CN115381326B - Vacuum adsorption photovoltaic curtain wall cavity cleaning robot - Google Patents
Vacuum adsorption photovoltaic curtain wall cavity cleaning robot Download PDFInfo
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- CN115381326B CN115381326B CN202211125325.3A CN202211125325A CN115381326B CN 115381326 B CN115381326 B CN 115381326B CN 202211125325 A CN202211125325 A CN 202211125325A CN 115381326 B CN115381326 B CN 115381326B
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 169
- 238000004140 cleaning Methods 0.000 title claims abstract description 140
- 239000000428 dust Substances 0.000 claims abstract description 195
- 238000007789 sealing Methods 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims 1
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 239000011521 glass Substances 0.000 description 8
- 229910000838 Al alloy Inorganic materials 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009194 climbing Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000003796 beauty Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
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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
- A47L11/4044—Vacuuming or pick-up tools; Squeegees
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
-
- 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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- 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 vacuum adsorption photovoltaic curtain wall cavity cleaning robot which comprises a robot body device, an adsorption surface cleaning and adsorbing device, a non-adsorption surface cleaning device and a dust storage device. The robot body device adopts a cross frame type structure with an X-axis guide rail and a Y-axis guide rail which are mutually perpendicular, an adsorption surface cleaning and adsorbing device is arranged at the tail ends of the X-axis guide rail and the Y-axis guide rail, a non-adsorption surface cleaning device is arranged on the X-axis guide rail, and a dust storage device is arranged on the side face of the X-axis guide rail. The moving mode of the robot is realized through the interactive motion of the X-axis guide rail and the Y-axis guide rail. When encountering an obstacle, the adsorption surface adsorbs the cleaning device to lift, and the non-adsorption surface cleaning device turns over to provide a structural foundation for crossing the obstacle. The cleaning robot adopts a vacuum adsorption mode, and the adsorption mode can ensure the adsorption stability of the robot on the vertical wall surface. The adsorption surface cleaning mode adopts a dust collection cleaning mode, the non-adsorption surface cleaning mode adopts a brush dust collection mode, and the double-side omnibearing cleaning function of the photovoltaic curtain wall cavity can be realized.
Description
Technical Field
The invention relates to the technical field of photovoltaic curtain wall climbing robots, in particular to a photovoltaic curtain wall cavity cleaning robot.
Background
The photovoltaic curtain wall is a novel green energy building serving the background of carbon neutralization and carbon peak, and the photovoltaic curtain wall not only can ensure the safety and the beauty of the building curtain wall, but also has the characteristics of power generation, heat insulation, energy conservation and environmental protection, and has wide application value and development prospect in the future. The photovoltaic curtain wall is formed by a photovoltaic module with a power generation function, the photovoltaic module is formed by combining an outside solar module plate and an inside vacuum glass, and a narrow cavity is formed inside the photovoltaic module. Because the photovoltaic curtain wall that photovoltaic module assembled forms sets up a large amount of windows of opening in the outside, does not seal completely, causes the cavity to pollute easily, after the cavity pollution, not only influence pleasing to the eye, reduces the generating efficiency of photovoltaic curtain wall moreover, consequently the cleanness of photovoltaic curtain wall cavity is vital. The photovoltaic curtain wall cavity space is narrow and small, and barriers such as a cross beam and a junction box are arranged in the cavity, and a cable is arranged at the bottom of the cavity, so that manual work cannot enter the cavity, and the mode of manual cleaning and water cleaning is not applicable. The existing adsorption surface cleaning device designed by the photovoltaic curtain wall cavity cleaning robot cannot provide enough adsorption force in a negative pressure mode of a fan, the robot cannot realize stable adsorption on a vertical wall surface, and the problem existing in the prior art is solved by adopting a vacuum adsorption mode; in addition, the lifting device of the obstacle crossing design is lifted for the existing photovoltaic curtain wall cleaning robot, the weight is too large, the lifting height is insufficient, the overall weight of the robot is increased, the instability of adsorption on the vertical plane of the robot is increased, a stepping motor is used for driving a movable sliding table to replace the lifting device, the overall weight of the robot is greatly reduced, the adsorption stability of the robot is improved, the lifting height of the robot is increased, and obstacle crossing of the adsorption surface of the robot is more facilitated. In summary, the invention aims at the problems, and develops a novel vacuum adsorption photovoltaic curtain wall cavity cleaning robot which can be suitable for a narrow space, and is particularly important for development of new energy buildings and wall climbing cleaning robots.
Disclosure of Invention
In view of the above, the invention provides a vacuum adsorption photovoltaic curtain wall cavity cleaning robot. The photovoltaic curtain wall cavity is narrow, and barriers such as a cross beam and a junction box are arranged in the cavity, so that the designed photovoltaic curtain wall cavity cleaning robot has the characteristics of small volume and light weight. The existing adsorption surface cleaning device designed by the photovoltaic curtain wall cavity cleaning robot adopts a negative pressure mode of a fan for adsorption, and the mode can generate certain adsorption force, but when the robot moves on a vertical wall surface, the adsorption stability of the robot is not enough; aiming at the problem of unstable adsorption force, the invention designs a 3*5 rectangular vacuum chuck group to replace the original fan negative pressure adsorption device on the premise of ensuring that the whole volume of the robot is not changed, and the vacuum adsorption mode not only does not change the whole structure of the robot, but also can ensure the adsorption stability of the robot when moving along the vertical wall surface.
The invention designs a lifting mode of a stepping motor driving movable sliding table to replace an electric lifting device, which greatly reduces the overall weight of the robot, reduces the overall height of the robot, increases the lifting height of the robot and is more beneficial to improving the adsorption obstacle crossing performance of the robot on an adsorption surface.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a vacuum adsorption photovoltaic curtain wall cavity cleaning robot comprises a robot body device, an adsorption surface cleaning and adsorbing device, a non-adsorption surface cleaning device and a dust storage device.
The robot body device comprises an X-axis guide rail, a Y-axis guide rail, an X-axis ball screw, a Y-axis ball screw, a cross nut block, an X-axis screw motor, a Y-axis screw motor, an X-axis nut block, a Y-axis nut block, an X-axis sliding block, a Y-axis sliding block, an X-axis coupler, a Y-axis coupler, an X-axis supporting seat, a Y-axis supporting seat, an X-axis supporting block seat, a Y-axis supporting block seat, an X-axis motor support plate and a Y-axis motor support plate. The X-axis screw motor is fixedly connected with the X-axis supporting block seat through an X-axis motor support plate, the X-axis screw motor is connected with the X-axis ball screw through an X-axis coupler, the X-axis supporting block seat is fixedly connected with the X-axis guide rail, the X-axis supporting seat is fixedly connected with the X-axis supporting block seat, a movable X-axis nut block is arranged on the X-axis ball screw, and the X-axis nut block is fixedly connected with the cross nut block through an X-axis sliding block; the Y-axis screw motor is fixedly connected with the Y-axis supporting block seat through the Y-axis motor support plate, the Y-axis screw motor is connected with the Y-axis ball screw through the Y-axis coupler, the Y-axis supporting block seat is fixedly connected with the Y-axis guide rail, the Y-axis supporting seat is fixedly connected with the Y-axis supporting block seat, the Y-axis ball screw is provided with a movable Y-axis nut block, and the Y-axis nut block is fixedly connected with the cross nut block through the Y-axis sliding block. The X-axis guide rail and the Y-axis guide rail are fixedly connected with the cross nut block through an X-axis sliding block and a Y-axis sliding block, the X-axis guide rail can finish the transverse movement of the robot body device in the X-axis direction, and the Y-axis guide rail can realize the longitudinal movement in the X-axis direction under the drive of the X-axis sliding block; the Y-axis guide rail can finish the longitudinal movement of the robot body device in the Y-axis direction, and the X-axis guide rail can realize the longitudinal movement in the Y-axis direction under the drive of the Y-axis sliding block.
The adsorption surface cleaning and adsorbing device comprises: the vacuum sealing device comprises a vacuum sealing cavity, a diaphragm motor, a vacuum chuck, a square chuck dust collection shell, a lifting motor, a lifting support, a lifting motor support plate, a movable sliding table, a diagonal rack seat, a chuck connection plate and an electromagnetic valve. The adsorption surface cleaning and adsorbing device is responsible for cleaning, adsorbing and obstacle surmounting functions of the whole adsorption surface of the robot; the square sucker dust collection shell is a shell of the adsorption surface cleaning adsorption device, the vacuum sucker is arranged at the lower part of the vacuum sealing cavity in a sealing way, and the diaphragm motor is connected with the electromagnetic valve and is arranged at the upper part of the vacuum sealing cavity; the lifting support is used for connecting the adsorption surface cleaning and adsorbing device with the robot body device, the inclined rack seat is fixedly connected with the lifting support, the lifting motor is fixedly connected with the movable sliding table through the lifting motor support plate, the movable sliding table is mutually connected with the inclined rack seat and can realize relative movement, and the movable sliding table is fixedly connected with the square sucking disc dust collection shell through the sucking disc connecting plate.
The non-adsorbing surface cleaning device comprises: the device comprises a brush support, a brush motor, brush strips, brush arms, a brush rotating shaft, a turbine, a worm, a bearing seat, a dust collection device and a dust collection box. The non-adsorption surface cleaning device is arranged above the robot body device and fixedly connected with the X-axis guide rail, and is responsible for cleaning the non-adsorption surface and collecting dust. The brush support and the brush motor support are fixedly arranged on the X-axis guide rail, the brush rotating shaft is fixedly arranged on the brush support and the brush motor support through the bearing seat, the brush motor is fixed on the X-axis guide rail, the brush motor is connected with the brush rotating shaft through the worm gear, the brush strips are fixedly connected with the brush arms, and Mao Shuabei is connected with the brush rotating shaft.
The dust storage device comprises a dust collection device and a dust collection box, and the dust storage device is used for collecting dust and dust on the adsorption surface. The dust collection device comprises: the dust collection device comprises an air suction impeller, a dust collection motor, a filter screen, an upper dust storage chamber, a dust collection motor closed cavity and a dust collection device, wherein the dust collection device is used for cleaning dust collection and dust collection of an adsorption surface and a non-adsorption surface. The dust collection device is fixedly arranged in the middle position above the X-axis guide rail, the filter screen divides the dust collection device into an upper part and a lower part, and the upper ash storage chamber is positioned at the upper part of the dust collection device and is used for storing dust; the dust collection motor closed cavity is positioned at the lower part of the dust collection device, the dust collection motor is connected with the air suction impeller and is positioned in the dust collection motor closed cavity for generating suction. The dust collecting box and the dust collecting device are fixedly connected and arranged on the X-axis guide rail, the dust collecting box is divided into two parts by the filter disc, two upper dust collecting holes and two lower dust collecting holes are reserved at the upper part of the dust collecting box, and the openable dust collecting chamber is arranged at the lower part of the dust collecting box.
Preferably, the robot body device is a cross frame type, the X-axis guide rail and the Y-axis guide rail are mutually perpendicular, the X-axis guide rail is positioned on the Y-axis guide rail, the adsorption surface cleaning and adsorbing device is arranged at the tail ends of the X-axis guide rail and the Y-axis guide rail, and the non-adsorption surface cleaning device is arranged on the X-axis guide rail.
Preferably, the X-axis screw motor and the Y-axis screw motor are direct current stepper motors.
Preferably, the outside of square sucking disc dust absorption shell install infrared range finding sensor for detect the barrier distance, clean adsorption equipment of adsorption face be equipped with 4 groups altogether, install the both ends at robot body device X axle guide rail and Y axle guide rail respectively.
Preferably, the lifting motor selects a direct current stepping motor, and the four groups of lifting motors can respectively control the lifting and the descending of the four groups of adsorption surface cleaning adsorption devices.
Preferably, the brush motor of the non-adsorption surface cleaning device selects a direct current stepping motor, the brush motor is used for driving the brush rotating shaft to rotate, ultrasonic ranging sensors are arranged at two ends of the brush strip and used for detecting obstacles, and when the brush is close to the obstacles, the brush is driven by the brush rotating shaft to bidirectionally overturn along the X-axis direction, and the overturning angle is not less than 90 degrees.
Preferably, a dust collection motor of the dust collection device selects a high-speed brushless motor, and suction force is generated by driving the high-speed rotation of the air suction impeller.
Further, the top of the upper ash storage chamber of the dust collection device is provided with a dust collection groove, a dust collection pipe is arranged in the dust collection groove and connected with an upper dust collection hole of the dust collection box, and a lower dust collection hole of the dust collection box is provided with a dust collection pipe which is respectively connected to the upper parts of square sucker dust collection shells of the four adsorption surface cleaning and adsorbing devices and used for dust collection of the adsorption surfaces.
Further, a visual camera is provided for real-time environmental monitoring.
Further, the main control circuit board and the microcontroller are arranged in the mounting plate above the X-axis guide rail, the main control circuit board is used for sending out control instructions, and the microcontroller is used for remote monitoring and teleoperation.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the vacuum adsorption photovoltaic curtain wall cavity cleaning robot, the cross frame type structure which is built by the X-axis guide rail and the Y-axis guide rail in a mutually perpendicular mode is used as a cleaning robot body basic frame, the structure is simple, the load capacity is high, the adsorption surface cleaning adsorption device is arranged at the tail ends of the X-axis guide rail and the Y-axis guide rail, and the non-adsorption surface cleaning device is arranged on the X-axis guide rail.
2. The adsorption surface cleaning and adsorbing device adopted by the vacuum adsorption photovoltaic curtain wall cavity cleaning robot disclosed by the invention combines an adsorption function and a cleaning function, wherein the adsorption mode adopts a vacuum adsorption mode, and the rectangular vacuum sucker group of 3*5 is arranged at the lower part of the vacuum sealing cavity, so that the adsorption mode provides larger adsorption force, has better adsorption stability and can ensure that the cleaning robot works stably on the high-altitude wall surface; the cleaning mode adopts a dust collection and cleaning mode, and the upper part of the square sucker dust collection shell is connected with a dust collection pipe, so that the cleaning function of the adsorption surface cleaning and adsorbing device is realized.
3. The non-adsorption surface cleaning adsorption device adopted by the vacuum adsorption photovoltaic curtain wall cavity cleaning robot is arranged on the upper part of the X-axis guide rail, can move along the X-axis of the robot body, can complete the all-round dead angle-free cleaning task of the non-adsorption surface, has double-sided cleaning capability, and can be applied to a photovoltaic curtain wall cavity environment with a narrow space.
4. According to the vacuum adsorption photovoltaic curtain wall cavity cleaning robot, a motor is adopted for driving a lifting mode, the adsorption surface cleaning adsorption device can move up and down relative to the robot body device under the driving of the lifting motor, and the obstacle crossing function of the cleaning robot is realized through alternating conversion of lifting and descending states of the adsorption surface cleaning adsorption device at the tail ends of the X-axis guide rail and the Y-axis guide rail.
5. According to the vacuum adsorption photovoltaic curtain wall cavity cleaning robot, a plurality of groups of obstacle avoidance sensors and visual cameras are arranged on the robot body, and the robot has the capabilities of autonomous movement, cleaning and obstacle surmounting.
6. According to the vacuum adsorption photovoltaic curtain wall cavity cleaning robot, the wireless communication module is arranged, the robot can transmit environmental information in a narrow space of a photovoltaic curtain wall space in real time, an image processing technology is applied to cross obstacles such as a cross beam, the remote monitoring and teleoperation functions are achieved, and the intelligent cleaning robot is realized.
7. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot disclosed by the invention can adapt to a more complicated narrow cavity environment of a photovoltaic curtain wall, improves the environmental applicability of the wall climbing cleaning robot, and has a wide application scene.
Drawings
Fig. 1 is a schematic structural diagram of a vacuum adsorption photovoltaic curtain wall cavity robot according to an embodiment of the present invention.
Fig. 2 is a front view of a vacuum adsorption photovoltaic curtain wall cavity robot according to an embodiment of the present invention.
Fig. 3 is a right side view of a vacuum adsorption photovoltaic curtain wall cavity robot provided by an embodiment of the invention.
Fig. 4 is a top view of a vacuum adsorption photovoltaic curtain wall cavity robot provided by an embodiment of the invention.
Fig. 5 is a sectional profile view of a vacuum adsorption photovoltaic curtain wall cavity robot according to an embodiment of the present invention.
Fig. 6 is a dust collection circuit diagram of a vacuum adsorption photovoltaic curtain wall cavity robot in cleaning operation according to an embodiment of the invention.
Fig. 7 is a schematic diagram of obstacle surmounting an adsorption surface of a vacuum adsorption photovoltaic curtain wall cavity robot according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of obstacle surmounting a non-adsorption surface of a vacuum adsorption photovoltaic curtain wall cavity robot according to an embodiment of the present invention.
Wherein: 1. robot body device 2, adsorption surface cleaning adsorption device 3, non-adsorption surface cleaning device 4, X axis guide rail, 5, Y axis guide rail, 6, X axis ball screw, 7, Y axis ball screw, 8, cross nut block, 9, X axis screw motor, 10, Y axis screw motor, 11, X axis nut block, 12, Y axis nut block, 13, X axis slider, 14, Y axis slider, 15, X axis coupler, 16, Y axis coupler, 17, X axis support seat, 18, Y axis support seat, 19, X axis support block seat, 20, Y axis support block seat, 21, X axis motor support plate, 22, Y axis motor support plate, 23, vacuum seal cavity, 24, diaphragm motor, 25, vacuum chuck, 26, square chuck dust collection shell, 27, lifting motor, 28, lifting support, 29, lifting motor support plates, 30, moving sliding tables, 31, diagonal rack seats, 32, sucker connecting plates, 33, electromagnetic valves, 34, brush supports, 35, brush motor supports, 36, brush motors, 37, brush bars, 38, brush arms, 39, brush rotating shafts, 40, turbines, 41, worms, 42, bearing seats, 43, dust collection devices, 44, dust collection boxes, 45, exhaust impellers, 46, dust collection motors, 47, filter screens, 48, upper dust storage chambers, 49, dust collection motor closed cavities, 50, filter plates, 51, upper dust collection holes, 52, lower dust collection holes, 53, dust collection chambers, 54, dust collection grooves, 55, mounting plates, 56, photovoltaic module faces, 57, vacuum glass faces, 58, photovoltaic module face aluminum alloy cross beams, 59, vacuum glass face aluminum alloy cross beams, 60 and dust collection devices.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which embodiments of the invention are shown: the invention is suitable for the environment of the photovoltaic curtain wall cavity, and can realize the omnibearing dead-angle-free cleaning of the double-side curtain wall of the photovoltaic curtain wall cavity.
Referring to fig. 1 to 5, a vacuum suction photovoltaic curtain wall cavity cleaning robot according to the present invention is schematically shown, and comprises a robot body 1, a suction surface cleaning and suction device 2, a non-suction surface cleaning device 3, and a dust storage device 60.
The robot body device 1 comprises an X-axis guide rail 4, a Y-axis guide rail 5, an X-axis ball screw 6, a Y-axis ball screw 7, a cross nut block 8, an X-axis screw motor 9, a Y-axis screw motor 10, an X-axis nut block 11, a Y-axis nut block 12, an X-axis sliding block 13, a Y-axis sliding block 14, an X-axis coupling 15, a Y-axis coupling 16, an X-axis supporting seat 17, a Y-axis supporting seat 18, an X-axis supporting block seat 19, a Y-axis supporting block seat 20, an X-axis motor support plate 21 and a Y-axis motor support plate 22. The X-axis screw motor 9 is fixedly connected with the X-axis supporting block seat 19 through the X-axis motor support plate 21, the X-axis screw motor 9 is connected with the X-axis ball screw 6 through the X-axis coupler 15, the X-axis supporting block seat 18 is fixedly connected with the X-axis guide rail 4, the X-axis supporting seat 17 is fixedly connected with the X-axis supporting block seat 19, the X-axis ball screw 6 is provided with the movable X-axis nut block 11, and the X-axis nut block 11 is fixedly connected with the cross nut block 8 through the X-axis sliding block 13; the Y-axis screw motor 10 is fixedly connected with the Y-axis supporting block seat 20 through the Y-axis motor support plate 22, the Y-axis screw motor 10 is connected with the Y-axis ball screw 7 through the Y-axis coupler 16, the Y-axis supporting block seat 20 is fixedly connected with the Y-axis guide rail 5, the Y-axis supporting seat 18 is fixedly connected with the Y-axis supporting block seat 19, the Y-axis ball screw 7 is provided with the movable Y-axis nut block 12, and the Y-axis nut block 12 is fixedly connected with the cross nut block 8 through the Y-axis sliding block 14. The X-axis guide rail 4 and the Y-axis guide rail 5 are fixedly connected with the cross nut block 8 through the X-axis sliding block 13 and the Y-axis sliding block 14, the X-axis guide rail 4 can finish the transverse movement of the robot body device 1 in the X-axis direction, and the Y-axis guide rail 5 can realize the transverse movement in the X-axis direction under the drive of the X-axis sliding block 13; the Y-axis guide rail 5 can complete the longitudinal movement of the robot body device 1 in the Y-axis direction, and the X-axis guide rail 4 can realize the longitudinal movement in the Y-axis direction under the drive of the Y-axis sliding block 14.
The adsorption surface cleaning and adsorbing device 2 comprises: the vacuum sealing device comprises a vacuum sealing cavity 23, a diaphragm motor 24, a vacuum chuck 25, a square chuck dust collection shell 26, a lifting motor 27, a lifting bracket 28, a lifting motor support plate 29, a movable sliding table 30, a diagonal rack seat 31, a chuck connecting plate 32 and an electromagnetic valve 33. The adsorption surface cleaning and adsorbing device 2 is responsible for the overall adsorption surface cleaning, adsorbing and obstacle surmounting functions of the robot; the square sucking disc dust collection shell 26 is a shell of the adsorption surface cleaning adsorption device 2, the vacuum sucking disc 25 is arranged at the lower part of the vacuum sealing cavity 23 in a sealing way, the diaphragm motor 24 is connected with the electromagnetic valve 33 and is arranged at the upper part of the vacuum sealing cavity 23, the diaphragm motor 24 is used for vacuumizing the vacuum sealing cavity 23, and the electromagnetic valve 33 is used for releasing the vacuum state of the conveying air of the vacuum sealing cavity; the lifting support 28 is used for connecting the adsorption surface cleaning and adsorbing device 2 with the robot body device 1, the inclined rack seat 31 is fixedly connected with the lifting support 28, the lifting motor 27 is fixedly connected with the movable sliding table 30 through the lifting motor support plate 29, the movable sliding table 30 is mutually connected with the inclined rack seat 31 and can realize relative movement, and the movable sliding table 30 is fixedly connected with the square sucking disc dust collection shell 26 through the sucking disc connecting plate 32.
The non-adsorbing surface cleaning device 3 includes: brush holder 34, brush motor holder 35, brush motor 36, brush bar 37, brush arm 38, brush shaft 39, turbine 40, worm 41, bearing housing 42. The non-adsorption surface cleaning device 3 is arranged above the robot body device 1, is fixedly connected with the X-axis guide rail 4 and is responsible for cleaning the non-adsorption surface. The brush support 34 and the brush motor support 35 are fixedly arranged on the X-axis guide rail 4, the brush rotating shaft 39 is fixedly arranged on the brush support 34 and the brush motor support 35 through a bearing seat 42, the brush motor 36 is fixed on the X-axis guide rail 4, the brush motor 36 is connected with the brush rotating shaft 39 through a worm gear 40 and a worm 41, the brush bar 37 is fixedly connected with the brush arm 38, and the brush arm 38 is mutually connected with the brush rotating shaft 39.
The dust receiving device 60 is used for sucking dust and collecting dust on the suction surface, and comprises a dust sucking device 43 and a dust collecting box 44. The dust suction device 43 includes: the suction impeller 45, the dust collection motor 46, the filter screen 47, the upper dust storage chamber 48, the dust collection motor closed cavity 49, the dust collection device 43 is used for cleaning the suction surface dust collection and dust collection. The dust collection device 43 is fixedly arranged at the middle position above the X-axis guide rail 4, the dust collection device 43 is divided into an upper part and a lower part by the filter screen 47, and the upper ash storage chamber 48 is positioned at the upper part of the dust collection device 43 and is used for storing dust; a dust suction motor closed cavity 49 is positioned at the lower part of the dust suction device 43, and a dust suction motor 46 is connected with the air suction impeller 45 and positioned in the dust suction motor closed cavity 49 for generating suction. The dust collection box 44 and the dust collection device 43 are fixedly connected and installed on the X-axis guide rail 4, the filter sheet 50 divides the dust collection box 44 into two parts, two upper dust collection holes 51 and two lower dust collection holes 52 are reserved at the upper part of the dust collection box 44, and an openable dust collection chamber 53 is arranged at the lower part of the dust collection box.
The outside of square sucking disc dust absorption shell 26 install infrared range finding sensor for detect the barrier distance, clean adsorption equipment 2 of adsorption face be equipped with 4 sets of altogether, install respectively at the both ends of robot body device 1X axle guide rail 4 and Y axle guide rail 5.
The X-axis screw motor 9 and the Y-axis screw motor 10 are direct current stepper motors.
The X-axis screw motor 9 and the Y-axis screw motor 10 are direct current stepper motors.
The outside of square sucking disc dust absorption shell 26 install infrared range finding sensor for detect the barrier distance, clean adsorption equipment 2 of adsorption face be equipped with 4 sets of altogether, install respectively at the both ends of robot body device 1X axle guide rail 4 and Y axle guide rail 5.
The lifting motors 27 select direct current stepping motors, and the four groups of lifting motors 27 can respectively control the lifting and the descending of the four groups of adsorption surface cleaning and adsorbing devices 2.
The brush motor 36 of the non-adsorption surface cleaning device 3 selects a direct current stepping motor, the brush motor 36 is used for driving the brush rotating shaft 39 to rotate, ultrasonic ranging sensors are arranged at two ends of the brush strip 37 and used for detecting obstacles, and when the brush is close to the obstacles, the brush is driven by the brush rotating shaft 39 to bidirectionally overturn along the X-axis direction, and the overturning angle is not smaller than 90 degrees.
The suction motor 46 of the suction device 43 selects a high-speed brushless motor, and generates suction force by driving the high-speed rotation of the suction impeller 45.
Further, the top of the upper ash storage chamber 48 of the dust collection device 43 is provided with a dust collection groove 54, the dust collection groove 54 is provided with a dust collection pipe connected with the upper dust collection hole 51 of the dust collection box 44, the lower dust collection hole 52 of the dust collection box 44 is provided with a dust collection pipe connected to the upper parts of the square sucker dust collection shells 26 of the four suction surface cleaning and adsorbing devices 2 respectively, and the dust collection pipes are used for dust collection of the suction surfaces.
Further, a visual camera is provided for real-time environmental monitoring.
The main control circuit board and the microcontroller are installed in the mounting plate 55 above the X-axis guide rail, the main control circuit board is used for sending out control instructions, and the microcontroller is used for remote monitoring and teleoperation.
Referring to fig. 6, a schematic diagram of a cleaning operation of a vacuum suction photovoltaic curtain wall cavity cleaning robot is shown, a dust suction hose is installed at the upper part of a square suction cup dust suction shell 26 of a suction surface cleaning and sucking device 2, the dust suction hose is connected to a lower dust suction hole 52 of a dust collection box 44, the dust suction hose is led out from an upper dust suction hole 51 and connected with a dust suction groove 54 of a dust suction device 43, the suction surface cleaning and sucking device 2 installed at the tail ends of an X-axis guide rail 4 and a Y-axis guide rail 5 is provided with the dust suction hose, and a dust suction motor 46 in the dust suction device 43 drives an air suction impeller 45 to rotate at a high speed to generate strong suction force. For the cleaning process of the adsorption surface, dust on the adsorption surface flows in from the square sucking disc dust collection shell 26, the dust firstly enters the dust collection box 44 from the lower dust collection hole 52, most of the dust flows into the dust collection chamber 53 through the filter disc 50, the rest of the dust flows into the dust collection groove 54 of the dust collection device 43 from the upper dust collection hole 51 of the dust collection box 44, the rest of the dust is stored in the upper dust storage chamber 48 of the dust collection device 43, the adsorption surface cleaning adsorption device 2 moves along the whole vacuum glass surface 57 along with the movement of the X-axis guide rail 4 and the Y-axis guide rail 5, and the cleaning of the adsorption surface is completed; for the cleaning process of the non-adsorption surface, the non-adsorption surface cleaning device 3 moves along the X-axis guide rail 4 to traverse the whole photovoltaic module surface 46, and the hairbrush strips 37 rub and dust with the photovoltaic module surface 56 to finish cleaning of the non-adsorption surface.
Referring to fig. 7, when the cleaning robot encounters the aluminum alloy beam 59 with a vacuum glass surface, fig. 7 is a schematic diagram of a process of crossing an obstacle by the adsorption surface cleaning and adsorbing device 2 at one end of the Y-axis guide rail 5, and the crossing process is as follows: the adsorption surface cleaning and adsorbing device 2 at two ends of the X-axis guide rail 4 is in a descending adsorption supporting state, the adsorption surface cleaning and adsorbing device 2 at two ends of the Y-axis guide rail 5 is in a lifting state, the Y-axis guide rail is suspended relative to the vacuum glass surface 57, the Y-axis guide rail 5 moves along the Y-axis direction under the drive of the Y-axis screw motor 10, the adsorption surface cleaning and adsorbing device 2 at one end of the Y-axis guide rail 5 moves across the vacuum glass surface aluminum alloy cross beam 59 along the Y-axis guide rail 5, then the adsorption surface cleaning and adsorbing device 2 at two ends of the X-axis guide rail 4 is converted into a descending adsorption supporting state, the X-axis guide rail 4 moves along the X-axis direction under the drive of the X-axis screw motor 9, the adsorption surface cleaning and adsorbing device 2 at one end of the X-axis guide rail 4 spans across the vacuum glass surface aluminum alloy cross beam 59, and alternately moves, and the robot body spans obstacles.
In combination with the illustration 8, the cleaning robot encounters the photovoltaic module surface aluminum alloy beam 58, and the obstacle surmounting process of the non-adsorption surface cleaning device 3 is as follows: the adsorption surface cleaning and adsorbing device 2 at two ends of the Y-axis guide rail 5 is in a descending adsorption state, the adsorption surface cleaning and adsorbing device 2 at two ends of the X-axis guide rail 4 is in a lifting state, the hairbrush strip 37 is driven by the hairbrush motor 36 to outwards turn, the height of the non-adsorption surface cleaning device 3 is reduced, the non-adsorption surface cleaning device 3 moves across the photovoltaic module surface aluminum alloy cross beam 58 along with the X-axis guide rail 4, and after crossing an obstacle, the hairbrush strip 37 turns inwards to be converted into an upright state under the driving of the hairbrush motor 36.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (10)
1. The utility model provides a vacuum adsorption photovoltaic curtain wall cavity cleaning robot, its working face includes adsorption face and non-adsorption face, and the structure includes robot body device (1), adsorption face cleaning adsorption device (2), non-adsorption face cleaning device (3) to and dust storage device (60), robot body device (1) be the main body frame of robot to realize along the removal of X, Y direction of non-adsorption face, non-adsorption face cleaning device (3) install in the top of robot body device (1), be responsible for the cleanness of non-adsorption face, its characterized in that:
the adsorption surface cleaning adsorption device (2) comprises: the vacuum cleaner comprises a vacuum sealing cavity (23), a diaphragm motor (24), a vacuum chuck (25), a square chuck dust collection shell (26), a lifting motor (27), a lifting bracket (28), a lifting motor support plate (29), a movable sliding table (30), a diagonal rack seat (31), a chuck connecting plate (32) and an electromagnetic valve (33); the adsorption surface cleaning and adsorbing device (2) is responsible for the overall adsorption surface cleaning, adsorbing and obstacle surmounting functions of the robot; the square sucking disc dust collection shell (26) is a shell of the adsorption surface cleaning adsorption device (2), the vacuum sucking disc (25) is arranged at the lower part of the vacuum sealing cavity (23) in a sealing way, the diaphragm motor (24) is connected with the electromagnetic valve (33) and is arranged at the upper part of the vacuum sealing cavity (23), the diaphragm motor (24) is used for vacuumizing the vacuum sealing cavity (23), and the electromagnetic valve (33) is used for releasing the vacuum state of conveying air of the vacuum sealing cavity; the lifting support (28) is used for connecting the adsorption surface cleaning and adsorbing device (2) with the robot body device (1), the inclined rack seat (31) is fixedly connected with the lifting support (28), the lifting motor (27) is fixedly connected with the movable sliding table (30) through the lifting motor support plate (29), the movable sliding table (30) is driven by the lifting motor (27) to move relative to the inclined rack seat (31), and the movable sliding table (30) further sequentially passes through the sucker connecting plate (32) and the square sucker dust collection shell (26) to realize lifting of the adsorption surface cleaning and adsorbing device (2);
the dust accommodating device (60) is used for absorbing dust on an absorption surface and collecting dust, and comprises a dust absorbing device (43) and a dust collecting box (44), wherein the dust absorbing device (43) comprises: an air suction impeller (45), a dust collection motor (46), a filter screen (47), an upper dust storage chamber (48), and a dust collection motor closed cavity (49); the dust collection device (43) is fixedly arranged at the middle position above the X-axis guide rail (4), the dust collection device (43) is divided into an upper part and a lower part by the filter screen (47), and the upper part is an upper dust storage chamber (48) for storing dust; the lower part is a dust collection motor closed cavity (49), a dust collection motor (46) and an air suction impeller (45) are arranged in the dust collection motor closed cavity (49), and the dust collection motor (46) is connected with the air suction impeller (45) and used for generating suction force; the dust collection box (44) and the dust collection device (43) are connected and fixedly arranged on the X-axis guide rail (4), the dust collection box (44) comprises a filter sheet (50) and dust collection holes, the filter sheet (50) divides the dust collection box (44) into an upper part and a lower part, wherein the upper part is reserved with a plurality of dust collection holes, and the dust collection box (44) is respectively connected with an upper dust storage chamber (48) of the dust collection device (43) and the upper part of a square sucker dust collection shell (26) of the adsorption surface cleaning and adsorption device (2) through the dust collection holes for dust collection of the adsorption surface; the lower part of the dust collecting box is an openable dust collecting chamber (53).
2. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot of claim 1, wherein: the robot body device (1) specifically comprises an X-axis guide rail (4), a Y-axis guide rail (5), an X-axis ball screw (6), a Y-axis ball screw (7), a cross nut block (8), an X-axis screw motor (9), a Y-axis screw motor (10), an X-axis nut block (11), a Y-axis nut block (12), an X-axis sliding block (13), a Y-axis sliding block (14), an X-axis coupler (15), a Y-axis coupler (16), an X-axis supporting seat (17), a Y-axis supporting seat (18), an X-axis supporting block seat (19), a Y-axis supporting block seat (20), an X-axis motor support plate (21) and a Y-axis motor support plate (22); the X-axis screw motor (9) is fixedly connected with the X-axis supporting block seat (19) through the X-axis motor support plate (21), the X-axis screw motor (9) is connected with the X-axis ball screw (6) through the X-axis coupler (15), the X-axis supporting block seat (19) is fixedly connected with the X-axis guide rail (4), the X-axis supporting seat (17) is used for installing the brush motor support (35), the X-axis ball screw (6) is provided with the movable X-axis nut block (11), and the X-axis nut block (11) is fixedly connected with the cross nut block (8) through the X-axis sliding block (13); the Y-axis screw motor (10) is fixedly connected with the Y-axis supporting block seat (20) through a Y-axis motor support plate (22), the Y-axis screw motor (10) is connected with the Y-axis ball screw (7) through a Y-axis coupler (16), the Y-axis supporting block seat (20) is fixedly connected with the Y-axis guide rail (5), the Y-axis supporting seat (18) is fixedly connected with the Y-axis supporting block seat (20), the Y-axis supporting seat (18) is fixedly connected with the lifting motor support plate (29), the Y-axis ball screw (7) is provided with a movable Y-axis nut block (12), and the Y-axis nut block (12) is fixedly connected with the cross nut block (8) through a Y-axis sliding block (14); the X-axis guide rail (4) and the Y-axis guide rail (5) are fixedly connected with the cross nut block (8) through an X-axis sliding block (13) and a Y-axis sliding block (14), the X-axis guide rail (4) can finish the transverse movement of the robot body device (1) in the X-axis direction, and the Y-axis guide rail (5) can realize the transverse movement in the X-axis direction under the drive of the X-axis sliding block (13); the Y-axis guide rail (5) can finish the longitudinal movement of the robot body device (1) in the Y-axis direction, and the X-axis guide rail (4) can realize the longitudinal movement in the Y-axis direction under the drive of the Y-axis sliding block (14).
3. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot of claim 1, wherein: the non-adsorbing surface cleaning device (3) comprises: the device comprises a brush support (34), a brush motor support (35), a brush motor (36), brush strips (37), brush arms (38), a brush rotating shaft (39), a turbine (40), a worm (41) and a bearing seat (42); the brush support (34) and the brush motor support (35) are fixedly arranged on the X-axis guide rail (4), the brush rotating shaft (39) is fixedly arranged on the brush support (34) and the brush motor support (35) through a bearing seat (42), the brush motor (36) is fixed on the X-axis guide rail (4), the brush motor (36) sequentially drives the brush rotating shaft (39) through a turbine (40) and a worm (41), and the brush rotating shaft (39) drives the brush strips (37) to move through a Mao Shuabei (38), so that cleaning is achieved.
4. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot according to claim 2, wherein: the robot body device (1) is a cross frame type, an X-axis guide rail (4) and a Y-axis guide rail (5) are vertically arranged, the X-axis guide rail (4) is positioned on the Y-axis guide rail (5), the adsorption surface cleaning and adsorbing device (2) is arranged at the tail ends of the X-axis guide rail (4) and the Y-axis guide rail (5), and the non-adsorption surface cleaning device (3) is arranged on the X-axis guide rail (4); the X-axis screw motor (9) and the Y-axis screw motor (10) are direct current stepping motors; the adsorption surface cleaning and adsorbing device (2) is provided with 4 groups, and the adsorption surface cleaning and adsorbing device is respectively arranged at two ends of an X-axis guide rail (4) and a Y-axis guide rail (5) of the robot body device (1).
5. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot of claim 1, wherein: the outside of square sucking disc dust absorption shell (26) install infrared range sensor for detect the barrier distance, elevator motor (27) select direct current step motor, four groups elevator motor (27) can control the lifting and the decline of four groups adsorption surface cleaning adsorption device (2) respectively.
6. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot of claim 1, wherein: the brush motor (36) of the non-adsorption surface cleaning device (3) selects a direct current stepping motor, the brush motor (36) is used for driving the brush rotating shaft (39) to rotate, ultrasonic ranging sensors are arranged at two ends of the brush strip (37) and used for detecting obstacles, when the brush is close to the obstacles, the brush is driven by the brush rotating shaft (39) to bidirectionally overturn along the X-axis direction, and the overturning angle is not smaller than 90 degrees.
7. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot of claim 1, wherein: a dust collection motor (46) of the dust collection device (43) selects a high-speed brushless motor, and suction force is generated by driving a high-speed rotation of an air suction impeller (45).
8. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot of claim 1, wherein: further, a dust collection groove (54) is formed in the top of the upper dust storage chamber (48) of the dust collection device (43), the dust collection groove (54) is connected with the dust collection box (44) through a dust collection pipe, the dust collection hole of the dust collection box (44) is provided with the dust collection pipe, and the dust collection pipe is respectively connected to the upper parts of the square sucker dust collection shells (26) of the four adsorption surface cleaning adsorption devices (2) and used for adsorbing dust on the adsorption surfaces.
9. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot of claim 1, wherein: further, a visual camera is provided for real-time environmental monitoring.
10. The vacuum adsorption photovoltaic curtain wall cavity cleaning robot of claim 1, wherein: the main control circuit board and the microcontroller are arranged in a mounting plate (55) above the X-axis guide rail, the main control circuit board is used for sending out control instructions, and the microcontroller is used for remote monitoring and teleoperation.
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| CN202211125325.3A CN115381326B (en) | 2022-09-15 | 2022-09-15 | Vacuum adsorption photovoltaic curtain wall cavity cleaning robot |
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| CN202211125325.3A CN115381326B (en) | 2022-09-15 | 2022-09-15 | Vacuum adsorption photovoltaic curtain wall cavity cleaning robot |
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| CN115381326B true CN115381326B (en) | 2023-11-21 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106667364A (en) * | 2017-02-27 | 2017-05-17 | 武汉市享昱科技有限公司 | Double-sucker glass curtain wall robot cleaner |
| WO2017152409A1 (en) * | 2016-03-10 | 2017-09-14 | 深圳市赛亿科技开发有限公司 | Ultrasonic cleaning robot |
| WO2019120096A1 (en) * | 2017-12-20 | 2019-06-27 | 青岛海尔空调器有限总公司 | Cleaning apparatus and air conditioner indoor unit having same |
| CN112741535A (en) * | 2021-01-15 | 2021-05-04 | 北京工业大学 | Photovoltaic curtain wall cavity cleaning robot |
| CN214965039U (en) * | 2021-03-08 | 2021-12-03 | 北京工业大学 | Electric photovoltaic curtain wall cavity cleaning robot |
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2022
- 2022-09-15 CN CN202211125325.3A patent/CN115381326B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017152409A1 (en) * | 2016-03-10 | 2017-09-14 | 深圳市赛亿科技开发有限公司 | Ultrasonic cleaning robot |
| CN106667364A (en) * | 2017-02-27 | 2017-05-17 | 武汉市享昱科技有限公司 | Double-sucker glass curtain wall robot cleaner |
| WO2019120096A1 (en) * | 2017-12-20 | 2019-06-27 | 青岛海尔空调器有限总公司 | Cleaning apparatus and air conditioner indoor unit having same |
| CN112741535A (en) * | 2021-01-15 | 2021-05-04 | 北京工业大学 | Photovoltaic curtain wall cavity cleaning robot |
| CN214965039U (en) * | 2021-03-08 | 2021-12-03 | 北京工业大学 | Electric photovoltaic curtain wall cavity cleaning robot |
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