixedly connected with the rack;
the plurality of spray heads are respectively arranged at the upper side and the lower side of the rolling brush at intervals, and each spray head is communicated with the water tank;
the water collecting rake is positioned above the rolling brush and fixedly connected with the rack;
the water absorption rake is positioned below the rolling brush and fixedly connected with the rack;
the sewage tank is arranged in the rack and fixedly connected with the rack, and the sewage tank is communicated with the water absorption rake;
the two propellers are arranged on the outer side of the rack, and thrust for attaching the cleaning device to the glass curtain wall is generated through rotation of the propellers;
the output end of the controller is respectively connected with the control end of the first vacuum pump, the control end of the first motor, the control end of each set of telescopic movable mechanical arm, the control end of the second motor, the control end of each second vacuum pump, the control end of the hoisting mechanism, the control end of the third motor, the control end of each spray head, the control end of the water sucking rakes and the control end of each propeller.
Preferably, each set of the telescopic moving mechanical arms comprises: a front support arm, a rear support arm and a connecting rod;
the front support arm includes: the device comprises a first telescopic rod, a first leg support and a first pipeline, wherein one end of the first telescopic rod is rotatably connected with the first transmission mechanism, the middle part of the first telescopic rod is rotatably connected with the supporting plate, the first leg support is rotatably connected with the other end of the first telescopic rod, a second suction cup is arranged below the first leg support, one end of the first pipeline is communicated with the second suction cup below the first leg support, and the other end of the first pipeline is communicated with a corresponding second vacuum pump;
the rear arm includes: one end of the second telescopic rod is rotatably connected with the supporting plate, the other end of the second telescopic rod is rotatably connected with the second supporting leg frame, a second sucking disc is arranged below the second supporting leg frame, one end of the second pipeline is communicated with the second sucking disc below the second supporting leg frame, and the other end of the second pipeline is communicated with a corresponding second vacuum pump;
one end of the connecting rod is rotatably connected with the fixed end of the first telescopic rod, and the other end of the connecting rod is rotatably connected with the fixed end of the second telescopic rod.
Further preferably, the first transmission mechanism is a transmission rod;
a rack is arranged on the side wall of one end of the transmission rod, a long hole extending along the length direction is formed in the other end of the transmission rod, the transmission rod is sleeved outside the first motor through the long hole, and the other end of the transmission rod is in rotating connection with a front support arm in each set of telescopic movable mechanical arm;
and a gear is sleeved outside an output shaft of the second motor and meshed with the rack on the side wall of the transmission rod.
Further preferably, the hoisting mechanism includes: the two fixed block groups, the rotating shaft and the fourth motor;
the two fixed block groups are arranged on the substrate at intervals, each fixed block group comprises two fixed blocks arranged at intervals, and each fixed block is provided with a mounting hole penetrating through the left side and the right side;
the rotating shaft penetrates through the mounting hole on each fixed block and is rotationally connected with the two fixed block groups, and a driven gear is fixedly sleeved at one end of the rotating shaft;
the fourth motor is fixedly connected with the substrate, a driving gear is sleeved on an output shaft of the fourth motor, and the driving gear is meshed with the driven gear.
Further preferably, the third motor is in driving connection with the roller brush through a belt.
Further preferably, a water baffle is disposed between the rolling brush and the third motor.
Further preferably, universal wheels are arranged at four corners of the bottom surface of the frame.
Further preferably, limit switches are respectively arranged on the top surface and the bottom surface of the rack, and the output ends of the limit switches are connected with the input end of the controller.
Further preferably, the fully autonomous glass curtain wall cleaning robot further comprises: a plurality of suspension cameras, a plurality of cleaning cameras and a ground display;
the plurality of suspension cameras are arranged at intervals along the circumferential direction of the substrate respectively;
the plurality of cleaning cameras are arranged at intervals along the circumferential direction of the rack respectively;
the input end of the ground display is respectively connected with the output end of each suspension camera and the output end of each cleaning camera.
Further preferably, the fully autonomous glass curtain wall cleaning robot further comprises: an ultrasonic sensor;
the ultrasonic sensor is installed on the substrate and used for detecting the distance between the cleaning device and the adsorption crawling device, and the output end of the ultrasonic sensor is connected with the input end of the controller.
The invention provides a full-automatic glass curtain wall cleaning robot which mainly comprises an adsorption crawling device, a cleaning device and a controller, wherein the cleaning device is suspended below the adsorption crawling device through a steel wire rope, an operator stores a planned path in the controller before the robot works, and the controller controls the adsorption crawling device to move on a glass curtain wall. During cleaning operation, the adsorption crawling device slowly moves upwards to one end of the top layer of the glass curtain wall and then is fixed, the hoisting mechanism contracts the steel wire rope, the cleaning device cleans the glass curtain wall through fast speed upwards movement, after the top, the adsorption crawling device slowly moves towards the other end of the glass curtain wall and then is fixed, the hoisting mechanism releases the steel wire rope, the cleaning device moves downwards to continue to clean the glass curtain wall, the cleaning device stops moving after the bottom is reached, the adsorption crawling device continuously moves towards the other end of the glass curtain wall slowly and then is fixed, the reciprocating operation is carried out until the cleaning task of the whole glass curtain wall is completed, and the adsorption crawling device slowly moves downwards to the ground. When the cleaning device is used for cleaning, the water tank provides clean water for the spray head, the spray head sprays the clean water onto the rotary rolling brush, the rolling brush is used for cleaning dust and stains adsorbed on a glass wall, the water absorption rake is used for wiping the glass and absorbing redundant cleaning liquid and water, and the sewage tank collects dirty water in the water absorption rake.
The full-automatic glass curtain wall cleaning robot provided by the invention has the advantages of simple structure, reasonable design, convenience in use, high cleaning efficiency and the like.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments or prior art solutions of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of an adsorption crawling device in a fully autonomous glass curtain wall cleaning robot according to an embodiment of the disclosure;
fig. 2 is a schematic structural view of a cleaning device in an autonomous glass curtain wall cleaning robot according to an embodiment of the disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatus consistent with certain aspects of the invention, as detailed in the appended claims.
In order to solve the problem that high building glass curtain wall has the cleaning efficiency low in the past, this embodiment provides a full autonomic glass curtain wall cleaning robot, and this cleaning robot mainly comprises absorption crawl device 1, belt cleaning device 2 and controller, wherein, through the work of the steerable absorption crawl device 1 of controller and belt cleaning device 2.
Referring to fig. 1, the adsorption crawling device 1 mainly comprises a base plate 11, a first suction disc 12, a first vacuum pump 13, a first motor 14, a support plate 15, two sets of telescopic moving mechanical arms 16, a second motor 17, a first transmission mechanism 18, two second vacuum pumps 19 and a hoisting mechanism 110, wherein the first suction disc 12 is fixedly arranged below the base plate 11, the first vacuum pump 13 is fixedly arranged above the base plate 11, the first vacuum pump 13 penetrates through the base plate 11 to be communicated with the first suction disc 12, the first suction disc 12 is vacuumized or broken through the first vacuum pump 13, so that the base plate 11 is integrally adsorbed on a glass curtain wall or separated from the glass curtain wall, in order to improve the adsorption firmness degree between the base plate 11 and the glass curtain wall, the first suction disc 12 and the first vacuum pump 13 can be arranged in two, the two first suction discs 12 are arranged below the base plate 11 in parallel, the first vacuum pump 13 is communicated with the first suction cups 12 in a one-to-one correspondence manner, the first motor 14 is arranged above the base plate 11, a thread is arranged on an output shaft of the first motor 14, the support plate 15 is positioned between the first motor 14 and the base plate 11 and sleeved on the output shaft of the first motor 14, under the drive of the first motor 14, the support plate 15 can move up and down along the output shaft of the first motor 14 relative to the base plate 11, two sets of telescopic mobile mechanical arms 16 are respectively rotatably arranged at two sides of the support plate 15 and extend outwards relative to the support plate 15, a second suction cup 161 for adsorbing a glass curtain wall is arranged below each set of mobile telescopic arms 16, the second motor 17 is arranged above the base plate 11, one end of the first transmission device 18 is in driving connection with the second motor 17, the other end is in driving connection with the two sets of suction cup type mobile mechanical arms 14, under the drive of the second motor 17, the first transmission device 18 can drive the two sets of sucker type mobile mechanical arms 14 to swing and climb relative to the base plate 11, the second vacuum pumps 19 correspond to the telescopic mobile mechanical arms 16 one by one, each second vacuum pump 19 is fixed on the base plate 11, each second vacuum pump 19 is communicated with the corresponding second sucker 161 in the telescopic mobile mechanical arm 16 through a pipeline, the hoisting mechanism 110 is arranged on the base plate 11, and two steel wire ropes are wound on the hoisting mechanism 110 at intervals.
Referring to fig. 2, the cleaning device 2 mainly comprises a frame 21, a rolling brush 22, a third motor 23, a water tank 24, a plurality of spray heads 25, a water collecting rake 26, a water sucking rake 27, a sewage tank 28 and two propellers 29, wherein two hooks are arranged at intervals on the top of the frame 21, the hooks correspond to steel wire ropes on a hoisting mechanism 110 one by one, each hook is fixedly connected with the corresponding steel wire rope, the rolling brush 22 is arranged in the middle of the frame 21, the third motor 23 is fixedly connected with the frame 21, the output end of the third motor 23 is in driving connection with the rolling brush 22, the rolling brush 22 can rotate under the driving of the third motor 23, the water tank 24 is arranged in the frame 21 and is fixedly connected with the frame 21, the plurality of spray heads 25 are respectively arranged at intervals on the upper side and the lower side of the rolling brush 22, each spray head 25 is communicated with the water tank 24, the water collecting rake 26 is positioned above the rolling brush 22 and is fixedly connected with the frame 21, the water sucking rakes 27 are positioned below the rolling brush 22 and fixedly connected with the rack 21, the sewage tank 28 is arranged in the rack 21 and fixedly connected with the rack 21, the sewage tank 28 is communicated with the water sucking rakes 27, the two propellers 29 are arranged on the outer side of the rack 21, and thrust for attaching the cleaning device 2 to the glass curtain wall is generated through rotation of the propellers 29.
The output end of the controller is respectively connected with the control end of the first vacuum pump 13, the control end of the first motor 14, the control end of each set of telescopic mobile mechanical arm 16, the control end of the second motor 17, the control end of each second vacuum pump 19, the control end of the hoisting mechanism 110, the control end of the third motor 23, the control end of each spray head 25, the control end of the water absorption rake 27 and the control end of each propeller 29.
The specific working process of the fully autonomous glass curtain wall cleaning robot is that when the robot needs to clean the glass curtain wall of a certain high-rise building. Comprises the following steps:
1. adsorb device rebound to glass curtain wall roof process of crawling: the working personnel firstly adsorb the adsorption crawling device on the glass curtain wall, control the first motor to rotate forwards to drive the support plate and the two sets of telescopic moving mechanical arms to move upwards, separate the second sucker on the telescopic moving mechanical arm from the curtain wall, then control the second motor to rotate forwards to drive the two sets of telescopic moving mechanical arms to swing upwards for a certain angle relative to the base plate by the controller, control the first motor to rotate reversely, control the second vacuum pump to work after the second sucker is connected with the glass curtain wall, pump out the air in the second sucker of the telescopic moving mechanical arm, fix the telescopic moving mechanical arm and the glass curtain wall, then destroy the vacuum of the first sucker by the first vacuum pump, control the second motor to rotate reversely by the controller, enable the base plate to move towards the direction close to the moving mechanical arm, control the second motor to rotate reversely after the first sucker is separated from the glass curtain wall, drive the base plate to swing upwards for a certain angle relative to the moving mechanical arm, the first motor is controlled to rotate reversely, so that after the first sucker is connected with the glass curtain wall, the first vacuum pump is controlled to pump out air in the first sucker, the first sucker is fixedly adsorbed on the glass curtain wall, the second vacuum pump is controlled to destroy the vacuum of the second sucker, and the adsorption crawling device moves upwards in the reciprocating motion. When the adsorption crawling device moves to the top of a high-rise building, the adsorption crawling device is fixed at the position and is fixed, the hoisting mechanism is controlled to work, and the steel wire rope is contracted to pull the cleaning device to the top of the building.
2. The glass curtain wall cleaning process comprises the following steps: when the full-automatic glass curtain wall cleaning robot moves to the roof of the high-rise glass curtain wall, the adsorption crawling device is fixed at the position and is still, and the controller controls the hoisting mechanism to work at the moment, so that the steel wire rope is contracted, and the cleaning device moves upwards. In the upward moving process of the cleaning device, the controller controls the third motor to rotate to drive the rolling brush to rotate to clean the glass curtain wall, and simultaneously controls the two propellers to rotate at a high speed so as to provide thrust to the glass curtain wall for the cleaning device and ensure that the rolling brush can be tightly attached to the glass curtain wall, in the upward moving process of the cleaning device, the controller controls the water spray nozzle to spray water in the water tank to increase the cleaning effect of the rolling brush, the water absorption rake absorbs water stains left on the glass curtain wall after the rolling brush is cleaned, the sewage tank is connected with the water absorption rake and is used for storing dirty water recovered by the water absorption rake, when the cleaning device reaches the top, the adsorption crawling device controls the second suction cups in the two sets of telescopic movable mechanical arms to be separated from the glass curtain wall through the controller, one set of telescopic movable mechanical arms is extended, the second suction cups are adsorbed to the glass curtain wall after the other set of telescopic movable mechanical arms is retracted, the first suction disc and the glass curtain wall are controlled to be separated, the two sets of telescopic moving mechanical arms are controlled to contract reversely and extend reversely, the first suction disc and the glass curtain wall are controlled to be adsorbed, the first suction disc and the glass curtain wall are accordingly fixed after reciprocating until the adsorption crawling device slowly moves one body to the other end of the glass curtain wall, the hoisting mechanism is controlled to release the steel wire rope, the cleaning device moves downwards to continue cleaning operation, after the bottom is reached, the adsorption crawling device moves one body again, and the cleaning device moves upwards to perform cleaning operation until the cleaning operation of the whole glass curtain wall is completed. When the water collecting rakes in the cleaning device move upwards to perform cleaning operation, the water collecting rakes are mainly used for scraping dirty on the glass curtain wall, and when the water collecting rakes move downwards to perform cleaning operation, the water collecting rakes are used for scraping and gathering cleaning water remained on the glass curtain wall, and the water collecting rakes are used for collecting the sewage in the process of upward moving cleaning or downward moving cleaning.
Referring to fig. 1, in a specific structure of the telescopic moving mechanical arm 16, the telescopic moving mechanical arm 16 mainly comprises a front support arm 162, a rear support arm 163 and a connecting rod 164, wherein the front support arm 162 comprises a first telescopic rod 1621, a first support leg 1622 and a first pipeline 1623, one end of the first telescopic rod 1621 is rotatably connected to the first transmission mechanism 18, the middle part of the first telescopic rod 1621 is rotatably connected to the support plate 15, the first support leg 1622 is rotatably connected to the other end of the first telescopic rod 1621, a second suction cup 161 is arranged below the first support leg 1622, one end of the first pipeline 1623 is communicated with the second suction cup 161 below the first support leg 1622, and the other end is communicated with the corresponding second vacuum pump 19;
the rear support arm 163 comprises a second telescopic rod 1631, a second support leg 1632 and a second pipeline 1633, one end of the second telescopic rod 1631 is rotatably connected with the support plate 15, the other end is rotatably connected with the second support leg 1632, a second suction cup 161 is arranged below the second support leg 1632, one end of the second pipeline 1633 is communicated with the second suction cup 161 below the second support leg 1632, and the other end is communicated with the corresponding second vacuum pump 19;
one end of the connecting rod 164 is rotatably connected to the fixed end of the first telescopic rod 1621, and the other end is rotatably connected to the fixed end of the second telescopic rod 1631.
The first transmission mechanism 18 can be provided with various forms as long as the power of the second motor 17 can be transmitted to the telescopic moving arm, referring to fig. 1, in this embodiment, the transmission rod and the second motor 17 are in meshing transmission, specifically, a rack is provided on a side wall of one end of the transmission rod, a long hole extending in the length direction is provided at the other end of the transmission rod, the transmission rod is sleeved outside the first motor 14 through the long hole, a gear is sleeved outside an output shaft of the second motor 17, the gear is meshed with the rack on the side wall of the transmission rod, the other end of the transmission rod is rotatably connected with the front support arm 162 of each set of telescopic moving mechanical arm 16, at this time, the reciprocating motion of extending and retracting of the first transmission mechanism is realized through the forward rotation/reverse rotation of the second motor 17, and the telescopic moving mechanical arms 16 on both sides are driven to swing and creep.
Referring to fig. 1, the winding mechanism 110 mainly includes two fixed block groups 1101, a rotating shaft 1102 and a fourth motor 1103, wherein the two fixed block groups 1101 are arranged on the substrate 11 at intervals, each fixed block group 1101 includes two fixed blocks arranged at intervals, each fixed block is provided with a mounting hole penetrating through the left side and the right side, the rotating shaft 1102 penetrates through the mounting hole on each fixed block and is rotatably connected with the two fixed block groups 1101, a driven gear is fixedly sleeved at one end of the rotating shaft 1102, the fourth motor 1103 is fixedly connected with the substrate 11, an output shaft of the fourth motor 1103 is sleeved with a driving gear, and the driving gear is meshed with the driven gear; at the moment, the controller controls the forward rotation and the reverse rotation of the fourth motor to realize the contraction or the extension of the steel wire rope wound on the rotating shaft, and then the cleaning device is driven to ascend or descend relative to the adsorption crawling device.
In the above cleaning device, the third motor 23 and the rolling brush 22 can be driven by a belt transmission, and in order to prevent the rolling brush 22 from splashing the water for cleaning the glass curtain wall to the third motor 23, as an improvement of the technical solution, a water baffle is arranged between the rolling brush 22 and the third motor 23.
In order to facilitate the movement of the cleaning device, universal wheels are provided at four corners of the bottom surface of the frame 21.
In order to realize the automatic limit of the cleaning device in the up-and-down moving process, as an improvement of the technical scheme, limit switches are respectively arranged on the top surface and the bottom surface of the frame 21, the output ends of the limit switches are connected with the input end of the controller, and the controller can control the winding mechanism to stop moving when the controller receives signals of the limit switches.
In order to facilitate understanding of the working state of the adsorption crawling device and the cleaning condition of the cleaning device, as an improvement of the technical scheme, a plurality of suspension cameras, a plurality of cleaning cameras and a ground display are arranged in the all-autonomous glass curtain wall cleaning robot, wherein the suspension cameras are respectively arranged along the circumferential interval of the base plate 11 and used for collecting image information around the adsorption crawling device, the cleaning cameras are respectively arranged along the circumferential interval of the rack 21 and used for collecting image information around the cleaning device and knowing the cleaning state, an input end of the ground display is respectively connected with an output end of each suspension camera and an output end of each cleaning camera and used for displaying the collected image information and knowing the specific working state of the cleaning robot.
As the further improvement of the technical scheme, an ultrasonic sensor can be further arranged in the full-automatic glass curtain wall cleaning robot and installed on the base plate 11 for detecting the distance between the cleaning device 2 and the adsorption crawling device 1, and the output end of the ultrasonic sensor is connected with the input end of the controller for assisting the limit switch to accurately control the work of the hoisting mechanism.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It is to be understood that the present invention is not limited to what has been described above, and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. The utility model provides a full autonomic glass curtain wall cleaning robot which characterized in that includes: the device comprises an adsorption crawling device (1), a cleaning device (2) and a controller;
the adsorption crawling device (1) comprises: the device comprises a base plate (11), a first suction cup (12), a first vacuum pump (13), a first motor (14), a support plate (15), two sets of telescopic mobile mechanical arms (16), a second motor (17), a first transmission mechanism (18), two second vacuum pumps (19) and a hoisting mechanism (110);
the first sucker (12) is fixedly arranged below the substrate (11);
the first vacuum pump (13) is fixedly arranged above the substrate (11), and the first vacuum pump (13) penetrates through the substrate (11) to be communicated with the first suction disc (12);
the first motor (14) is arranged above the base plate (11), and a thread is arranged on an output shaft of the first motor (14);
the supporting plate (15) is positioned between the first motor (14) and the base plate (11), and is sleeved on an output shaft of the first motor (14) in a threaded manner, and the supporting plate (15) can move up and down along the output shaft of the first motor (14) relative to the base plate (11) under the driving of the first motor (14);
the two sets of telescopic mobile mechanical arms (16) are respectively rotatably mounted on two sides of the supporting plate (15) and extend outwards relative to the supporting plate (15), and a second suction cup (161) used for adsorbing the glass curtain wall is arranged below each set of mobile telescopic arms (16);
the second motor (17) is arranged above the substrate (11) and is fixedly connected with the substrate (11);
one end of the first transmission device (18) is in driving connection with the second motor (17), the other end of the first transmission device is in driving connection with the two sets of sucker type mobile mechanical arms (14), and the first transmission device (18) can drive the two sets of sucker type mobile mechanical arms (14) to swing and climb relative to the substrate (11) under the driving of the second motor (17);
the second vacuum pumps (19) correspond to the telescopic movable mechanical arms (16) one by one, each second vacuum pump (19) is fixed on the base plate (11), and each second vacuum pump (19) is communicated with a second suction cup (161) in the corresponding telescopic movable mechanical arm (16) through a pipeline;
the hoisting mechanism (110) is arranged on the base plate (11), and two steel wire ropes are wound on the hoisting mechanism (110) at intervals;
the cleaning device (2) comprises: the device comprises a rack (21), a rolling brush (22), a third motor (23), a water tank (24), a plurality of spray heads (25), a water collecting rake (26), a water sucking rake (27), a sewage tank (28) and two propellers (29);
two lifting hooks are arranged at the top of the rack (21) at intervals, the lifting hooks correspond to the steel wire ropes on the hoisting mechanism (110) one by one, and each lifting hook is fixedly connected with the corresponding steel wire rope;
the rolling brush (22) is arranged in the middle of the rack (21);
the third motor (23) is fixedly connected with the rack (21), the output end of the third motor (23) is in driving connection with the rolling brush (22), and the rolling brush (22) can rotate under the driving of the third motor (23);
the water tank (24) is arranged in the rack (21) and is fixedly connected with the rack (21);
the spray heads (25) are respectively arranged at the upper side and the lower side of the rolling brush (22) at intervals, and each spray head (25) is communicated with the water tank (24);
the water collecting rakes (26) are positioned above the rolling brush (22) and are fixedly connected with the rack (21);
the water absorption rake (27) is positioned below the rolling brush (22) and is fixedly connected with the rack (21);
the sewage tank (28) is arranged in the rack (21) and fixedly connected with the rack (21), and the sewage tank (28) is communicated with the water sucking rakes (27);
the two propellers (29) are arranged on the outer side of the rack (21), and thrust for attaching the cleaning device (2) to the glass curtain wall is generated through the rotation of the propellers (29);
the output end of the controller is connected with the control end of the first vacuum pump (13), the control end of the first motor (14), the control end of each set of the telescopic movable mechanical arm (16), the control end of the second motor (17), the control end of each second vacuum pump (19), the control end of the hoisting mechanism (110), the control end of the third motor (23), the control end of each spray head (25), the control end of the water absorption rake (27) and the control end of each propeller (29) respectively.
2. The fully autonomous glass curtain wall cleaning robot according to claim 1, characterized in that each set of said telescopic mobile mechanical arms (16) comprises: a front arm (162), a rear arm (163), and a link (164);
the front arm (162) includes: the vacuum suction device comprises a first telescopic rod (1621), a first supporting leg frame (1622) and a first pipeline (1623), wherein one end of the first telescopic rod (1621) is rotatably connected with the first transmission mechanism (18), the middle part of the first telescopic rod (1621) is rotatably connected with the supporting plate (15), the first supporting leg frame (1622) is rotatably connected with the other end of the first telescopic rod (1621), a second sucker (161) is arranged below the first supporting leg frame (1622), one end of the first pipeline (1623) is communicated with the second sucker (161) below the first supporting leg frame (1622), and the other end of the first pipeline is communicated with a corresponding second vacuum pump (19);
the rear arm (163) includes: one end of the second telescopic rod (1631) is rotatably connected with the supporting plate (15), the other end of the second telescopic rod is rotatably connected with the second leg support (1632), a second suction cup (161) is arranged below the second leg support (1632), one end of the second pipeline (1633) is communicated with the second suction cup (161) below the second leg support (1632), and the other end of the second pipeline is communicated with a corresponding second vacuum pump (19);
one end of the connecting rod (164) is rotatably connected with the fixed end of the first telescopic rod (1621), and the other end of the connecting rod is rotatably connected with the fixed end of the second telescopic rod (1631).
3. The fully autonomous glass curtain wall cleaning robot according to claim 1, characterized in that said first transmission mechanism (18) is a transmission rod;
a rack is arranged on the side wall of one end of the transmission rod, a long hole extending along the length direction is formed in the other end of the transmission rod, the transmission rod is sleeved outside the first motor (14) through the long hole, and the other end of the transmission rod is rotatably connected with a front support arm (162) in each set of telescopic movable mechanical arm (16);
and a gear is sleeved outside an output shaft of the second motor (17), and the gear is meshed with the rack on the side wall of the transmission rod.
4. The fully autonomous glass curtain wall cleaning robot according to claim 1, characterized in that said winding mechanism (110) comprises: two fixed block groups (1101), a rotating shaft (1102) and a fourth motor (1103);
the two fixed block groups (1101) are arranged on the substrate (11) at intervals, each fixed block group (1101) comprises two fixed blocks arranged at intervals, and each fixed block is provided with a mounting hole penetrating through the left side and the right side;
the rotating shaft (1102) penetrates through the mounting hole on each fixed block and is rotatably connected with the two fixed block groups (1101), and a driven gear is fixedly sleeved at one end of the rotating shaft (1102);
the fourth motor (1103) is fixedly connected with the base plate (11), a driving gear is sleeved on an output shaft of the fourth motor (1103), and the driving gear is meshed with the driven gear.
5. The fully autonomous glass curtain wall cleaning robot according to claim 1, characterized in that said third motor (23) is in belt-driven connection with said roller brush (22).
6. The fully autonomous glass curtain wall cleaning robot according to claim 1, characterized in that a water baffle is arranged between the rolling brush (22) and the third motor (23).
7. The fully autonomous glass curtain wall cleaning robot according to claim 1, characterized in that universal wheels are arranged at four corners of the bottom surface of the frame (21).
8. The fully autonomous glass curtain wall cleaning robot according to claim 1, characterized in that limit switches are respectively arranged on the top surface and the bottom surface of the frame (21), and the output ends of the limit switches are connected with the input end of the controller.
9. The fully autonomous glass curtain wall cleaning robot according to claim 1, further comprising: a plurality of suspension cameras, a plurality of cleaning cameras and a ground display;
the plurality of suspension cameras are arranged at intervals along the circumferential direction of the base plate (11);
the plurality of cleaning cameras are arranged at intervals along the circumferential direction of the rack (21);
the input end of the ground display is respectively connected with the output end of each suspension camera and the output end of each cleaning camera.
10. The fully autonomous glass curtain wall cleaning robot according to claim 1, further comprising: an ultrasonic sensor;
the ultrasonic sensor is installed on the substrate (11) and used for detecting the distance between the cleaning device (2) and the adsorption crawling device (1), and the output end of the ultrasonic sensor is connected with the input end of the controller.
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| CN202210238829.XA CN114766957B (en) | 2022-03-11 | 2022-03-11 | Full-automatic glass curtain wall cleaning robot |
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| CN202210238829.XA CN114766957B (en) | 2022-03-11 | 2022-03-11 | Full-automatic glass curtain wall cleaning robot |
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