CN115969275A - Glass curtain wall cleaning robot driven by flexible cable to perform peristaltic cleaning and cleaning method - Google Patents
Glass curtain wall cleaning robot driven by flexible cable to perform peristaltic cleaning and cleaning method Download PDFInfo
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- CN115969275A CN115969275A CN202211716446.5A CN202211716446A CN115969275A CN 115969275 A CN115969275 A CN 115969275A CN 202211716446 A CN202211716446 A CN 202211716446A CN 115969275 A CN115969275 A CN 115969275A
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Abstract
A glass curtain wall cleaning robot driven by flexible cables to perform peristaltic cleaning comprises a cleaning main body (10), a front-extending foot pair (20), peristaltic cleaning (30) and an adsorption mechanism (60), wherein the cleaning main body (10) is coupled to a flexible cable pair (11); the pair of the front extending feet (20) is respectively connected with the pair of the flexible cables (11) in a transmission way; the wriggling cleaning device (30) comprises a cleaning mechanism (40) and wriggling foot pairs (50), the wriggling foot pairs (50) are respectively in transmission connection with the flexible cable pairs (11), the wriggling foot pairs (50) are simultaneously in coupling connection with the front extending foot pairs (20) and the cleaning main body (10), the cleaning main body (10) is driven to wriggle back and forth between the extending position (31) and the bow position (32) along the flexible cable pairs (11), and meanwhile, the cleaning mechanism (40) performs different cleaning processes on the glass curtain wall along the up-down direction. The glass curtain wall cleaning robot driven by the flexible cable to perform peristaltic cleaning has high cleaning efficiency.
Description
Technical Field
The invention relates to the field of cleaning robots, in particular to a glass curtain wall cleaning robot driven by flexible cables to perform peristaltic cleaning and a cleaning method.
Background
The window cleaning robot is an automatic device for automatically cleaning the surface of a window, so that the robot is used for cleaning the outer wall or the outer glass of a high-rise building instead of manpower, the cleaning cost of the high-rise building can be greatly reduced, and the labor environment of workers is improved. Since most windows are generally perpendicular to the ground, these window cleaning robots must solve the technical problem of moving the robot along the vertical wall while it is attached to the vertical wall.
For the wall surface movement, harbin Miller university discloses a double-flexible-cable-driven glass curtain wall cleaning robot (publication number: CN103445731A, published: 2013, 12 months and 18 days), which adopts two flexible cables 1, one ends of which are respectively fixed at two top ends of a curtain wall cleaning area and hung in an inverted V shape, the flexible cables 1 are spirally wound and penetrated between a driving roller 14 and a driven roller 12, the driving roller 14 is driven to rotate by a roller driving motor 6, and the flexible cables are wound and unwound by the friction force between the flexible cables 1 and the rollers, so that the movement of the double-flexible-cable-driven glass curtain wall cleaning robot in the vertical and horizontal directions in a cleaning plane can be realized by the coordination action between the two roller driving motors 6. However, the two driving rollers 14 move linearly when the rotating speeds are the same, and the two driving rollers always cannot move linearly when the rotating speeds are different, so that the deflection angle detection mechanism disclosed by the invention is designed, the included angle between the flexible cable 1 and the sliding rod 3 is detected, and then the included angle is fed back to the single chip microcomputer, the single chip microcomputer obtains the required running speed and the required revolution number of the roller driving motor 6 through program calculation, then the revolution number of the motor is recorded through the code disc 5, and the revolution number is fed back to the single chip microcomputer, so that the closed-loop control of the motor is realized, and the two roller driving motors 6 can coordinately drive the two wheel sets to receive and release the flexible cable 1. When the two rollers simultaneously retract or release the flexible cable 1, the two rollers move upwards or downwards, and when the two rollers retract and release the flexible cable, the two rollers move left and right. However, this method of controlling the movement is somewhat complicated, and the vertical wire is reluctant to move left and right. At the same time, planning the cleaning path of the cleaning means becomes complicated.
There is a problem in that the tire, crawler, or other traveling wheel is pressed against the planar wall surface W1 and driven to move: in the case where the wall surface W is formed of a curved surface, there is a gap between the travel wheels and the wall surface W in principle, and the travel wheels are not grounded and cannot perform suction travel; japanese sharrp KK discloses a wall surface cleaning apparatus (publication No. JP2017007372A, published as 2017, 1 month and 12 days) capable of stably sucking and traveling a wall surface composed of a concave surface or a convex surface, including a housing 10, an adsorption part 22 provided in a middle portion of the housing 10, two moving mechanisms 2A and 2B symmetrically provided on both left and right sides of the adsorption part 22, and the adsorption part 22 is abutted against the backs of the moving mechanisms 2A and 2B by a pressing part 9. The moving mechanisms 2A, 2B are runners 23 around a rotating shaft 23c perpendicular to the wall surface. When the running wheels 23, 23 rotate, a frictional force is generated in the tangential direction at the contact points 23a, 23b between the running wheels 23, 23 and the wall surface W. Then, a propulsive force in a direction opposite to the frictional force is generated in the traveling wheels 23 and 23 of the moving mechanisms 2A and 2B. The wall surface traveling device 1A travels on the wall surface W by this propulsive force. Since the friction between the suction bottom surface of suction unit 22 and wall surface W during traveling becomes resistance to traveling driving, it is preferable to apply a configuration such as coating with a fluororesin to reduce the friction coefficient in order to improve the sliding property of the suction bottom surface of suction unit 22. However, the traveling mechanism has a disadvantage that it is difficult to cross over an obstacle such as a window frame.
Therefore, the glass curtain wall cleaning robot is urgently needed in the field, the obstacle spanning performance is strong, the glass curtain wall cleaning robot can be well adsorbed on one side of the vertical wall surface and moves along the vertical wall surface, and the glass curtain wall cleaning robot is urgently needed to be solved in the industry.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the glass curtain wall cleaning robot driven by the flexible cable to wriggle and clean, which has strong obstacle spanning performance and can well realize that the glass curtain wall cleaning robot is adsorbed on one side of the vertical wall surface and moves along the vertical wall surface so as to solve the technical problem of developing the glass curtain wall cleaning robot.
The invention aims to realize that a flexible cable driven glass curtain wall cleaning robot with peristaltic cleaning function comprises
The cleaning main body is coupled to the flexible cable pair, and the flexible cable pair is vertically suspended beside the glass curtain wall;
the pair of forward extending feet are respectively in transmission connection with the pair of flexible cables and are used for driving the cleaning main body to move upwards or downwards along the pair of flexible cables;
peristaltic cleaning, wherein the peristaltic cleaning comprises a cleaning mechanism and peristaltic foot pairs, the peristaltic foot pairs are respectively in transmission connection with the flexible cable pairs, the peristaltic foot pairs are simultaneously in coupling connection with the front stretching foot pairs and the cleaning main body, the cleaning main body is driven to perform reciprocating crawling between a stretching position and a bow waist position along the flexible cable pairs, and meanwhile, the cleaning mechanism performs different cleaning procedures on the glass curtain wall along the vertical direction; the stretching position is that the creeping foot pair is fixed, the front extending foot pair moves forwards to the maximum distance L away from the creeping foot pair max The bow waist position is that the forward extending foot is fixed, the creeping foot moves forward to a minimum distance L from the forward extending foot min The position of (a);
and the adsorption mechanism is used for providing positive pressure for the cleaning mechanism relative to the surface of the glass curtain wall when the peristaltic cleaning and the peristaltic cleaning are carried out simultaneously.
Furthermore, the front extension foot pair is in transmission connection with the flexible cable pair through a front extension flexible cable coil, the front extension flexible cable coil is in flexible cable driving, the flexible cable driving comprises a driving rotating frame, a front moving winding roller and a driven roller shaft, the front moving winding roller and the driven roller shaft are rotationally arranged on the driving rotating frame in an axisymmetric manner around a central axis, and a front moving motor is fixedly arranged beside the driving rotating frame along the central axis and is in transmission connection with the front moving winding roller; specifically, each wire of the wire pair is helically wound between a forward winding roller and a driven roller shaft, the wire pair being helically wound for at least 3 complete helices.
Furthermore, the peristaltic mechanism comprises an upper peristaltic leg pair and a lower peristaltic leg pair which are in pivot connection end to end, the other end of the upper peristaltic leg pair is in pivot connection with a driven roller shaft of a front extending flexible cable roll, and the other end of the lower peristaltic leg is in transmission connection with the flexible cable pair through a peristaltic flexible cable roll; the peristaltic flexible cable rolls are pivotally connected to the left side and the right side of the cleaning main body and driven by the flexible cables.
Further, forward motors of the forward extending flexible cable roll and the peristaltic flexible cable roll are in transmission connection with forward winding rollers through a speed reducer, and the rotation speed ratio of the forward winding rollers of the peristaltic flexible cable roll to the forward winding rollers of the forward extending flexible cable roll is 1-1; the speed reducer has the function of stopping and self-locking.
Furthermore, the cleaning mechanism comprises a plurality of spray heads which are arranged at intervals on a spray pipe, and the spray pipe is communicated with a water storage tank arranged in the cleaning main body through a water pump.
Furthermore, the rough roller scrubbing and the fine roller scrubbing are respectively of a water absorption scrubbing roller structure, the water absorption scrubbing roller structure comprises a scrubbing roller and a suction hard roller which are arranged on a roller frame in a rolling mode, the scrubbing roller and the suction hard roller roll oppositely, a Z-shaped water tank is arranged on the surface of the suction hard roller, parallel branches of the water tank are communicated with an inner hole of a rotating shaft through a plurality of water absorption holes, the end part of the rotating shaft is communicated with a main suction pipe through an adapter, and the main suction pipe is communicated with an axial flow fan arranged on the cleaning main body (10); the axial flow fan is vertical to the cleaning main body and blows out an air-water mixture;
the brightening scrubbing device comprises a scrubbing plate and brightener nozzles, wherein the brightener nozzles are arranged in brightener pipes at intervals, and the brightener pipes are communicated with brightener pumps arranged in brightener storage tanks of a cleaning main body.
The glass curtain wall building further comprises a fixed-distance transverse moving device, the fixed-distance transverse moving device comprises a sliding rail, a transverse moving crane and a suspension cable roll shaft, the sliding rail is arranged at the top of the glass curtain wall building, the sliding rail is provided with a driving rack, a driving motor is mounted on the transverse moving crane, the driving gear is arranged on an output shaft of the driving motor (76), and the driving gear is meshed with the driving rack; the flexible cable pair starting end is fixedly connected to the traversing crane and the tail end is fixedly connected with the balance weight, and the fixed-distance traversing is used for driving the flexible cable pair traversing a fixed distance along the sliding rail so as to clean the next row of surfaces to be cleaned.
A cleaning method of a glass curtain wall robot driven by a flexible cable to perform peristaltic cleaning,
s1, moving forwards, keeping the peristaltic foot pair immobile, and winding the forward extending foot pair forwards along the flexible cable pair so that the forward extending foot pair moves to a new extending position relative to the peristaltic foot pair;
s2, peristaltic cleaning, wherein the cleaning mechanism performs cleaning while the peristaltic mechanism performs peristaltic action;
returning to S1 until the column C to be cleaned is cleaned;
s3, transversely moving one row to drive the flexible cable pair to transversely move a certain width to reach a new row C to be cleaned;
and returning to S1.
Further, the S2 peristaltic wash is a fine mode, the fine mode comprising the steps of:
s21, first contraction and peristalsis, wherein the forward extending feet are fixed, and the peristalsis foot pairs move forwards along the flexible cable pairs from the original positions in a winding mode to drive the cleaning body to creep forwards to the bow waist position; meanwhile, the cleaning mechanism executes a spraying rough roller cleaning process: the roughing roller is scrubbed and extends downwards to be pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, the roughing roller motor is started, and the detergent is sprayed out after spraying and cleaning; rotating a rough roller to scrub while spraying the detergent; when the waist is in the bow position, the rough roller is scrubbed and ascends;
s22, stretching and creeping, wherein the front stretching foot pair is fixed, and the creeping foot pair drives the cleaning main body to creep backwards from the bow waist position to the original position; meanwhile, the cleaning mechanism executes a spraying fine rolling process: the fine roller scrubbing device extends downwards and is pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, the fine roller motor is started, the detergent is sprayed and cleaned, and the fine roller scrubbing device is rotated while the detergent is sprayed; when the position is the original position, the fine roller is scrubbed and ascended;
s23, second contraction and creeping, wherein the forward extending foot pair is fixed, and the creeping foot pair drives the cleaning main body to creep forward to the bow position again; meanwhile, the cleaning mechanism executes a bright wiping process: the brightening scrubbing plate extends downwards and is pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, and the brightening agent is sprayed out while the scrubbing plate is continuously abutted against the wall surface; when the waist is in the position, the light scrubbing is lifted.
Further, the S2 peristaltic washing is a general washing mode, and the general washing mode comprises the following steps:
s21, contracting and creeping, wherein the front extending feet are fixed, and the creeping feet move forward along the flexible cable pair in a winding manner to drive the cleaning main body to creep forward to the bow position;
meanwhile, the cleaning mechanism executes a spray roller wiping process: the roughing roller scrubbing and the bright scrubbing are simultaneously stretched downwards to be pressed on the wall surface W with the abutting force smaller than the adsorption positive pressure, and the roughing roller motor is started to spray, clean and spray detergent; rotating the coarse roller to scrub while spraying the detergent; meanwhile, the brightening agent is sprayed out by the brightening scrubbing, and the scrubbing plate is continuously abutted against the wall surface; when the waist is in the bow position, the rough roller scrubbing and the bright scrubbing are simultaneously lifted.
Compared with the prior art, the glass curtain wall cleaning robot driven by the flexible cables to perform peristaltic cleaning and the cleaning method thereof have the advantages that the double flexible cables drive the glass curtain wall cleaning robot to vertically move up and down, can span obstacles such as glass frames and the like, and can also be suitable for curved surface or step glass wall surfaces; the peristaltic cleaning is performed in a fine cleaning mode or a general cleaning mode at the same time of peristaltic action, so that the peristaltic cleaning machine is suitable for different cleaning requirements and ensures the brightness as new cleaning effect. The peristaltic movement mechanism 40 drives the cleaning main body to move forwards in a peristaltic manner by virtue of the flexible cable, so that the positive pressure of the adsorption mechanism does not influence the power of the peristaltic movement of the cleaning main body, and the contradiction between adsorption and forward movement is well solved.
Drawings
Fig. 1 is a front view of an embodiment 1 of a flexible cable driven peristaltic cleaning glass curtain wall cleaning robot of the present invention in an extended position;
FIG. 2 is a front view of the embodiment 1 of the flexible cable driven peristaltic cleaning glass curtain wall cleaning robot in the retracted position;
FIG. 3 is a side view of an embodiment 1 of the flexible cable driven peristaltic cleaning glass curtain wall cleaning robot of the present invention in a retracted position;
FIG. 4 is an enlarged view I in FIG. 1 of the flexible cable driven peristaltic cleaning glass curtain wall cleaning robot of the present invention;
fig. 5 is a front sectional view of a cleaning main body 10 of a wire-driven creep cleaning glass curtain wall cleaning robot according to the present invention.
Fig. 6 is a top view of a cleaning body 10 of a flexible cable driven peristaltic cleaning glass curtain wall cleaning robot according to the present invention;
fig. 7 is a left sectional view of a cleaning main body 10 of a flexible cable driven peristaltic cleaning glass curtain wall cleaning robot according to the present invention;
FIG. 8 is a front view of a distance traversing 70 of a wire driven creep cleaning glass curtain wall cleaning robot of the present invention;
fig. 9 is a left side cross-sectional view of a distance traversing 70 of a wire driven peristaltic cleaning glass curtain wall cleaning robot of the present invention.
Reference numbers in the above figures:
cleaning the main body 10, cleaning the flexible cable pair 11, cleaning the bottom plate 12, cleaning the side plate 13, and preventing the fluff from splashing 14
20 pairs of forward extending feet, 21 forward extending flexible rope rolls and 22 balancing weights
30 peristaltic cleaning, 31 extended position, 32 bowed position
40 cleaning mechanism, 41 spray cleaning, 42 coarse roller cleaning, 43 fine roller cleaning and 44 bright scrubbing
50 peristaltic foot pairs, 51 upper peristaltic leg pairs, 52 lower peristaltic leg pairs, 53 peristaltic flexible cord wraps
60 adsorption mechanisms, 61 suckers, 62 suction branch channels, 63 suction main channels, 64 spring pipe sections, 65 suction fans, 66 pressure reduction cavity parts and 67 telescopic oil cylinders
70-distance transverse moving, 71-track, 72-transverse moving crane, 73-suspension-cable roller, 74-drive rack, 75-drive gear, 76-drive motor
80 flexible cable drive, 81 drive rotating frame, 82 forward winding roller, 83 driven roller shaft, 84 forward motor and 85 speed reducer
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings, but is not intended to limit the scope of the invention.
Example 1
A glass curtain wall cleaning robot driven by flexible cables to perform peristaltic cleaning comprises
The cleaning device comprises a cleaning main body 10, wherein the cleaning main body 10 is used for fixedly mounting a functional mechanism and a water storage and energy storage component;
the pair of front extending feet 20, the pair of front extending feet 20 are respectively connected with the pair of flexible cables 21 in a transmission manner, the pair of front extending feet 20 are mechanically coupled with the cleaning main body 10 and used for driving the cleaning main body 10 to move upwards or downwards along the pair of flexible cables 12;
the peristaltic cleaning device 30 comprises a cleaning mechanism 40 and a peristaltic foot pair 50, the peristaltic foot pair 50 is simultaneously coupled with the forward extending foot pair 20 and the cleaning main body 10, the peristaltic foot pair 50 is respectively in transmission connection with the flexible cable pair 21, the cleaning main body 10 is driven to reciprocate between the stretching position 31 and the bow position 32 along the flexible cable pair 12, and meanwhile, the cleaning mechanism 40 performs different cleaning processes on the glass curtain wall along the up-down direction; the stretching position 31 is the position where the peristaltic foot pair is immobilized, the anterior extension foot pair 20 moves forwards to the position with the maximum distance Lmax away from the peristaltic foot pair 50, the bow waist position 32 is the position where the anterior extension foot pair 20 is immobilized, and the peristaltic foot pair 50 moves forwards to the position with the minimum distance Lmin away from the anterior extension foot pair 20;
and the adsorption mechanisms 60 are arranged on the left side and the right side of the cleaning main body 10, and are used for providing positive pressure for the cleaning mechanism 40 relative to the surface of the glass curtain wall when the peristaltic cleaning mechanism 30 performs peristaltic cleaning and the cleaning is performed simultaneously.
The cleaning main body 10 comprises a cleaning bottom plate 11, the cleaning bottom plate 11 comprises a side plate 12, and splash-proof fluff 13 is arranged at the bottom of the side plate 12 to prevent detergent sprayed by the spray header from sputtering to two sides of the wall surface and affecting the adsorption force of the adsorption mechanism 60.
The pair of front extending feet 20 is in transmission connection with the pair of wires 21 through a pair of front extending flexible wire rolls 22, the front extending flexible wire rolls 22 are flexible wire drives 80, each flexible wire drive 80 comprises a driving rotating frame 81, a front extending rolling roller 82 and a driven roller shaft 83, the driving rotating frame 81 is releasably and pivotally arranged on the cross-sliding crane 72 along the central axis, the front extending rolling roller 82 and the driven roller shaft 83 are fixedly arranged on the driving rotating frame 81 in an axial symmetry mode around the central axis in a rotating mode, and a front motor 84 is fixedly arranged on the side of the driving rotating frame 81 along the central axis and is in transmission connection with the front extending rolling roller 82; specifically, each wire of the pair of wires 21 is helically wound alternately between the forward winding roller 82 and the driven roller shaft 83 of the wire drive 80 of the forward flexible wire roll 22, and the pair of wires 12 is helically wound at least 3 complete helices between the forward winding roller 82 and the driven roller shaft 83. The forward motor 84 is an electric motor having a self-locking function.
The creeping foot pairs 50 comprise an upper creeping leg pair 51 and a lower creeping leg pair 52 which are connected end to end through pivoting ends, the other end of each of the upper creeping leg pair 51 is pivotally connected with the front extending foot pair 20, and the other end of the lower creeping leg 52 is hinged with the cleaning main body 10.
Preferably, the upper pair of peristaltic legs 51 is equal in length to the lower pair of peristaltic legs 52. In the bow position, the angle between the upper pair of peristaltic legs 51 and the lower pair of peristaltic legs 52 is 60 degrees, and an equilateral triangle is formed between the forward flexible cord wrap 21, the pivot joint end and the peristaltic flexible cord wrap 53. Further forward peristalsis at this point raises the peristaltic flex-wrap 53, so Lmax-Lmin has now reached the maximum limit of peristaltic advancement.
The lower creep leg pair 52 is in transmission connection with the flexible cable pair 21 through a creep flexible cable roll 53, the creep flexible cable roll 53 is a flexible cable drive 80, and a forward motor 84 of the creep flexible cable roll 53 is connected with a forward winding roller 82 through a speed reducer 85.
Preferably, the speed reducer 85 is a planetary gear speed reducer or a worm gear speed reducer, and the speed reduction ratio of the speed reducer 85 is 6, 8, 10.
The cleaning mechanism 40 comprises a spraying cleaning 41, a rough roller washing 42, a fine roller washing 43 and a bright scrubbing 44 which are sequentially arranged, the spraying cleaning 41 is a plurality of spray heads which are arranged at intervals on a spray pipe, and the spray pipe is communicated with a water storage tank arranged on a cleaning main body through a water pump. The water storage tank stores detergent.
The rough roller scrubbing 42 and the fine roller scrubbing 43 are respectively of a water-absorbing scrubbing roller structure, the water-absorbing scrubbing roller structure comprises a scrubbing roller and a suction roller, the scrubbing roller and the suction roller are arranged on a roller frame in a rolling mode and roll oppositely, a Z-shaped water tank is arranged on the surface of the suction roller, parallel branches of the Z-shaped water tank are communicated with an inner hole of a roller shaft through a plurality of water absorbing holes, the end part of the roller shaft is communicated with a main suction pipe through an adapter, and the main suction pipe is communicated with an axial flow fan arranged on the cleaning main body 10; the axial flow fan blows out the air-water mixture perpendicular to the cleaning body.
The wiping roller 101 of the coarse roller wiping 42 is provided with a bag body with a sponge built-in body, the bag body is made of blended fabric formed by blending metal wires and plastic wires, and the metal wires of the coarse roller 42 wipe the surface of glass, so that the dirt removing capability is strong.
The wiping roller 101 of the fine roller wiping 43 is provided with a bag body with a sponge built-in body, and the bag body is made of cotton thread long velvet fabric, so that the water absorption and wiping performance of the surface of the glass are good, and the wall surface of the glass can be conveniently wetted and wiped.
The brightening scrubbing 44 includes a scrubbing plate and brightener nozzles, a plurality of brightener nozzles are arranged at intervals in a brightener pipe, and the brightener pipe is communicated with a brightener pump arranged in a brightener storage tank of the cleaning main body.
The glass curtain wall building curtain wall fixing device further comprises a fixed-distance transverse moving device 70, wherein the fixed-distance transverse moving device 70 comprises a sliding rail 71, a transverse moving crane 72, a suspension cable roller shaft 73, a driving rack 74 and a driving gear 75, the sliding rail 71 is arranged at the top of the glass curtain wall building, the sliding rail 71 is provided with the driving rack 74, the driving gear 75 is arranged on the transverse moving crane 72, the driving gear 75 is connected with a driving motor 76, the driving motor 76 is arranged on the transverse moving crane 72, the starting end of the flexible cable pair 11 is fixedly connected with the transverse moving crane 72, and the tail end of the flexible cable pair is fixedly connected with a counterweight; the distance traversing 70 is used for driving the flexible cable pairs 11 to traverse a fixed distance along the sliding rail 71 to clean the next row of surfaces to be cleaned.
The suction mechanism 60 includes a suction cup 61, a suction branch duct 62, a suction trunk duct 63, and a suction fan 65, the tail of the suction cup 61 is connected to the head of the suction branch duct 62 in an airtight manner, a spring pipe section 64 is provided in the middle of the suction branch duct 62, the tail of the suction branch duct 62 is communicated to the suction fan 65 provided in the cleaning main body 10 in an airtight manner, and the suction fan 65 is an axial flow fan blowing air perpendicularly to the cleaning main body 10.
The cleaning main body 10 is provided with a suction cup 61 on each of the left and right sides thereof, and the two suction cups 61 are connected to a suction trunk 63 through suction branches 62 and to a suction fan 65 through the suction trunk 63.
Specifically, when the cleaning operation is performed, the operator adjusts the position of the wire with respect to the wall surface W and pushes the wire against the wall surface W with a hand. When the suction fan 65 is started, a pressure reduction chamber 66 as a suction space is formed by the wall surface W and the suction pad 61.
The neck of the suction branch channel 62 is fixedly connected with the piston end of a telescopic oil cylinder 67, and the cylinder body of the telescopic oil cylinder 67 is vertically and fixedly arranged at the lower part of the cleaning main body 10. In order to reduce the influence of wind on the flexible cable pair 21, the bottom of the flexible cable pair 21 is respectively provided with a balancing weight, the balancing weight is basically suspended 15-20cm above the ground, the flexible oil cylinder 67 is arranged in such a way that the wind interference in the middle section of the flexible cable can weaken the adsorption force of the adsorption mechanism 60 on the wall surface W, and the flexible oil cylinder 67 can be started to extend a little to offset the interference of the wind on the trolley.
The bottoms of the two suckers 61 are respectively arranged on a pressure sensor 68 corresponding to the situation of curved glass or the wall surface of a step, and the pressure sensor 68 detects the positive pressure F applied to the wall surface by the suckers 1 、F 2 When F is 1 -F 2 When the positive pressure is greater than or equal to the threshold value F, the telescopic oil cylinder 65 corresponding to the smaller positive pressure extends downwards until the positive pressure reaches F 1 -F 2 <A threshold value F.
The device also comprises a dirt monitoring device which is arranged on the front foot pair 20 and used for monitoring whether bird droppings or dirt exist on the wall surface of the glass to be cleaned or not, and if so, the fine cleaning mode is automatically selected; and if bird droppings or stains are not detected, automatically selecting the general washing mode. The dirt monitoring device comprises a camera and a judging module, wherein the judging module is used for automatically judging whether a camera shooting picture has pollutants. When the automatic operation is selected, the judging module can automatically select the cleaning mode according to the judging result. And when the manual mode is selected, the camera shooting picture of the computer screen is manually seen to judge whether bird droppings or stains exist, if so, the fine washing mode is selected, and if not, the general washing mode is selected.
A cleaning method of a glass curtain wall robot driven by a flexible cable to perform peristaltic cleaning,
s1, moving forwards, fixing the creeping foot pair 50, and winding the forward extending foot pair 20 along the flexible cable pair 12 forwards to enable the forward extending foot pair 20 to be in a new extending position 31 relative to the creeping foot pair 50;
s2, peristaltic cleaning is carried out, and the cleaning mechanism 40 performs cleaning while the peristaltic mechanism 50 performs peristaltic action.
Returning to S1 until the column C to be cleaned is cleaned;
s3, transversely moving one row, starting the driving motor 76 of the fixed-distance transverse moving 70, and driving the transverse moving crane 72 to move one row of rows C to be cleaned; and returning to S1.
The width of the row is the width of the cleaning cover of the cleaning main body.
Preferably, the S2 peristaltic washing is a fine washing mode, and the fine washing mode comprises the following steps:
s21, first contraction and peristalsis, wherein the forward extending feet are fixed, and the peristalsis foot pair 50 moves forwards in a winding mode along the flexible cable pair 12 from the original position to drive the cleaning main body 10 to creep forwards to the bow position; meanwhile, the cleaning mechanism 40 performs a spray rough roll cleaning process: the roughing roller scrubbing 42 extends downwards to be pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, the roughing roller motor is started, and the spray cleaning 41 sprays detergent; rotating the roughing roller while spraying the detergent to scrub 42; when the waist is in the bow position, the coarse roller scrubbing 42 rises;
s22, stretching and creeping, wherein the front stretching foot pair is fixed, and the creeping foot pair 50 drives the cleaning main body 10 to creep backwards from the bow waist position to the original position; meanwhile, the cleaning mechanism 40 performs a spray finish roll cleaning process: the fine roller scrubbing 43 extends downwards and is pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, the fine roller motor is started, the spray cleaning 41 sprays the detergent, and the fine roller scrubbing 43 is rotated while the detergent is sprayed; when the position is reached, the fine roller scrubbing 43 rises;
s23, performing second contraction and peristalsis, wherein the forward extending foot pair is immobile, and the peristalsis foot pair 50 drives the cleaning main body 10 to peristalsis forward to the bow position again; at the same time, the cleaning mechanism 40 performs a bright wiping process: the bright scrubbing plate 44 extends downwards to be pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, and the polishing agent is sprayed out while the scrubbing plate is continuously abutted against the wall surface; when reaching the lumbar position, the bright scrub 44 rises.
More preferably, the S2 peristaltic washing is a general washing mode, and the general washing mode includes the following steps:
s21, contracting and creeping, wherein the front extending feet are fixed, and the creeping foot pair 50 winds along the flexible cable pair 12 and moves forwards to drive the cleaning main body 10 to creep forwards to the bow position; meanwhile, the cleaning mechanism 40 performs a shower roller wiping process: the roughing roller scrubbing 42 and the bright scrubbing 44 extend downwards at the same time to be pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, the roughing roller motor is started, and the spray cleaning 41 sprays detergent; rotating the roughing roller while spraying the detergent to scrub 42; meanwhile, the bright scrub 44 sprays the brightener and the scrub plate is continuously abutted against the wall surface; to the bow position, the coarse roll scrub 42 and the light scrub 44 rise simultaneously.
The fine mode is suitable for the glass wall surface part with bird droppings or raindrop marks and water flow marks, the common mode is suitable for the part with ash normally, and the fine mode and the common mode can be remotely switched at any time.
A glass curtain wall cleaning robot driven by flexible cables to perform peristaltic cleaning solves the technical problems that the obstacle spanning property is strong, and the glass curtain wall cleaning robot can well realize the movement of one edge of a vertical wall surface along the vertical wall surface while being adsorbed on the vertical wall surface,
(1) The bionic creeping crawling is in charge of moving forward and cleaning, and the bionic creeping crawling and cleaning are matched in a labor division manner.
For the row C to be cleaned, the forward extending foot pair 20 is responsible for moving forward and opening up a new area to be cleaned; and the creeping foot pair 50 is responsible for reciprocating creeping relative to the front extending foot pair 20 to clean the area to be cleaned.
There are two crawling modes, crawling I is crawling from the roof to the ground, the front flexible cable roll 21 is arranged below the cleaning main body 10, the peristaltic flexible cable roll 53 extends the flexible cable pair 21 and is arranged above the front flexible cable roll 21, and the cleaning main body 10 is connected with the peristaltic flexible cable roll 53; crawling II is climbing to the roof from the ground upwards, then the flexible rope roll 21 that stretches forward sets up in washing main part 10 top, and the flexible rope roll 53 that wriggles sets up in the below of the flexible rope roll 21 that stretches forward, and washing main part 10 connects flexible rope roll 53 that wriggles. It is preferred to use a creeping I (as shown in fig. 1) which creeps down from the roof to the ground so that the detergent flows down the wall and does not contaminate the cleaned wall.
Just because of the division of labor and cooperation of the forward movement and the peristaltic movement, the forward movement speed is faster than the peristaltic movement speed.
This is achieved by
(2) The peristaltic movement is matched with different cleaning processes to complete the cleaning and brightening of the wall surface.
The peristaltic washing 30 has two modes, a fine washing mode and a general washing mode, wherein the fine washing mode is that the first contraction peristaltic corresponds to the rough roller washing, the stretching peristaltic corresponds to the fine roller washing, and the second contraction peristaltic corresponds to the bright scrubbing. The general wash mode is a sequential simultaneous run of the first pinch creep corresponding to a rough roll wash and a bright scrub. The general washing mode is suitable for the glass part with dust only, and the fine washing mode is suitable for the glass part with bird droppings, stains and the like, and the general washing mode and the fine washing mode can be switched at any time.
(3) The adsorption mechanism 60 is provided with a telescopic cylinder to balance the left and right positive pressures, and is suitable for non-planar wall surfaces.
The suction mechanism 60 is symmetrically arranged on two suckers 61 at two sides of the cleaning main body 10, corresponding to curved glass or step wall surface, the bottoms of the two suckers 61 are respectively arranged on pressure sensors, and the pressure sensors detect positive pressure F applied to the wall surface by the suckers 1 、F 2 When F is 1 -F 2 When the positive pressure is greater than or equal to the threshold value F, the telescopic oil cylinder 65 corresponding to the smaller positive pressure extends downwards until the positive pressure reaches F 1 -F 2 <A threshold value F.
Compared with the prior art, the glass curtain wall cleaning robot driven by the flexible cables to perform peristaltic cleaning and the cleaning method thereof have the advantages that the double flexible cables drive the glass curtain wall cleaning robot to vertically move up and down, can span obstacles such as glass frames and the like, and can also be suitable for curved surface or step glass wall surfaces; the peristaltic cleaning is performed in a fine cleaning mode or a general cleaning mode at the same time of peristaltic action, so that the peristaltic cleaning machine is suitable for different cleaning requirements and ensures the brightness as new cleaning effect. The peristaltic mechanism 40 drives the cleaning main body 10 to wriggle and move forward by the flexible cable, so the positive pressure of the adsorption mechanism 60 does not influence the power of wriggling and moving forward, and the contradiction between adsorption and forward movement is well solved.
Claims (10)
1. A glass curtain wall cleaning robot driven by flexible cables to perform peristaltic cleaning comprises
The cleaning device comprises a cleaning main body (10), wherein the cleaning main body (10) is coupled to a flexible cable pair (11), and the flexible cable pair (11) is vertically suspended beside a glass curtain wall;
the pair of front extending feet (20), the pair of front extending feet (20) are respectively connected with the pair of flexible cables (11) in a transmission manner, and the pair of front extending feet (20) are used for driving the cleaning main body (10) to move upwards or downwards along the pair of flexible cables (11);
the peristaltic washing device (30) comprises a washing mechanism (40) and peristaltic foot pairs (50), the peristaltic foot pairs (50) are in transmission connection with the flexible cable pairs (11) respectively, and the peristaltic feetThe pair (50) is simultaneously coupled with the front extending foot pair (20) and the cleaning main body (10), the cleaning main body (10) is driven to reciprocate between an extending position (31) and a bow position (32) along the flexible cable pair (11), and meanwhile, the cleaning mechanism (40) carries out different cleaning processes on the glass curtain wall along the vertical direction; the stretching position (31) is that the peristaltic foot pair is fixed, and the front extension foot pair (20) moves forwards to the maximum distance L from the peristaltic foot pair (50) max The arch position (32) is that the forward extending foot pair (20) is stationary, the creeping foot pair (50) moves forward to a minimum distance L from the forward extending foot pair (20) min The position of (a);
and the adsorption mechanism (60) is used for providing positive pressure for the cleaning mechanism (40) relative to the surface of the glass curtain wall when the peristaltic cleaning (30) is performed and the peristaltic cleaning is performed simultaneously.
2. The glass curtain wall robot for peristaltic cleaning driven by flexible cable as claimed in claim 1,
the front stretching foot pair (20) is in transmission connection with the flexible cable pair (11) through a front stretching flexible cable roll (21), the front stretching flexible cable roll (21) is a flexible cable drive (80), the flexible cable drive (80) comprises a drive rotating frame (81), a front rolling roller (82) and a driven roller shaft (83), the front rolling roller (82) and the driven roller shaft (83) are rotationally arranged on the drive rotating frame (81) in an axisymmetric manner around a central axis, and a front motor (84) is fixedly arranged at the side of the drive rotating frame (81) along the central axis and is in transmission connection with the front rolling roller (82); specifically, each wire of the pair of wires (11) is helically wound between a forward winding roller (82) and a driven roller shaft (83), and the pair of wires (11) is helically wound for at least 3 complete helices.
3. The glass curtain wall robot for peristaltic cleaning driven by flexible cables according to claim 2, wherein the peristaltic mechanism (50) comprises an upper peristaltic leg pair (51) and a lower peristaltic leg pair (52) which are pivotally connected end to end, the other end of the upper peristaltic leg pair (51) is pivotally connected with a driven roller shaft (83) of the front flexible cable roll (21), and the other end of the lower peristaltic leg (52) is in transmission connection with the flexible cable pair (11) through a peristaltic flexible cable roll (53); the peristaltic flexible cable rolls (53) are pivotally connected to the left side and the right side of the cleaning main body (10), and the peristaltic flexible cable rolls (53) are the flexible cable drives (80).
4. The flexible cable driven peristaltic cleaning glass curtain wall robot as claimed in claim 3, wherein the forward motors (84) of the forward flexible cable roll (21) and the forward flexible cable roll (53) are in transmission connection with the forward winding roller (82) through a speed reducer (85), and the rotation speed ratio of the forward winding roller (82) of the flexible cable roll (53) to the forward winding roller (82) of the forward flexible cable roll (21) is 1; the speed reducer (85) has the function of stopping and self-locking.
5. The glass curtain wall robot with the flexible cable driving and the peristaltic cleaning function as claimed in claim 1, wherein the cleaning mechanism (40) comprises a spray cleaning mechanism (41), a rough roller cleaning mechanism (42), a fine roller cleaning mechanism (43) and a bright scrubbing mechanism (44) which are sequentially arranged on the cleaning main body (10) along a forward direction, the spray cleaning mechanism (41) comprises a plurality of spray heads which are arranged on spray pipes at intervals, and the spray pipes are communicated with a water storage tank arranged on the cleaning main body through a water pump.
6. The flexible cable driven glass curtain wall robot with peristaltic cleaning function as claimed in claim 5,
the rough roller scrubbing device (42) and the fine roller scrubbing device (43) are respectively a water absorption scrubbing roller structure (100), the water absorption scrubbing roller structure (100) comprises a scrubbing roller (101) and a suction hard roller (102) which are arranged on a roller frame in a rolling mode, the scrubbing roller and the suction hard roller roll are arranged in a rolling mode, a Z-shaped water tank (103) is arranged on the surface of the suction hard roller (102), parallel branches of the water tank (103) are communicated with a rotating shaft inner hole (105) through a plurality of water absorption holes (104), the end portion of the rotating shaft is communicated with a main suction pipe (106) through an adapter, and the main suction pipe (106) is communicated with an axial flow fan (107) arranged on the cleaning main body (10); the axial flow fan (107) is vertical to the cleaning main body (10) and blows out a gas-water mixture;
the brightening scrubbing (44) comprises a scrubbing plate and brightener spray heads, wherein the brightener spray heads are arranged in brightener pipes at intervals, and the brightener pipes are communicated with brightener pumps arranged in brightener storage tanks of the cleaning main body.
7. The flexible cable driven peristaltic cleaning glass curtain wall robot as claimed in claim 1, further comprising a fixed distance traverse (70), wherein the fixed distance traverse (70) comprises a slide rail (71), a traverse crane (72) and a suspension cable roller shaft (73), the slide rail (71) is arranged at the top of the glass curtain wall building, the slide rail is provided with a driving rack (74), the driving motor (76) is arranged on the traverse crane (72), the driving gear (75) is arranged on an output shaft of the driving motor (76), and the driving gear (75) is meshed with the driving rack (74); the starting end of the flexible cable pair (11) is fixedly connected to the traversing crane (72), the tail end of the flexible cable pair is fixedly connected with the balance weight, and the fixed-distance traversing (70) is used for driving the flexible cable pair (11) to traverse a fixed distance along the sliding rail (71) so as to clean the surface to be cleaned in the next row.
8. A cleaning method of a glass curtain wall robot driven by flexible cables to perform peristaltic cleaning according to any one of claims 2 to 7,
s1, advancing, namely immobilizing the peristaltic foot pair (50), and advancing the protrusion foot pair (20) along the winding of the flexible cable pair (11) so that the protrusion foot pair (20) is moved to a new extension position (31) relative to the peristaltic foot pair (50);
s2, peristaltic cleaning is carried out, wherein the cleaning mechanism (40) performs cleaning while the peristaltic mechanism (50) performs peristaltic action;
returning to S1 until the column C to be cleaned is cleaned;
s3, transversely moving one row to drive the flexible cable pairs (11) to transversely move a certain width to reach a new row C to be cleaned;
and returning to S1.
9. The flexible cable driven glass curtain wall robot with peristaltic cleaning function as claimed in claim 8,
the S2 peristaltic cleaning is in a fine mode, and the fine mode comprises the following steps:
s21, first contraction and peristalsis, wherein the forward extending feet are fixed, and the peristalsis foot pair (50) winds and moves forwards along the flexible cable pair (11) from the original position to drive the cleaning main body (10) to peristalsis forwards to the bow waist position; meanwhile, the cleaning mechanism (40) executes a spraying rough roll cleaning process: the roughing roller scrubbing (42) extends downwards to be pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, the roughing roller motor is started, and the spray cleaning (41) sprays detergent; rotating the roughing roller while spraying the detergent to scrub (42); when the waist is in the bow position, the rough roller scrubbing (42) rises;
s22, stretching and creeping, wherein the front stretching foot pair is fixed, and the creeping foot pair (50) drives the cleaning main body (10) to creep backwards from the bow waist position to the original position; meanwhile, the cleaning mechanism (40) performs a spray finish rolling process: the fine roller scrubbing (43) extends downwards and is pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, the fine roller motor is started, the spray cleaning (41) sprays the detergent, and the fine roller scrubbing (43) is rotated while the detergent is sprayed; when the position is reached, the fine roller scrubbing (43) rises;
s23, performing second contraction and peristalsis, namely enabling the forward extending feet to be fixed, and enabling the peristalsis foot pair (50) to drive the cleaning main body (10) to creep forwards to the bow position again; at the same time, the cleaning mechanism (40) executes a bright wiping process: the bright scrubbing plate (44) extends downwards and is pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, and the scrubbing plate continuously abuts against the wall surface while the brightener is sprayed out; when the waist is in the bow position, the bright scrub (44) rises.
10. The flexible cable driven glass curtain wall robot with peristaltic cleaning function as claimed in claim 8,
the S2 peristaltic cleaning is in a general washing mode, and the general washing mode comprises the following steps:
s21, contracting and creeping, wherein the forward extending feet are fixed, and the creeping foot pair (50) winds and moves forwards along the flexible cable pair (11) to drive the cleaning main body (10) to creep forwards to the bow waist position;
meanwhile, the cleaning mechanism (40) executes a spray roller wiping process: the rough roller scrubbing (42) and the bright scrubbing (44) extend downwards simultaneously to be pressed against the wall surface W with the abutting force smaller than the adsorption positive pressure, the rough roller motor is started, and the spray cleaning (41) sprays detergent; rotating the roughing roller while spraying the detergent to scrub (42); meanwhile, the brightening scrubbing plate (44) sprays brightening agent and continuously abuts against the wall surface; to the bow position, the rough roller scrub (42) and the bright scrub (44) are raised simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211716446.5A CN115969275A (en) | 2022-12-29 | 2022-12-29 | Glass curtain wall cleaning robot driven by flexible cable to perform peristaltic cleaning and cleaning method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211716446.5A CN115969275A (en) | 2022-12-29 | 2022-12-29 | Glass curtain wall cleaning robot driven by flexible cable to perform peristaltic cleaning and cleaning method |
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| CN115969275A true CN115969275A (en) | 2023-04-18 |
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| CN202211716446.5A Pending CN115969275A (en) | 2022-12-29 | 2022-12-29 | Glass curtain wall cleaning robot driven by flexible cable to perform peristaltic cleaning and cleaning method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117569545A (en) * | 2024-01-15 | 2024-02-20 | 山西建投集团装饰有限公司 | Assembled building curtain wall quick-assembling device |
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2022
- 2022-12-29 CN CN202211716446.5A patent/CN115969275A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117569545A (en) * | 2024-01-15 | 2024-02-20 | 山西建投集团装饰有限公司 | Assembled building curtain wall quick-assembling device |
| CN117569545B (en) * | 2024-01-15 | 2024-04-16 | 山西建投集团装饰有限公司 | Assembled building curtain wall quick-assembling device |
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