CN116869397A - Glass curtain wall cleaning robot and control system thereof - Google Patents

Glass curtain wall cleaning robot and control system thereof Download PDF

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Publication number
CN116869397A
CN116869397A CN202310838624.XA CN202310838624A CN116869397A CN 116869397 A CN116869397 A CN 116869397A CN 202310838624 A CN202310838624 A CN 202310838624A CN 116869397 A CN116869397 A CN 116869397A
Authority
CN
China
Prior art keywords
curtain wall
glass curtain
cleaning robot
shell
wall cleaning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310838624.XA
Other languages
Chinese (zh)
Inventor
吴方正
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Anjie Information Technology Co ltd
Original Assignee
Shenzhen Anjie Information Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Anjie Information Technology Co ltd filed Critical Shenzhen Anjie Information Technology Co ltd
Priority to CN202310838624.XA priority Critical patent/CN116869397A/en
Publication of CN116869397A publication Critical patent/CN116869397A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • 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

Abstract

The invention discloses a glass curtain wall cleaning robot and a control system thereof, wherein the cleaning robot comprises a shell, two frame structures, two crawler sucker assemblies and a cleaning assembly, the two frame structures are respectively and rotatably arranged on the shell, the two crawler sucker assemblies are respectively arranged on the two frame structures, a first connecting rod assembly is arranged at a first end of the frame structures and connected with the frame structures, and the cleaning assembly is arranged in the shell, wherein the first connecting rod assembly is used for driving the two frame structures to rotate simultaneously. According to the invention, the frame structure, the first connecting rod assembly and the track sucker assembly are arranged, the first connecting rod assembly drives the frame structure to rotate, so that the rotating angle of the track sucker assembly can be realized, the track sucker assembly is adsorbed on the cambered surface glass, the invention not only can adapt to the adsorption fixation of the planar glass, but also can be adsorbed and fixed on the cambered surface glass, and the use stability and the use range of the device are improved.

Description

Glass curtain wall cleaning robot and control system thereof
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a glass curtain wall cleaning robot and a control system thereof.
Background
The glass curtain wall of the high building is generally cleaned by using the cleaning robot, the cleaning robot is lifted to the outer side of the glass curtain wall of the high building through the lifting mechanism, and then the cleaning robot is fixed at a preset position for cleaning, so that the efficiency is high, and the safety is good.
At present, most of the adsorption structures of the existing cleaning robots can only be adsorbed and fixed on a planar glass curtain wall, and when the glass curtain wall with an arc-shaped wall surface is cleaned, the adsorption components of the cleaning robots are difficult to adsorb on the glass curtain wall with the arc-shaped wall surface, so that the cleaning robots are easily impacted on the glass curtain wall due to the influence of wind power and wind speed, the glass curtain wall is damaged, and the glass curtain wall is seriously broken even.
Accordingly, the prior art is in need of improvement.
Disclosure of Invention
The invention aims to solve the technical problem that the cleaning robot cannot be adsorbed on an arc wall in the prior art.
The technical scheme adopted for solving the technical problems is as follows:
a glass curtain wall cleaning robot, comprising:
a housing;
the two frame structures are respectively and rotatably arranged on the shell;
the two crawler sucker assemblies are respectively arranged on the frame structure;
the first connecting rod assembly is arranged at the first end of the shell and is connected with the two frame structures;
a cleaning assembly disposed within the housing;
wherein the first link assembly is used for driving two frame structures to rotate simultaneously.
Optionally, the frame structure includes:
the rotating rod is rotationally arranged in the shell and extends along the outer side of the shell;
the first bracket comprises a first connecting part and a second connecting part, wherein the first connecting part is fixedly connected with one end of the rotating rod, and the second connecting part is connected with the other end of the rotating rod;
the second bracket is arranged on the first bracket;
wherein a distance is arranged between the first bracket and the shell;
the second bracket is provided with the crawler sucker component.
Optionally, the first link assembly includes:
the first motor is arranged on the shell;
the first screw rod is fixed on the output shaft of the first motor;
the first sliding block is rotationally connected with the first screw rod;
one end of each first pull rod is hinged with two ends of each first sliding block, and the other end of each first pull rod is respectively hinged with two frame structures;
the first sliding block drives the two frame structures to rotate simultaneously through the two first pull rods.
Optionally, the cleaning assembly includes:
two support rods respectively fixed in the shell;
the two support plates are rotatably arranged on each support rod;
two water pipes respectively fixed on the support plate;
the spray heads are respectively arranged on the water pipe and are communicated with the water pipe;
the water tank is arranged on the shell and connected with the two water pipe pipelines.
Optionally, the cleaning robot further includes a second link assembly, the second link assembly is fixedly connected with the first slider through a first connecting piece, and the second link assembly is used for driving two support plates to rotate simultaneously.
Optionally, the second link assembly includes:
the second sliding rod is rotationally arranged in the shell;
the second sliding block is arranged on the second sliding rod in a sliding way;
the first ends of the two second pull rods are hinged with the second sliding blocks, and the second ends of the two second pull rods are hinged with the supporting plate;
wherein the second slider is positioned below the first slider;
the second sliding block drives the two supporting plates to rotate simultaneously through the two second pull rods.
Optionally, the cleaning assembly further comprises:
the two brush discs are respectively and rotatably arranged in the shell;
the two drivers are respectively fixed on the brush disc and are in driving connection with the brush disc;
wherein each brush disc is fixedly connected with each supporting plate through a second connecting piece.
Optionally, the track suction cup assembly includes:
the walking crawler belt is arranged on the frame structure;
the walking motor is arranged on the frame structure and is in driving connection with the walking crawler belt;
wherein, a plurality of soft rubber suction discs are arranged on the walking track.
Optionally, the first support is "door" font structure, the second support is "mouthful" font structure, first support with second support integrated into one piece.
A control system for a glass curtain wall cleaning robot, comprising:
the glass curtain wall cleaning robot according to any one of the above technical solutions;
the detection module is used for detecting the bending information of the glass curtain wall;
and the control module is used for determining the adsorption angle of the glass curtain wall cleaning robot according to the curvature information.
The beneficial effects are that:
according to the invention, the frame structure and the first connecting rod assembly are arranged, the track sucker assembly is arranged on the frame structure, and the first connecting rod assembly drives the frame structure to rotate, so that the rotating angle of the track sucker assembly can be made, and the track sucker assembly is adsorbed on the cambered surface glass.
Drawings
Fig. 1 is a schematic view of the overall structure of a cleaning robot of the present invention;
fig. 2 is a partial structural schematic view of the cleaning robot of the present invention;
FIG. 3 is an enlarged view at A of FIG. 2;
fig. 4 is a schematic view of a bottom structure of the cleaning robot of the present invention;
FIG. 5 is a schematic view of the first slider and the second slider according to the present invention;
FIG. 6 is a schematic structural view of a frame structure of the present invention;
FIG. 7 is a schematic view of the overall structure of the cleaning assembly of the present invention;
fig. 8 is a schematic view of a part of the structure of the cleaning assembly of the present invention.
Reference numerals illustrate:
100. a housing; 110. a convex shell; 200. a cleaning assembly; 210. a support rod; 220. a support plate; 230. a water pipe; 240. a spray head; 250. brushing a disc; 260. a driver; 270. a water tank; 300. a track suction cup assembly; 310. a walking track; 320. a soft rubber suction cup; 330. a walking motor; 400. a frame structure; 410. a first bracket; 420. a second bracket; 430. a rotating rod; 500. a first link assembly; 510. a first motor; 520. a first screw; 530. a first slider; 540. a first pull rod; 600. a first connector; 700. a second link assembly; 710. a second slider; 720. a second pull rod; 730. a second slide bar; 800. a second connector; 900. and a control box.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the prior art, the adsorption components of most cleaning robots are not adjustable, can only be adsorbed and fixed on the planar glass, and the cleaning robots can not be adsorbed on the arc wall surface once encountering the arc wall surface, so that the cleaning robots have poor stability; and the wind speed is great in the high-altitude operation process, and once the cleaning robot can not adsorb to be fixed, the cleaning robot is easily blown, influences cleaning effect, and can also collide the glass curtain wall to cause the glass curtain wall to be damaged.
The present invention provides some preferred embodiments of a glass curtain wall cleaning robot to solve the above-mentioned problems.
As shown in fig. 1 to 8, the cleaning robot includes a housing 100, two frame structures 400, two track suction cup assemblies 300 and a cleaning assembly 200, wherein the two frame structures 400 are respectively rotatably disposed on the housing 100, the two track suction cup assemblies 300 are respectively disposed on the two frame structures 400, a first link assembly 500 is disposed at a first end of the frame structures 400 and connected with the frame structures 400, and the cleaning assembly 200 is disposed in the housing 100, wherein the first link assembly 500 drives the two frame structures 400 to simultaneously rotate.
Specifically, as shown in fig. 1 to 4, in the present embodiment, the housing 100 has a box-like structure with a downward opening, the housing 100 has a square shape, and the cleaning assembly 200 is installed in the housing 100; the first end of the housing 100 is referred to as the front end, and the second end of the housing 100 is referred to as the rear end; more specifically, two frame construction 400 are arranged along the central symmetry of casing 100 to rotate with casing 100 and be connected, because track sucking disc subassembly 300 sets up on frame construction 400, thereby make frame construction 400 rotatory can drive track sucking disc subassembly 300 and rotate, and then change the angle of track sucking disc subassembly 300, thereby can make this device adsorb at the arc wall, simple structure, convenient to use.
It should be noted that, the housing 100 needs to be made of a high temperature resistant material, so that the cleaning robot does not need to worry about sun exposure in the high-altitude operation process.
Further, in order to avoid the housing 100 from obstructing the rotation of the frame structure 400, the lower left corner and the lower right corner of the housing 100 are hollowed out.
Further, in order to facilitate the lifting of the device, two hook structures are mounted on the upper end surface of the housing 100, and are symmetrically arranged along the center of the housing 100.
In one embodiment of the present invention, the frame structure 400 includes a rotating rod 430, a first bracket 410 and a second bracket 420, wherein the rotating rod 430 is rotatably disposed in the housing 100 and extends along the outer side of the housing 100; the first bracket 410 includes a first connection portion and a second connection portion, the first connection portion is fixedly connected with one end of the rotating rod 430, and the second connection portion is fixedly connected with the other end of the rotating rod 430; the second bracket 420 is disposed on the first bracket 410; wherein a distance is provided between the first bracket 410 and the housing 100; the second bracket 420 is provided with the track suction cup assembly 300.
Specifically, as shown in fig. 1, 2 and 6, the second bracket 420 is installed in the middle of the first bracket 410, and the first and second connection parts refer to the ends of the left and right ends of the first bracket 410, and the distance of the first bracket 410 from the lower end surface of the housing 100 may be determined according to the actual rotation track of the first bracket 410, preventing the contact of the lower end surface of the housing 100 with the first bracket 410 from affecting the rotation angle of the first bracket 410. More specifically, track pad assembly 300 is mounted within second bracket 420; by using this structure, the track pad assembly 300 can be mounted to the frame structure 400 and also rotated to change the angle.
Further, as shown in fig. 6, the first bracket 410 has a "door" shape, the second bracket 420 has a "mouth" shape, and the first bracket 410 and the second bracket 420 are integrally formed; specifically, the strength of the frame structure 400 is increased by the integral molding, so that the track suction cup assembly 300 can be conveniently installed, and the track suction cup assembly 300 can be driven to rotate.
In one embodiment of the present invention, the first link assembly 500 includes a first motor 510, a first screw 520, a first slider 530, and two first tie rods 540, the first motor 510 being disposed on the housing 100; the first screw 520 is fixed on the output shaft of the first motor 510; the first sliding block 530 is rotatably connected with the first screw 520; one end of the two first pull rods 540 is hinged to two ends of the first sliding block 530, and the other ends of the two first pull rods 540 are respectively hinged to the two frame structures 400; the first slider 530 drives the two frame structures 400 to rotate simultaneously through the two first pull rods 540.
Specifically, referring to fig. 1 to 3, a convex case 110 is provided at an upper end surface of the case 100, the convex case 110 being used to conceal the first and second link assemblies 500 and 700; the first motor 510 is fixed in the middle of the shell 100, one end of the first screw 520 is rotationally connected with the output shaft of the first motor 510, and the other end is rotationally connected with the convex shell 110; a thread groove is arranged in the first sliding block 530 and is matched with the thread of the first screw 520, so that the first screw 520 can rotate to drive the first sliding block 530 to ascend or descend; more specifically, the first slider 530 is provided at both ends with connection lugs, the connection lug on the left side is hinged to one of the first brackets 410 through the first pull rod 540, and the connection lug on the right side is hinged to the other first bracket 410 through the first pull rod 540. In the actual use process, the first motor 510 drives the first screw 520 to rotate, the first screw 520 drives the first slider 530 to rise, the first pull rod 540 drives the first bracket 410 to rotate towards the center of the housing 100 respectively, and the track sucker assembly 300 can be driven to rotate to a proper angle, so that the structure is simple and the use is convenient.
In one embodiment of the present invention, the cleaning assembly 200 comprises a high pressure flushing structure comprising two support rods 210, two support plates 220, two water pipes 230 and a plurality of spray heads 240, wherein the two support rods 210 are fixed in the housing 100; two support plates 220 rotatably provided on each of the support rods 210; two water pipes 230 are respectively fixed to the support plate 220; the spray heads 240 are respectively arranged on the water pipes 230 and are communicated with the water pipes 230; the water tank 270 is disposed in the housing 100 and is connected to the two water pipes 230.
Specifically, as shown in fig. 5 and 7, in the present embodiment, two support rods 210 are symmetrically disposed in a housing 100, a sleeve is disposed on a support plate 220, the sleeve and the support plate 220 are integrally formed, and a through hole corresponding to the support rod 210 is disposed in the sleeve, so that the support plate 220 is sleeved on the support rod 210 and swings around the support rod 210; more specifically, water pipe 230 has a serpentine shape, and spray head 240 is uniformly disposed on water pipe 230; in addition, the water tank 270 is also provided with a high-pressure water pump for flushing out water, which is beneficial to cleaning dirt of the glass curtain wall. In this scheme, two support plates 220 are matched with the serpentine tubular water pipe 230 to enlarge the cleaning range and further improve the cleaning effect.
When the glass curtain wall is an arc-shaped wall surface, if the spray head 240 is also vertically washed, dirt in the central area of the glass curtain wall of the arc-shaped wall surface is not easy to be cleaned by the spray head 240, and a cleaning dead angle exists, so that the cleaning effect of the cleaning robot is affected.
Based on this, in another embodiment of the present invention, as shown in fig. 3 and 5, the cleaning robot further includes a second link assembly 700, the second link assembly 700 is fixedly connected with the first slider 530 through the first connector 600, and the second link assembly 700 is used to drive the two support plates 220 to rotate simultaneously. Specifically, the first slider 530 of the power source of the first link assembly 500 is connected with the second link assembly 700, so that the angle of the cleaning assembly 200 is changed while the angle of the track suction disc assembly 300 on the frame structure 400 is changed, no additional driving components such as a motor are required, the production cost is reduced, the arrangement of parts is reduced, and the structural design is ingenious.
Further, the second slider 710, the first slider 530 and the first connector 600 are integrally formed, so that structural strength of the parts is increased, and a sliding slot is formed in the middle of the front end of the housing 100, so that the first connector 600 can move up or down.
Specifically, the second link assembly 700 includes a second slide bar 730, a second slider 710, and two second tie bars 720, and the second slide bar 730 is rotatably disposed in the housing 100; the second slider 710 is slidably disposed on the second slider bar 730; the first ends of the two second pull rods 720 are hinged to the second slider 710, and the second ends of the two second pull rods 720 are hinged to the support plate 220; wherein the second slider 710 is positioned below the first slider 530; the second slider 710 drives the two support plates 220 to rotate simultaneously through the two second pull rods 720.
It should be noted that, in this example, as shown in fig. 3 and 5, the second slider 710 is slidably connected to the second slider 710, and the second slider 730 is used for limiting and guiding the second slider 710; more specifically, a mounting plate is disposed in the housing 100, one end of the first slide bar is fixed to the mounting plate, and the other end of the first slide bar is fixed to the convex hull 110; the second pull rod 720 is used to connect the second slider 710 and the support plate 220. In this scheme, the two support plates 220 are driven to rotate by the ascending or descending of the second slider 710 and the second pull rod 720, so that the angle of the nozzle 240 on the support plate 220 is also changed, thereby improving the cleaning effect of the device on the glass curtain wall with the arc wall surface and solving the problem of dead angle cleaning during cleaning the glass curtain wall with the arc wall surface.
It should be noted that, in the present device, since the second link assembly 700 is smaller than the first link assembly 500, the initial height of the second slider 710 is also smaller than the initial height of the first slider 530.
In another embodiment of the present invention, the cleaning assembly 200 further includes two brush plates 250 and two drivers 260, wherein the two brush plates 250 are rotatably disposed in the housing 100, respectively; two drivers 260 are respectively fixed on the brush disc 250 and are in driving connection with the brush disc 250; wherein each brush plate 250 is fixedly connected to each support plate 220 by a second connection member 800.
Specifically, as shown in fig. 4, 7 and 8, in this embodiment, in addition to the above-mentioned high-pressure flushing structure, the cleaning assembly 200 further includes a brush plate 250 structure, where the brush plate 250 is located at the rear end of the high-pressure water cleaning, it will be understood that the position of the brush plate 250 may also be disposed in the front end housing 100 of the high-pressure water, and those skilled in the art may select arrangement according to actual needs; more specifically, brush dish 250 is connected with driver 260, and driver 260 is the motor for drive brush dish 250 rotates in order to clean glass curtain wall, through setting up high-pressure water washing glass curtain wall, brush dish 250 scrubbing glass curtain wall in the cooperation, further improvement this device's cleaning performance.
Further, a rotating shaft is disposed in the housing 100, the brush disc 250 is provided with a sleeve hole adapted to the rotating shaft, the brush disc 250 is sleeved in the rotating shaft and can rotate around the rotating shaft, and the brush disc 250 is connected with the support plate 220 through the second connecting piece 800, so that the support plate 220 can rotate to drive the brush disc 250 to rotate by an angle, and the brush disc 250 can brush the glass curtain wall with an arc wall surface.
Further, a water absorbing sponge, not shown in the drawing, is provided at the bottom of the brush plate 250 for absorbing the water cleaned by the high pressure flushing structure.
In another embodiment of the present invention, the track suction cup assembly 300 includes a walking track 310 and a walking motor 330, wherein the walking track 310 is disposed on the frame structure 400; the walking motor 330 is disposed on the frame structure 400 and is in driving connection with the walking track 310; wherein, the walking caterpillar 310 is provided with a plurality of soft rubber suction discs.
Specifically, referring to fig. 1 to 4, in the present embodiment, the second bracket 420 has a "mouth" shape, the traveling motor 330 is installed at one side of the second bracket 420, and an output shaft of the traveling motor 330 is connected to a gear, which is engaged with the traveling crawler 310. More specifically, the soft suction disc is configured to engage the glass curtain wall to facilitate the track suction disc assembly 300 engaging and walking on the glass curtain wall. It will be appreciated that the track pad assembly 300 of the present apparatus is conventional and will not be described in any greater detail.
The invention also provides a control system of the glass curtain wall cleaning robot, which comprises:
the glass curtain wall cleaning robot according to any one of the above technical solutions;
the detection module is used for detecting the bending information of the glass curtain wall;
and the control module is used for determining the adsorption angle of the glass curtain wall cleaning robot according to the curvature information.
In the invention, the glass curtain wall cleaning robot according to any one of the above technical schemes is provided, so that all the above beneficial effects are achieved, and will not be described herein.
It should be noted that, the control module is a single-chip microcomputer, the single-chip microcomputer is installed in the control box 900, and the control box 900 is installed on the upper end face of the housing 100. The invention adopts the singlechip to realize the change of the adsorption angle of the cleaning robot, specifically, the preset degree is set in the control module, for example, the rising height of the first sliding block 530 corresponding to the inclined surface of the 30-degree glass curtain wall is set, and for example, the rising height of the first sliding block 530 corresponding to the inclined surface of the 40-degree glass curtain wall is set; the detection module detects the crookedness information of glass curtain wall to send crookedness information to control module, control module adjusts the angle of this device frame construction 400 according to the degree of predetermineeing, and then adjusts the angle of track sucking disc subassembly 300, so that this device firmly adsorbs on glass curtain wall, avoids being blown by the wind.
In addition, the detection of glass curtain wall bending information is prior art and will not be described in any great detail herein.
In some improved embodiments, the device is further provided with a steel rope which is used for being matched with a hanger structure, and the device is hoisted to the outer side of the glass curtain wall, so that the device can be protected.
In summary, the invention provides a glass curtain wall cleaning robot and a control system thereof, and the frame structure 400 and the track adsorption assembly are arranged, so that the frame structure 400 drives the track adsorption assembly to rotate and adapt to different glass curtain walls, and the application range is greatly improved; and through setting up frame construction 400, high pressure bath structure and brush dish 250 structure three interlock for frame construction 400 also can change the angle of high pressure bath structure and brush dish 250 structure when changing the angle, and then improves the clean effect of this device on the arc wall, simple structure, convenient to use.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.

Claims (10)

1. A glass curtain wall cleaning robot, characterized in that it comprises:
a housing;
the two frame structures are respectively and rotatably arranged on the shell;
the two crawler sucker assemblies are respectively arranged on the frame structure;
the first connecting rod assembly is arranged at the first end of the shell and is connected with the two frame structures;
a cleaning assembly disposed within the housing;
wherein the first link assembly is used for driving two frame structures to rotate simultaneously.
2. A glass curtain wall cleaning robot according to claim 1, wherein the frame structure comprises:
the rotating rod is rotationally arranged in the shell and extends along the outer side of the shell;
the first bracket comprises a first connecting part and a second connecting part, wherein the first connecting part is fixedly connected with one end of the rotating rod, and the second connecting part is connected with the other end of the rotating rod;
the second bracket is arranged on the first bracket;
wherein a distance is arranged between the first bracket and the shell;
the second bracket is provided with the crawler sucker component.
3. The glass curtain wall cleaning robot of claim 1, wherein the first link assembly comprises:
the first motor is arranged on the shell;
the first screw rod is fixed on the output shaft of the first motor;
the first sliding block is rotationally connected with the first screw rod;
one end of each first pull rod is hinged with two ends of each first sliding block, and the other end of each first pull rod is respectively hinged with two frame structures;
the first sliding block drives the two frame structures to rotate simultaneously through the two first pull rods.
4. A glass curtain wall cleaning robot according to claim 3, wherein the cleaning assembly comprises:
two support rods fixed in the shell;
the two support plates are rotatably arranged on each support rod;
two water pipes respectively fixed on the support plate;
the spray heads are respectively arranged on the water pipe and are communicated with the water pipe;
the water tank is arranged on the shell and connected with the two water pipe pipelines.
5. The glass curtain wall cleaning robot of claim 4, further comprising a second link assembly fixedly connected to the first slider block by a first connector, the second link assembly for driving the two support plates to rotate simultaneously.
6. The glass curtain wall cleaning robot of claim 5, wherein the second link assembly comprises:
the second sliding rod is rotationally arranged in the shell;
the second sliding block is arranged on the second sliding rod in a sliding way;
the first ends of the two second pull rods are hinged with the second sliding blocks, and the second ends of the two second pull rods are hinged with the supporting plate;
wherein the second slider is positioned below the first slider;
the second sliding block drives the two supporting plates to rotate simultaneously through the two second pull rods.
7. The glass curtain wall cleaning robot of claim 4, wherein the cleaning assembly further comprises:
the two brush discs are respectively and rotatably arranged in the shell;
the two drivers are respectively fixed on the brush disc and are in driving connection with the brush disc;
wherein each brush disc is fixedly connected with each supporting plate through a second connecting piece.
8. The glass curtain wall cleaning robot of claim 1, wherein the track suction cup assembly comprises:
the walking crawler belt is arranged on the frame structure;
the walking motor is arranged on the frame structure and is in driving connection with the walking crawler belt;
wherein, a plurality of soft rubber suction discs are arranged on the walking track.
9. The glass curtain wall cleaning robot according to claim 2, wherein the first support is in a door-shaped structure, the second support is in a mouth-shaped structure, and the first support and the second support are integrally formed.
10. A control system for a glass curtain wall cleaning robot, comprising:
the glass curtain wall cleaning robot of any one of claims 1 to 9;
the detection module is used for detecting the bending information of the glass curtain wall;
and the control module is used for determining the adsorption angle of the glass curtain wall cleaning robot according to the curvature information.
CN202310838624.XA 2023-07-07 2023-07-07 Glass curtain wall cleaning robot and control system thereof Pending CN116869397A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310838624.XA CN116869397A (en) 2023-07-07 2023-07-07 Glass curtain wall cleaning robot and control system thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310838624.XA CN116869397A (en) 2023-07-07 2023-07-07 Glass curtain wall cleaning robot and control system thereof

Publications (1)

Publication Number Publication Date
CN116869397A true CN116869397A (en) 2023-10-13

Family

ID=88256196

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310838624.XA Pending CN116869397A (en) 2023-07-07 2023-07-07 Glass curtain wall cleaning robot and control system thereof

Country Status (1)

Country Link
CN (1) CN116869397A (en)

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