CN1586384A - High building glass curtain wall cleaner system - Google Patents

High building glass curtain wall cleaner system Download PDF

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Publication number
CN1586384A
CN1586384A CN 200410053264 CN200410053264A CN1586384A CN 1586384 A CN1586384 A CN 1586384A CN 200410053264 CN200410053264 CN 200410053264 CN 200410053264 A CN200410053264 A CN 200410053264A CN 1586384 A CN1586384 A CN 1586384A
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China
Prior art keywords
cleaning machine
cleaning
sucker
clean
glass curtain
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CN 200410053264
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Chinese (zh)
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CN1265756C (en
Inventor
钱志源
赵言正
付庄
曹其新
杨金汕
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上海交通大学
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Priority to CN 200410053264 priority Critical patent/CN1265756C/en
Publication of CN1586384A publication Critical patent/CN1586384A/en
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Publication of CN1265756C publication Critical patent/CN1265756C/en

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Abstract

The high building glass curtain wall cleaner system includes top safety unit, cleaning machine, portable ground monitoring unit and electric control unit. The cleaning machine towed with the top hoist has sealing mechanism, double-sucker disk negative pressure mechanism for adsorption on the glass wall, washing mechanism, water recovering mechanism, obstacle detecting mechanism and cleaning mechanism to complete cleaning, crossing obstacle and other jobs. The top safety unit ensures the safety and provides the cleaning machine with power source, air source and water source. The ground monitoring unit sends out radio commands and monitors the cleaning effect; and the electric control unit controls the executing parts to complete the cleaning task. The present invention is efficient and reliable.

Description

High building glass curtain wall cleaning machine system
Technical field
The present invention relates to a kind of high building glass curtain wall cleaning machine system, be used to finish the automatic cleaning task of city high rise building glass curtain wall, belong to the specialized robot technical field.
Background technology
Adopt the skyscraper of glass curtain wall structure,, day by day increase in big and medium-sized cities in recent years because of advantages such as its daylighting are good, the heat-holding dampproof performance is good, practical and attractive.But clean in the automation of glass curtain wall high-efficiency reliable, keep the clean and tidy aspect of urban architecture outward appearance, also do not have ripe automatic technology scheme at present.Must, present existing automation wiper mechanism can't be efficient, easy finishes cleaning task to glass curtain wall of high building, mainly contains following problem technically: mechanism's complexity, very flexible; Intelligent degree is not high, and the glass outer wall structure that the situation that can not adapt to is changeable is as leaping over obstacles; Cleaning efficiency is low; Cost is high.The domestic wall surface cleaning structure of having succeeded in developing mainly is the negative-pressure adsorption-type wiper mechanism, and two kinds of patterns of the single sucking disc and multi-sucker are arranged.A kind of wall surface cleaning robot (patent No.: ZL01202018.4) of Lanxing Harbin Polytechnical Uinv. Robot Tech. Co., Ltd., Beijing's development, its technical characterictic is to adopt wheeled travel mechanism, the single sucking disc suction type, translational speed is very fast, cleaning efficiency is higher, cleaning performance is also better, easy to operate, cost is low, but can not cross over obstacles such as window frame.A kind of window wiping robot (patent No.: ZL00201085.2) of BJ University of Aeronautics ﹠ Astronautics's development, its technical characterictic is to adopt frame-type travel mechanism, polypody multi-sucker suction type, glass wall concavo-convex there is certain adaptive capacity, also better, the intelligent degree height of cleaning performance, but translational speed is slow, cleaning efficiency is low, complex structure and cost height.
200410016870.4) and " double suction dish negative-pressure adsorption unit " (number of patent application: Chinese invention patent " high building cleaning robot safety protection mechanism " (number of patent application: 200410025218.9) respectively at high building glass curtain wall cleaning machine device people's safeguard protection problem with obstacle detouring function; and the obstacle detouring absorption problem of machine man-hour; propose reliable protection mechanism and adsorbing mechanism, had numerous significant advantages.But these two patent applications have only proposed technical solution at local problem, still be necessary characteristics in conjunction with existing high building glass curtain wall cleaning machine structure, develop a kind of translational speed that can realize and can reach soon, again that to adapt to the wall ability strong, and mechanism is simple, cleaning performance is good, easy and simple to handle novel high building glass wall cleaning machine system.
Summary of the invention
The object of the invention is the deficiency that exists in the existing glass curtain wall of high building automation cleaning technique, avoid providing a kind of simple, efficient, the reliable wiper mechanism that also can cross over certain size window frame class obstacle owing to manually clean the various hazards of bringing.
The present invention is achieved by the following technical solutions: system of the present invention is by cleaning machine body apparatus, top safety, portable supervising device and electrical control gear are formed downstairs.The cleaning machine body is under the draw of roof hoist engine, rely on sealing mechanism, utilize the double suction dish negative-pressure adsorption mechanism while or alternately be adsorbed in glass wall, and coordinate the body self gravitation and move from top to down, the while finishes under the cooperation of its wiper mechanism, water circulation recovering mechanism, obstacle detection mechanism, cleaning apparatus structure functions such as the cleaning of glass wall and leap window frame class obstacles.Top safety mainly plays about the traction cleaning machine body, transverse motion and safeguard protection effect, guarantee that the cleaning machine body is finished to clean and the obstacle detouring task, and supply cleaning machine body power supply, source of the gas and water source.Portable downstairs supervising device sends action command by the mode of wireless monitor to cleaning machine body, top safety, makes the cleaning machine body finish cleaning, each action of obstacle detouring, and by wireless video monitor real time monitoring wall cleaning performance.Electrical control gear is used for driving the executive component of above device and finishes whole cleaning task.
Cleaning machine body apparatus of the present invention mainly is made up of double suction dish negative-pressure adsorption mechanism, sealing mechanism, wiper mechanism, water circulation recovering mechanism, obstacle detection mechanism and cleaning apparatus structure.Negative-pressure adsorption mechanism comprise two blower fans, up and down the inboard break-make sucker of rectangular sucking, the two suckers gas circuit of two single face openings brake lining, H type vacuum generation chamber and connect two suckers and the sliding sleeve of vacuum generation chamber.When fan operation, about passing through respectively two sliding sleeves be communicated with and the vacuum generation chamber between gas circuit, and two suckers up and down that inner brake lining is all opened are stretching out under the air cylinder driven separately, and it is smooth when pressing close to glass wall, rely on sealing mechanism, just produce negative pressure in the enclosure space of negative pressure generation chamber and two suckers, the cleaning machine body just is adsorbed in glass wall under suction function, thereby makes the cleaning machine body obtain the power of lashing perpendicular to wall when cleaning brush rotates at a high speed.Two sucker sealing mechanisms comprise the follower rollers in four jiaos in the seal of rubber material and the sucker outside.Sealing mechanism cleans in the wall process at body is close to glass wall, prevents gas excessive leakage in the sucker, glides along glass wall with sucker in cleaning process simultaneously.The distance that sucker lateral surface follower rollers is used for regulating sealing rubber strip and wall, prevent that rubber strip from crossing the close contact wall, and its a part of sliding friction is converted into the rolling friction of follower rollers, thereby the wearing and tearing of rubber strip and the frictional force between sealing mechanism and glass wall have been reduced.Wiper mechanism is formed by cleaning round brush, drum shaft, cover body, nozzle, motor and suction pump.Clean round brush and be fastened on drum shaft, drum shaft is supported on the cover body two ends, and cleans round brush by DC servo motor through the transmission device drive and rotate at a high speed.Suction pump cleans the round brush below by 8 micro nozzle flushings, and moistening glass wall.Cleaning brush is to have certain flexible brush that becomes mildewed, and utilizes with its center gyroaxis and rotates the lash power of back to glass wall at a high speed, and dirt is peeled off wall, finishes cleaning.Water circulation recovering mechanism is made up of water receiving scraper plate, water pump, filter, back water pump and storage tank.The water receiving scraper plate upwarps near wall one end, and is close to wall by the sponge material, is back in the cover body after the water receiving scraper plate receives along the sewage that drops down under the wall.Filter with sewage water filtration after back water pump is withdrawn in the storage tank recycles; Obstacle detection mechanism is made up of 4 groups of photoelectric sensors, realizes sucker, water receiving scraper plate down respectively, goes up sucker and clean device measuring ability to the place ahead barrier.The cleaning apparatus structure is by an end band rubber material, and the long scraper plate that an end is connected with pneumatic element is formed, and is positioned at the top of cleaning machine body, finishes cleaning the last cleaning of wall.The cleaning apparatus structure is scraped to wash by the rubber material on its end face and is cleaned wall, plays the cleaning wall, removes residual water stain effect.
Below describing each mechanism of body in detail forms and connected mode:
1, double suction dish negative-pressure adsorption mechanism: form by blower fan, H type negative pressure generation chamber, last sucker, following sucker and pneumatic element.H type negative pressure generation chamber is the main body of cleaning machine body, two rectangular sucking sizes are identical up and down, each through about two sliding sleeves be connected on the H type negative pressure generation chamber and each stretching out and bounce back by two cylinders control suckers that are installed in H type vacuum generation chamber shoulder and bottom sides.Two blower fans also are placed on H type vacuum generation chamber top empty place, are fixed on the generation chamber with screw by a flat board.Two sliding sleeve places had two brake linings respectively about the inner rear end face of each sucker was close, and control the unlatching of two brake linings simultaneously or close by being placed on a cylinder between two brake linings, brake lining is used for the gas circuit between break-make sucker, sliding sleeve and H type vacuum generation chamber.H type vacuum generation chamber back place over against four sliding sleeves is furnished with four circular mounting holes, and is connected with vacuum generation chamber back by bolt by four circular slabs, thereby is convenient to each Unit Installation.Two suckers stretch out plane of one-tenth, back fully up and down.
2, sucker sealing mechanism: form by double-layer rubber bar and side roll.The double-layer rubber bar is arranged in two sucker opening circumferential perimeter circlewise, the one end all be clamped on one section screw-like profile and and the two-layer aluminium sheet that is fixed together of sucker between, the other end stretches out sucker and contacts with wall.Each four jiaos of place, the sucker outside all is placed with four follower rollers, and roller diameter exceeds the sucker opening surface, is used for limiting rubber strip and wall contact length, reduces the frictional force of rubber strip wearing and tearing and wall and interambulacrum.According to the difference and the required absorption affinity size of sucker of wall friction coefficient, the big trundle of replaceable difference.The sealing device allows to have certain leakage, only requires that can keep certain negative pressure assurance cleaning machine body in the sucker lashes power to the cleaning of glass wall.
3, wiper mechanism: form by cleaning round brush, cover body, drum shaft, nozzle, DC servo motor and suction pump.Cover body single face opening, opening surface is over against wall.Cover body is placed on up and down between two rectangular sucking, and the rear portion is near H type vacuum generation chamber and use bolting.Cleaning round brush, drum shaft, nozzle all are placed on cover body inside, and flexible round brush is fastened on drum shaft, and drum shaft is connected across the cover body two ends.DC servo motor is placed on the upper cover plate on the cover body left side, rotates and then drives through the drum shaft of band drive synchronously and clean the round brush rotation.When sucker is adsorbed on the wall, after cleaning brush rotated, the cleaning brush radius of gyration exceeded overhanging of sucker, can lash wall in adsorption process, make the cleaning machine body finish to wall and in the obstacle detouring process to the cleaning of barrier (window frame).Become a plane to contact after two suckers stretch out fully up and down with wall.8 nozzles are fixed on rear board bottom in the cover body at regular intervals side by side, two suction pumps through being placed on storage tank top draw water in the storage tank spray Cleaning for High Capacity brush and wall.
4, water circulation recovering mechanism: form by water receiving scraper plate, storage tank, liquid level sensor, filter, back water pump and pneumatic element.The water receiving scraper plate is placed on the cover body bottom, the cleaning brush below, and an end upwarps and closely contacts with wall by sponge material material, and the other end is connected with the two cylinder projecting shafts that are placed on two ends, cover body bottom, and the cylinder action realizes the flexible of water receiving scraper plate.Storage tank is placed on H type vacuum generation chamber outer lower portion empty place.Sewage after wall cleans gathers the cover body inside bottom and is filtered by filter after be installed in two back water pumps on storage tank top and be withdrawn in the storage tank and recycle by water pipe through the water receiving scraper plate.Liquid level sensor is fixed on and is used for detecting water capacity in the storage tank.This cover mechanism can prevent sewage pollution below wall to be cleaned, and improves water use efficiency.
5, cleaning apparatus structure: form by clean scraper plate, rubber material scraper and pneumatic element, be positioned at the top of cleaning machine body.Clean scraper plate by be connected across two cylinders on the shoulder end face of H vacuum generation chamber two ends flexible realize and the contact of wall with separate, the rubber material scraper of scraper plate one end is close to wall and is scraped from top to bottom with the cleaning machine body and washes wall, thereby it is residual water stain to remove wall.
6, obstacle detection mechanism: form by four groups of photoelectric sensors installing on the cleaning machine body, according to the body assembly structure, be installed in appropriate location from lower to upper respectively near following sucker, water receiving scraper plate, last sucker and cleaning apparatus structure, and with two sensors of each symmetry placement of body vertical center line, each sensor sensing distance can be regulated.According to the sensor detection signal, above each mechanism of notice control system body from top to bottom in the cleaning process whether near projection barrier (window frame), drive through pneumatic element separately, bounce back successively, behind the leaping over obstacles, stretch out successively again, thereby realize the whole obstacle detouring of cleaning machine body.
Top safety mainly is made up of hoist engine, steel wire rope, travelling car, trapped orbit, bracing frame, switch board; mainly finish lifting, decline and traversing action and the height function of measuring of cleaning machine body, and coordination cleaning machine body gravity makes body realize cleaning and the obstacle detouring function also plays the safeguard protection effect.Hoist engine is placed on the travelling car, two groups of steel wire ropes that are wrapped on the hoist engine strand oscillator are transferred by bracing frame, and is connected with two suspension ring in the cleaning machine body H type vacuum generation chamber shoulder outside, after hoist engine rotation synchronously, drive cleaning machine body vertically moves downward under its gravity effect.Switch board is connected with hoist engine by cable, encoder be placed on gyroaxis place, bracing frame top and with steel wire rope run-in synchronism, be used for measuring transferring or the last length of receiving of steel wire rope, thereby send the elevation information of cleaning machine body to control system, its control cable is connected with switch board by aviation plug along bracing frame.
Portable downstairs supervising device mainly is made up of control casing, guidance panel, wireless video monitor, wireless remote control communication module and control module.Guidance panel, wireless video monitor, wireless remote control communication module and control module all are placed in the monitoring casing.Open portable control casing, guidance panel is placed with control module at the monitoring box head-down position in its bottom, comprises central processing unit (CPU), power module etc.Be furnished with order button, mesomorphic state display, scram button, siren etc. on the guidance panel.The wireless video monitor comprises wireless surveillance screen, wireless surveillance communication module, and wireless video monitor and wireless remote control communication module all are fixed on control cabinet loam cake inboard, look the plate except that the wireless surveillance screen exposes, other by on look plate and hide.Be contained in camera on the cleaning machine body through the wireless surveillance communication module, cleaned the clean conditions of wall by the real-time demonstration of wireless video monitor.Control module CPU sends control command by the wireless remote control communication module to cleaning machine body and top safety according to the guidance panel key command, finishes body and cleans overall process.
Electrical control gear is made up of cleaning machine body control system, roof safety control system and portable downstairs monitoring system three parts.The cleaning machine body adopts programmable logic controller (PLC) (PLC) as control system, and driver, DC servo motor, blower fan, water pump, pneumatic element, magnetic valve etc. are as actuating unit.Elements such as PLC, relay, motor driver, wireless remote control communication module and power module are placed in the square build control cabinet.Control cabinet is fixed on cleaning machine body H type vacuum generation chamber right side empty place, and fixedlys connected with cover body back by bolt.6 magnetic valves and other pneumatic elements are fixed on H type vacuum generation chamber left side empty place, and fixedly connected with cover body back by a flat board.All circuit trace are all regular in the tank chain that is fixed on H type vacuum generation chamber back, storage tank top on the body, respectively are connected on the control casing on right side by aviation plug; The roof safety control system is made up of PLC controller, frequency converter, low-voltage electrical apparatus circuit, wireless remote control communication module, power module etc., all be placed in the cuboid control cabinet, control cabinet is placed on the travelling car, and all electric lines all connect by aviation plug; Portable downstairs monitoring system adopts Single-chip Controlling, send various control instructions through wireless remote control communication module separately to body control system and roof control system in the wireless remote control mode, and the work state information that receives body and roof shows on the liquid crystal display of its guidance panel.
Experimental result shows, the present invention adopts and relies on traction of roof hoist engine and the mobile mechanism of cleaning and using double suction dish absorbing unit alternately to adsorb leap window frame class obstacle of cleaning machine body self gravitation realization from top to bottom, can provide a kind of efficient, automation reliably to glass curtain wall of high building to clean means.The inventive method is with respect to existing artificial cleaning operation, and operating cost is low, security good, can increase substantially cleaning efficiency; With respect to existing cleaning machine mechanism, simple in structure, and can effectively solve the contradiction of efficient and obstacle detouring.
Description of drawings
Fig. 1 is a general structure schematic diagram of the present invention.
Among Fig. 1,1 is that top safety, 2 is portable supervising device downstairs for cleaning machine body, 3.
Fig. 2 is a cleaning machine body perspective view of the present invention.
Among Fig. 2,4 is clean scraper plate, 5 is cover body, 6 for cleaning round brush, 7 is the water receiving scraper plate, 8 is the rubber material, 9 is last sucker, 10 is cylinder, 11 is photoelectric sensor, 12 is follower rollers, 13 is rubber strip, 14 are following sucker, 15 is the lower slider sleeve, 16 are following sucker brake lining, 17 are following sucker brake lining cylinder, 18 is photoelectric sensor, 19 is drum shaft, 20 is transmission device, 21 is DC servo motor, 22 is clean rubber, 23 is last sucker pneumatic element, 24 is H type negative pressure generation chamber, 25 is suspension ring, 26 is last sliding sleeve, 27 is blower fan, 28 is last sucker brake lining cylinder, 29 is camera, 30 is cylinder, 31 is last sucker brake lining.
Fig. 3 is a cleaning machine body of the present invention side structural representation.
Among Fig. 3,32 is that sucker pneumatic element, 33 is a water filtering device down.
Fig. 4 is a cleaning machine body structure schematic diagram of the present invention.
Among Fig. 4,34 is that suction pump, 35 is that storage tank, 36 is that liquid level sensor, 37 is that back water pump, 38 is that micro nozzle, 39 is that photoelectric sensor, 40 is that photoelectric sensor, 41 is an installing hole.
Fig. 5 is the top safety structural representation.
Among Fig. 5,42 is that switch board, 43 is that hoist engine, 44 is that travelling car and track, 45 are that steel wire rope, 46 is that encoder, 47 is that directive wheel, 48 is a bracing frame.
Fig. 6 is portable downstairs supervising device schematic diagram.
Among Fig. 6,49 is that wireless remote control communication module, 50 is that control module, 52 is that guidance panel, 53 is the wireless video monitor for controlling casing, 51.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
Cleaning machine system architecture of the present invention is formed as shown in Figure 1, mainly comprises top safety 1, cleaning machine body 2, portable supervising device 3 and electrical control gear downstairs.The structure of cleaning machine body 2 such as Fig. 2, Fig. 3, shown in Figure 4, under the draw of cleaning machine body 2 hoist engine in roof security system 1, rely on rubber strip 13, the side follower rollers 12 of sealing mechanism, utilize last sucker 9 and pneumatic element 23, following sucker 14 and the pneumatic element 32 thereof of double suction dish negative-pressure adsorption mechanism, simultaneously or alternately be adsorbed in glass wall, rely on self gravitation to move from top to down and realize that wall cleans and cross over functions such as window frame class obstacle; Top safety 1 mainly plays the safeguard protection effect, guarantees that cleaning machine body 2 is finished to clean and the obstacle detouring task, and supply cleaning machine body 2 power supplys, source of the gas and water source; Portable downstairs supervising device 3 sends action command by the mode of wireless monitor to cleaning machine body 2, top safety 1, makes cleaning machine body 2 finish actions such as cleaning, obstacle detouring, and by wireless video monitor real time monitoring wall cleaning performance.Electrical control gear is used for controlling each actuating unit and finishes whole cleaning task.
Cleaning machine body 2 is made up of double suction dish negative-pressure adsorption mechanism, sealing mechanism, wiper mechanism, water circulation recovering mechanism, obstacle detection mechanism and cleaning apparatus structure.Wherein, negative-pressure adsorption mechanism by blower fan 27, H type negative pressure generation chamber 24, go up sucker 9, down sucker 14 and go up sucker pneumatic element 23, sucker pneumatic element 32 is formed down.H type negative pressure generation chamber 24 is main bodys of cleaning machine body, two rectangular sucking are of a size of 800*200*150 up and down, each through about two sliding sleeves be connected on the H type negative pressure generation chamber and each stretching out and bounce back by two cylinders control suckers that are installed in H type vacuum generation chamber shoulder and bottom sides.Two blower fans 27 also are placed on H type vacuum generation chamber top empty place, are fixed on the generation chamber with screw by a flat board.The inner rear end face of each sucker has two brake linings near the sliding sleeve place, following sucker brake lining 16 and last sucker brake lining 31, respectively by the following sucker brake lining cylinder 17 in the middle of two brake linings, go up the unlatching of sucker brake lining cylinder 28 control brake linings or close, be used for the gas circuit of 24 of two suckers and H type vacuum generation chamber up and down of break-make respectively.The sucker sealing mechanism is made up of rubber strip 13 and side follower rollers 12.Rubber strip 13 is arranged in two suckers, 9,14 opening circumferential perimeter circlewise, the one end be clamped on one section screw-like profile and and the two-layer aluminium sheet that is fixed together of sucker between, the other end stretches out sucker and contacts with wall.Each four jiaos of place, the sucker outside all is placed with four follower rollers 12, and roller 12 exceeds the sucker opening surface, is used for limiting rubber strip 13 and wall exposure level, weares and teares to reduce rubber strip, and reduces the frictional force of wall to sucker.According to the difference and the required sucker absorption affinity size of wall friction coefficient, replaceable different size follower rollers.Sealing mechanism of the present invention allows to have certain leakage, and only requiring to have certain negative pressure to keep the cleaning force of cleaning machine body to glass wall in the sucker.Wiper mechanism is formed by cleaning round brush 6, cover body 5, drum shaft 19, micro nozzle 38, DC servo motor 21 and suction pump 34.Cleaning round brush 6, drum shaft 19, nozzle 38 all are placed on cover body 5 inside, long 1500 millimeters of cover body 5 is placed on up and down between two rectangular sucking, and the rear portion is near H type vacuum generation chamber 24, when two suckers 9,14 were adsorbed on the wall up and down, the cover body open side was apart from 2~3 inches of walls.Round brush 6 is fixed on the drum shaft 19 circlewise, and drum shaft 19 is connected across the cover body two ends.DC servo motor 21 is placed on the cover body 5 left comer top cover of faceplate, drives drum shaft 19 rotations and then drives through synchronous transmission device 20 and clean round brush 6 rotations.When sucker 9,14 is adsorbed on the wall, clean after round brush 6 rotations get up, its radius of gyration exceeds overhanging of sucker, thereby lashes wall, make cleaning machine body 2 finish to wall and in the obstacle detouring process to the cleaning of barrier (window frame).Be a plane contact with wall after two suckers 9,14 stretch out fully up and down, 2~3 inches of cover body 5 outsides and wall distances.8 nozzles 38 are fixed on rear side panels bottom in the cover body 5 side by side at regular intervals, suction pump 34 draw water in the storage tank 35 spray Cleaning for High Capacity brush and wall; Water loops back receiving apparatus and is made up of water receiving scraper plate 7, storage tank 35, liquid level sensor 36, filter 33, back water pump 37 and cylinder 10.Water receiving scraper plate 7 is placed on and cleans cleaning round brush 6 belows, cover body 5 bottoms, one end upwarps and closely contacts with wall by sponge material material 8, the other end be placed on two cylinders 10 that cover body bottom is arranged in two ends and be connected, cylinder 10 actions realize stretching of water receiving scraper plates 7.Storage tank 35 is placed on H type vacuum generation chamber 24 outer lower portion empty places, and suction pump 34, back water pump 37 are fixed on storage tank top.Sewage after wall cleans is withdrawn in the storage tank 35 and recycles by being installed in back water pump 37 on the storage tank 35 after water receiving scraper plate 7 gathers cover body 5 bottoms and filtered through filter 33 by flexible pipe.Liquid level sensor 36 is fixed on and is used for detecting water capacity in the storage tank 35.Water circulation recovering mechanism can prevent sewage pollution below wall to be cleaned, improves water use efficiency; The cleaning apparatus structure is made up of clean scraper plate 22, rubber scraper 4 and cylinder 30, is positioned at the top of cleaning machine body 2.Clean scraper plate 22 contacts with wall and separates by two cylinders, 30 flexible realizations that are connected across on the H vacuum generation chamber 24 two ends shoulder end faces, clean scraper plate 22 1 end rubber material scrapers 4 also are close to wall and are scraped from top to bottom with cleaning machine body 2 and wash wall, thereby it is residual water stain to remove wall.Obstacle detection mechanism is made up of four groups of photoelectric sensors 11,39,18,40 of installing on the cleaning machine body, be installed in appropriate location from the bottom up respectively near following sucker 14, water receiving scraper plate 7, last sucker 9 and clean scraper plate 22, every group of photoelectric sensor placed with the vertical center line symmetry of cleaning machine body 2, and regulates each sensor sensing distance according to body construction.By detect above each mechanism in cleaning process from top to bottom whether near projection barrier (window frame), through pneumatic element separately, retraction behind the leaping over obstacles, stretches out successively again successively, thereby realizes cleaning machine body 2 whole obstacle detourings.
The structure of top safety 1 of the present invention mainly comprises switch board 42, hoist engine 43, travelling car and track 44, steel wire rope 45, encoder 46, directive wheel 47 and bracing frame 48 as shown in Figure 5.Hoist engine 43 is placed on the travelling car 44, being wrapped in two groups of steel wire ropes 45 on the hoist engine strand oscillator transfers with two suspension ring 25 in the H type vacuum generation chamber 24 shoulders outside the cleaning machine body 2 from roof by bracing frame 48 and directive wheel 47 and is connected, and realize being synchronized with the movement through the rotation of hoist engine 43, drive cleaning machine body 2 and move up and down.Switch board 42 is connected with hoist engine 43 by cable, encoder 46 be placed on bracing frame 48 top directive wheels, 47 gyroaxis places and with steel wire rope 45 run-in synchronisms, length is received in transferring or going up of metering steel wire rope 45, and its control cable is connected with switch board 42 by aviation plug along bracing frame 48.
The structure of the portable downstairs supervising device 3 of the present invention comprises wireless video monitor 53, wireless remote control communication module 49, control casing 50, control module 51 and guidance panel 52 as shown in Figure 6.Be furnished with order button, mesomorphic state display, scram button, siren etc. on the guidance panel 52.Wireless video monitor 53 and wireless remote control communication module 49 are fixed on control cabinet loam cake inboard, and the display screen of wireless video monitor 53 exposes looks plate, other parts all by on look plate and hide.Be contained in camera 25 on the cleaning machine body 2 through the communication module of wireless video monitor 53, cleaned the clean conditions of wall by wireless video monitor real time monitoring cleaning machine body 2.Control module 51 sends exercises order by wireless remote control communication module 49 to cleaning machine body 2 and top safety 1 according to guidance panel 52 key commands, and remote control realizes cleaning overall process.
The course of work of wiper mechanism of the present invention is as follows:
1) system's starting that powers on, roof hoist engine 43 is promoted to roof wall to be cleaned (from top to down) with cleaning machine body 2, sucker 9 is gone up in last sucker pneumatic element 23 controls, sucker 14 stretches out with wall and contacts (the cylinder stroke is 75mm) under following sucker pneumatic element 32 controls, and cleaning machine body 2 promptly is adsorbed in smooth glass wall.At this moment, the cylinder on the cleaning machine body 2 10,30 is in retracted state.Each action of cleaning machine body can be carried out automatically, also carries out under supervising device 1 remote control downstairs.
2) blower fan 27 starts, very fast formation negative pressure in the negative pressure generation chamber 24, through after a while (a few approximately second), 28 controls of last sucker brake lining cylinder go up sucker brake lining 31 open, down 17 controls of sucker brake lining cylinder down sucker brake lining 16 open, thereby sucker 9 in the connection, down sucker 14, go up the gas circuit of 24 of sliding sleeve 26, lower slider sleeve 15 and negative pressure generation chamber, two suckers 9,14 are under follower rollers 12, the rubber strip 13 of sealing mechanism act on up and down, the inner negative pressure that produces makes cleaning machine body 2 be adsorbed in wall;
3) cylinder 10 control water receiving scraper plates 7, clean scraper plate 4 of cylinder 30 controls is adjacent to wall separately, and nozzle 38 is to wall and clean water spray on the round brush 6, and DC servo motor 21, suction pump 34 start, and clean round brush 6 rotations, begin to clean wall;
4) 2), 3) in the action, under the coordinative role of hoist engine 43 and cleaning machine body 2 self gravitations, roof control system control cleaning machine body 2 steadily at the uniform velocity glides along smooth glass wall, clean round brush 6 simultaneously and finish wall and clean;
5) as the place ahead window frame class obstacle appears, obstacle detection photoelectric sensor 11,39,18,40 will detect this barrier successively, cleaning machine body 2 control systems notice roof control system is slowed down cleaning machine body 2, under the effect of pneumatic element, sucker 14, water receiving scraper plate 7, last sucker 9, clean scraper plate 4 are withdrawn successively, stretch out in succession again behind the obstacle detouring separately, thereby realize obstacle detouring.
6) finish cleaning positions to bottom of the building, blower fan 27, DC servo motor 21, suction pump 34, back water pump 37 quit work, up and down two suckers 9,14, clean scraper plate 4 and 7 withdrawals of water receiving scraper plate.Hoist engine 43 drives cleaning machine body 2 and rapidly increases to the initial cleaning positions of roof place, roof travelling car 44 starts, make top safety 1 along the roof trapped orbit left (or right) move a certain distance (less than cleaning round brush length), under steel wire rope 45 tractions, cleaning machine body 2 is (or right) mobile phase same distance just left, after this repetitive operation 1), move in circles, until cleaning complete flooring.
The technical indicator that the present invention can reach is as follows:
1, clean the flooring height: 120 meters and more than
2, cleaning width: each more than 1.5 meters
3, cleaning efficiency: 240 square metres/time or above (because of the wall clean level different different)
4, obstacle climbing ability: horizontal window frame height is 2 inches, and width is 2~3 inches
5, water consumption: per thousand square metres≤25 kilograms (because of the wall clean level different different)
It is adaptable that the present invention is that a kind of translational speed possesses soon, again wall, and mechanism simple, clean Novel high building wall cleaning machine effective, easy and simple to handle. The present invention not only can be applicable to high more than 120 meters High-rise building, long 1.5 meters, the wide cleaning of glass curtain wall more than 1 meter also can be applied to the other types height The cleaning of the smooth exterior wall in building.

Claims (8)

1; a kind of high building glass curtain wall cleaning machine system; comprise top safety (1); cleaning machine body (2); portable downstairs supervising device (3) and electrical control gear; cleaning machine body (2) comprises double suction dish negative-pressure adsorption mechanism; sealing mechanism; obstacle detection mechanism; it is characterized in that cleaning machine body (2) also comprises wiper mechanism; water circulation recovering mechanism and cleaning apparatus structure; under the draw of cleaning machine body (2) hoist engine (43) in top safety (1); rely on the rubber strip (13) of sealing mechanism; side follower rollers (12); utilize the last sucker (9) and the pneumatic element (23) thereof of double suction dish negative-pressure adsorption mechanism; following sucker (14) and pneumatic element (32) thereof; simultaneously or alternately be adsorbed in glass wall; rely on self gravitation to move from top to down and realize that wall cleans and leaping over obstacles; top safety (1) plays the safeguard protection effect; guarantee that cleaning machine body (2) is finished and clean and the obstacle detouring task; and supply cleaning machine body (2) power supply; source of the gas and water source; portable downstairs supervising device (3) passes through the mode of wireless monitor to cleaning machine body (2); top safety (1) sends action command; make cleaning machine body (2) finish cleaning; the obstacle detouring action; and, control each actuating unit by electrical control gear and finish whole cleaning task by wireless video monitor real time monitoring wall cleaning performance.
2, high building glass curtain wall cleaning machine as claimed in claim 1 system, it is characterized in that in the described wiper mechanism, clean round brush (6), drum shaft (19), nozzle (38) all is placed on cover body (5) inside, cover body (5) is placed on sucker (9), between the following sucker (14), cleaning round brush (6) is fixed on the drum shaft (19) circlewise, drum shaft (19) is connected across the cover body two ends, DC servo motor (21) drives drum shaft (19) rotation and then drives through synchronous transmission device (20) and cleans round brush (6) rotation, nozzle (38) side by side fixed interval at cover body (5) inner bottom part.
3, high building glass curtain wall cleaning machine as claimed in claim 1 system, it is characterized in that in the described water circulation recovering mechanism, water receiving scraper plate (7) is placed on cover body (5) bottom and cleans round brush (6) below, and be connected with two cylinders (10) that are placed on two ends, cover body bottom, storage tank (35) is placed on H type vacuum generation chamber (24) bottom empty place, suction pump (34), back water pump (37) are fixed on storage tank (35) top, and liquid level sensor (36) is fixed in the storage tank (35) and is used for detecting water capacity.
4, high building glass curtain wall cleaning machine as claimed in claim 1 system, it is characterized in that described cleaning apparatus structure is positioned at the upper end of cleaning machine body (2), form by clean scraper plate (22), rubber scraper (4) and cylinder (30), the contact of the flexible realization of clean scraper plate (22) by being connected across two cylinders (30) on the shoulder end face of H vacuum generation chamber (24) two ends and wall with separate, clean scraper plate (22) one ends have scraper (4).
5, high building glass curtain wall cleaning machine as claimed in claim 1 system, it is characterized in that described obstacle detection mechanism is made up of four groups of photoelectric sensors (11,39,18,40) of installing on the cleaning machine body, place respectively near sucker (14), water receiving scraper plate (7), upward sucker (9) and clean scraper plate (22) installation down, and with the vertical center line symmetry of cleaning machine body (2).
6, high building glass curtain wall cleaning machine as claimed in claim 1 system, it is characterized in that in the described top safety (1), hoist engine (43) is placed on the travelling car (44), being wrapped in two groups of steel wire ropes (45) on the hoist engine strand oscillator transfers with two suspension ring (25) in H type vacuum generation chamber (24) the shoulder outside the cleaning machine body (2) from roof by bracing frame (48) and directive wheel (47) and is connected, and realize being synchronized with the movement through the rotation of hoist engine (43), driving cleaning machine body (2) moves up and down, switch board (42) is connected with hoist engine (43) by cable, encoder (46) be placed on bracing frame (48) top directive wheel (47) gyroaxis place and with steel wire rope (45) run-in synchronism, length is received in transferring or going up of metering steel wire rope (45), and its control cable is connected with switch board (42) by aviation plug along bracing frame (48).
7, high building glass curtain wall cleaning machine as claimed in claim 1 system, it is characterized in that described portable supervising device (3) comprises wireless video monitor (53) downstairs, wireless remote control communication module (49), control casing (50), control module (51) and guidance panel (52), the camera (25) that is contained on the cleaning machine body (2) connects wireless video monitor (53), real time monitoring cleaning machine body (2) has cleaned the clean conditions of wall, control module (51) sends action command by wireless remote control communication module (49) to cleaning machine body (2) and top safety (1) according to guidance panel (52) key command, and remote control realizes cleaning overall process.
8, high building glass curtain wall cleaning machine as claimed in claim 1 system, it is characterized in that described sealing mechanism is made up of rubber strip (13) and side follower rollers (12), the opening circumferential perimeter circlewise for two suckers (9,14) about rubber strip (13) was arranged in, the one end be clamped on one section screw-like profile and and the two-layer aluminium sheet that is fixed together of sucker between, the other end stretches out sucker and contacts with wall, four follower rollers (12) are all placed at each four jiaos of place, the sucker outside, and roller (12) exceeds the sucker opening surface.
CN 200410053264 2004-07-29 2004-07-29 High building glass curtain wall cleaner system CN1265756C (en)

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CN100422029C (en) * 2006-11-27 2008-10-01 哈尔滨工业大学 Small-sized wall-climbing robot based on negative pressure absorption principle
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CN101589936B (en) * 2009-05-29 2013-10-02 宋树建 Full automatic glass curtain wall cleaning machine
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US9867516B2 (en) 2011-10-18 2018-01-16 Samsung Electronics Co., Ltd. Robot cleaner and method for controlling the same
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CN102871611A (en) * 2012-10-23 2013-01-16 松阳西屏永新机械厂 High-rise outer wall cleaning machine
CN102908115B (en) * 2012-11-05 2015-10-28 胡松阳 Integral type cleaning spin-drying mop bucket
CN102908115A (en) * 2012-11-05 2013-02-06 胡松阳 Integrated cleaning spin-dry mop bucket
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CN103654608A (en) * 2013-11-30 2014-03-26 成都科泰地理信息技术有限公司 Remote-control type energy-saving window washing device
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CN104107005A (en) * 2014-06-26 2014-10-22 节金旗 Automatic scrubbing machine
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CN106901645A (en) * 2017-03-29 2017-06-30 中州大学 A kind of robot for outside Wall Cleaning
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CN107041721A (en) * 2017-04-19 2017-08-15 武汉理工大学 Fixed glass curtain wall automatic cleaning equipment
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