CN201431424Y - High-rise external wall surface cleaning device - Google Patents

High-rise external wall surface cleaning device Download PDF

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Publication number
CN201431424Y
CN201431424Y CN2009201423597U CN200920142359U CN201431424Y CN 201431424 Y CN201431424 Y CN 201431424Y CN 2009201423597 U CN2009201423597 U CN 2009201423597U CN 200920142359 U CN200920142359 U CN 200920142359U CN 201431424 Y CN201431424 Y CN 201431424Y
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CN
China
Prior art keywords
cleaning
control
dolly
cylinder
motor
Prior art date
Application number
CN2009201423597U
Other languages
Chinese (zh)
Inventor
肖勇
白新利
罗丽萍
吴军
郭剑仁
廖文国
赵锡睿
Original Assignee
南昌大学
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Application filed by 南昌大学 filed Critical 南昌大学
Priority to CN2009201423597U priority Critical patent/CN201431424Y/en
Application granted granted Critical
Publication of CN201431424Y publication Critical patent/CN201431424Y/en

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Abstract

A high-rise external wall surface cleaning device comprises a safety follow-up control trolley, a cleaning mechanism and a control circuit, wherein a stepping motor is installed on the back wheel of the safety follow-up control trolley, a cylinder is driven by a worm-and-wheel speed reduction motor, a trolley body support is regulated to expand and retract through screw rods, the cleaning mechanism adopts the cleaning mode of a scratch board, a cylinder sponge brush and a cylinder brush, a pressure sensor is arranged on a steel cable which is used for connecting the trolley and the cleaning mechanism, a photoelectric isolating circuit [M] is arranged between a strong-current circuit and a weak-current circuit of the control circuit, and a CPU can output control signals to all motors afterreceiving and processing the signals. The high-rise external wall surface cleaning device has convenient use, fast movement speed and simple structure, does not be restricted by wall surface materialand planeness, has excellent adaptability to different wall surfaces (90 degrees +- 10 degrees), can reach over 1200m 2/h of cleaning efficiency, and has low price.

Description

High-rise wall face cleaning device
Technical field
The utility model relates to external wall and cleans, and relates in particular to high-rise wall face cleaning device.
Technical background
In cleaning industry of today, the wash machine device is used for replacing more and more manually is engaged in inclement condition, labour intensity is big, lack the external wall cleaning of safety guarantee, such as development along with Robotics, various high-rise wall face cleaning devices have appearred, this is for solving external wall of high-rise building, the cleaning problem of glass curtain wall provides a new thinking, existing climbing robot wash machine device has multiple class, but generally be absorption type, be subjected to the influence of wall surface material and flatness easily, there are shortcomings such as sucker gas leakage and bearing capacity difference efficient are low, cleaning efficiency is low, and cost is relatively more expensive.
Summary of the invention
The utility model is designed a kind of more advanced high-rise wall face cleaning device at the defective that existing cleaning machine exists.
The whole lift-on/lift-off type that adopts of cleaning device described in the utility model, its roof safety servo-actuated control dolly, with the wiper mechanism on the steel wire rope lifting metope, both cooperate tight intelligence for it, and cleaning effect has been played good cooperation effect.
The utility model is made up of safety servo-actuated control dolly, cleaning mechanism, control circuit, specifically is achieved through the following technical solutions (referring to accompanying drawing 1, accompanying drawing 2).
Safe servo-actuated control dolly described in the utility model, adorn two front-wheels, two trailing wheels under the little car body [2-1], respectively adorn a stepper motor [2-5] on two trailing wheels, be fixed on two bearings on the dolly body vehicle seat rear end, by bearing block back-up roller [2-9], drum shaft is equipped with worm and gear reducing motor [2-2], and rotating electrical connector [2-11] is installed on one side of drum shaft, another side is installed rotating water head [2-10]; The both sides of the edge of little car body are provided with guide rail [2-6], bracing frame [2-4] is erected on the guide rail, the preceding top edge both sides of bracing frame [2-4] and centre are provided with three fixed pulleys [2-3], steel wire rope [1-1] is on cylinder [2-9], two fixed pulleys [2-3] by the top edge both sides are connected to cleaning mechanism, water pipe and electric wire [1-2] are also on cylinder [2-9], and the fixed pulley [2-3] by the centre is connected to cleaning mechanism; The centre of dolly body vehicle seat, motor [2-8] is installed perpendicular to the position of cylinder [2-9] direction, motor [2-8] by screw mandrel [2-7] and bracing frame [2-4] afterwards lower edge be connected; In dolly body vehicle seat side bottom one color sensor is installed also; On cylinder [2-9], a photoelectric sensor is installed also.
Safe servo-actuated described in the utility model is controlled little back wheels of vehicle two stepper motors [2-5] is installed, and can utilize two stepper motor differentials to realize turning function, and determines its forward travel distance by the pulse of stepper motor [2-5] generation and the diameter of trailing wheel.Cylinder [2-9] adopts worm and gear reducing motor [2-2] to drive, by traction and the control of two steel wire ropes [1-1] realization to cleaning mechanism, and by being installed in the data that steel wire rope upward pressure sensor [1-10] returns, guaranteed the safety of cleaning mechanism, but also can make cleaning mechanism rest on aerial optional position.Realize moving by motor [2-8] and two guide rails [2-6] that are parallel to the screw mandrel direction of linking to each other with screw mandrel [2-7] perpendicular to the metope direction, thereby regulate the distance of cleaning mechanism and metope, and the image passed back of the balancing pole on the cooperation cleaning mechanism [1-15] and camera [1-12], avoid high-rise metope barrier.Rotating water head [2-10] that install respectively at cylinder [2-9] two ends and rotating electrical connector [2-11], the one end links to each other with power supply with water tank respectively, the other end respectively be wrapped in cylinder on water pipe link to each other with electric wire [1-2], thereby realize the smooth supply of water and electricity.
The optical sensor that dolly vehicle seat front end described in the utility model is installed can be differentiated the light intensity difference that object reflected of different colours, as long as stick white adhesive tape along the operation path at roofing, light intensity difference according to reflection, optical sensor sends to correspondent control circuits with the different light intensity signal that receives, and controls safe servo-actuated control dolly along the white size tape travel.As long as white adhesive tape is being pasted parallel with the roof edge, safe servo-actuated control dolly just can be realized intelligently advancing along the roof edge.
The utility model can also be gone up at cylinder [2-9] photoelectric sensor is installed, under the control of control circuit, show the distance that cleaning mechanism descends by its display screen [2-12], can also clean stroke by the control circuit input, the wiper mechanism cleaning that descends at a slow speed, after idle running rises to the top fast, drive trailing wheel, safe servo-actuated is controlled continued to clean after dolly moves a cleaning width by stepper motor [2-5].
Safe servo-actuated control dolly also is separately installed with pressure sensor [1-10] by two steel wire ropes [1-1] traction cleaning mechanism on two steel wire ropes.
Cleaning mechanism framework described in the utility model inboard from top to bottom (as shown in Figure 2) be equipped with successively that scraper plate [1-3], upper nozzle [1-4], drum-type sponge brush [1-11], drum-type hairbrush [1-7], lower nozzle [1-8], sewage collecting treatment box [1-13], drum-type sponge brush are equipped with direct current generator [1-5], the drum-type hairbrush is equipped with direct current generator [1-9]; Top, the framework outside is equipped with balancing pole [1-15] (as shown in Figure 3), is connected with steel wire rope [1-1] by rectangular groove in the middle of it; Centre position, the framework outside is equipped with two desk fans [1-6], and the framework lower end is equipped with camera [1-12], and framework is respectively installed a pressure sensor [1-14] on four angles.
Balancing pole [1-15] is installed on top, the utility model framework outside, and be set to rectangular groove therebetween and be connected with steel wire rope [1-1], can be so that cleaning when being in conplane metope with roof eaves limit, steel wire rope [1-1] can be fixed on a side within the walls of the middle rectangular groove of balancing pole [1-15], inside when recessed when the relative roof eaves of metope limit, steel wire rope [1-1] can be fixed on the outside of rectangular groove in the middle of the balancing pole [1-15].
Cleaning mechanism described in the utility model, it is the shower nozzle of the installed inside at two ends up and down, realizes the cleaning to drum-type hairbrush and drum-type sponge brush and metope respectively, and the scraper plate of installing above the drum-type sponge brush [1-3] is done last processing to metope water stain.Two high-power fans [1-6] that install in centre position, the framework outside, produce a propulsive thrust by the rotation air draft, make certain pressure and the equilibrant force of formation between wiper mechanism and the metope, to play good washing effect, when the cleaning mechanism fast rise, but temporary close fan [1-6] and water supply allow cleaning mechanism and metope break away from.The sewage recycling case of below cleaning mechanism, installing [1-13], prevent that the unrestrained metope that arrives of sewage from influencing cleaning effect, also realized the recycling of water resource, be installed in pressure sensor [1-14] on four angles of framework when running into barrier, will make whole system realize braking to the control system inverse signal, and sound the alarm, up to pressing when continuing switch, whole cleaning process is just continued, and has so just guaranteed that whole cleaning process carries out under security situation.
Control circuit described in the utility model, microprocessor CPU receives the signal of color sensor [4-1], pressure sensor [1-10], photoelectric sensor [4-2], button [4-3], wireless control module [4-4] respectively, photoelectric isolating circuit [M] is kept apart forceful electric power and light current, after microprocessor CPU is handled the signal that receives, through optical isolation [M] by relay 1[4-5], relay 2[4-6] control frequency converter [4-10], control worm and gear reducing motor [2-2] then; By relay 3[4-7], relay 4[4-8] control direct current generator [1-5], direct current generator [1-9]; By relay 5[4-9] control fan [1-6]; And direct control step motor [2-5].The display screen of control circuit [2-12] receives the signal of camera [1-12].
Keyboard of the present utility model can adopt the matrix form of 3 row, 2 row, is used to control motor and switch; The function of radio receiving transmitting module and the function of keyboard are in full accord; Signal can access timely and handle in order to realize running into special circumstances, and stop key is directly received on the resetting pin of microprocessor, press stop key after microprocessor reset, make all electrical equipment be in off position.
The photoelectric isolating circuit [M] of the utility model design is kept apart microprocessor and forceful electric power circuit, makes microprocessor obtain better protect.
Cleaning device of the present utility model is after having cleaned metope, the speed that rises can be faster than decline washing speed, so frequency converter has been adopted in control circuit design of the present utility model, set the parameter of frequency converter at first, can realize the different of cleaning device decline and the speed that rises.
Color sensor and two stepper motors [2-5] collaborative work that the utility model is installed in dolly body vehicle seat side bottom, can set the lines of a band color at the edge, roof, color sensor is used for hunting, signal is after microprocessor processes, differential control step motor, realize that cleaning device can be automatically moved to the next metope that needs cleaning according to pre-set route after having cleaned a part of metope, continue to clean.
The utility model cylinder [2-9] is gone up the photoelectric sensor of installing [4-2], can be used for measuring the dropping distance of wiper mechanism, and dropping distance can be gone up at the display screen [2-12] of controller circuitry and show.
The pressure sensor [1-10] that the utility model is also installed respectively on two steel wire ropes, to prevent that wiper mechanism from can send signal to microprocessor when running into barrier, send corresponding signal by microprocessor to transmission device, to guarantee the safe operation of cleaning mechanism, cleaning mechanism is aloft stopped the optional position, and the accident that prevents takes place.
In order to make operating personnel can clearerly observe the whole process of cleaning on roof, the camera of installing on wiper mechanism [1-12] can directly be sent to image on the operating desk, and whole cleaning process can be carried out real-time monitoring.
The utlity model has easy to usely, translational speed is fast, and is simple in structure, is not subjected to the restriction of wall surface material and flatness, all has better adaptability for different metopes (90 ° ± 10 °), and the cleaning efficiency height (can reach 1200m 2/ h), advantage such as low price.By the cooperation of above mechanism and device, advantages such as the high and low power consumption of external wall clean robot cleaning efficiency, environmental protection, low cost, safety coefficient height and wireless remote-controlled operation have been realized.Adopt sewage-treatment plant, preventing that sewage is unrestrained influence cleaning performance and construction is vivid to metope, and water resource saving amount nearly reaches 60%.
Description of drawings
Fig. 1 is the utility model roof safety servo-actuated control vehicle structure schematic diagram.Wherein 1-1 is that steel wire rope, 1-2 are that water pipe and electric wire, 2-1 are that little car body, 2-2 are that worm and gear reducing motor, 2-3 are that fixed pulley, 2-4 are that bracing frame, 2-5 are that stepper motor, 2-6 are that screw mandrel, 2-8 are that motor, 2-9 are that cylinder, 2-10 are that rotating water head, 2-11 are that rotating electrical connector, 2-12 are display screen for guide rail 2-7.
Fig. 2 is a wiper mechanism structural representation of the present utility model.Wherein 1-1 is that steel wire rope, 1-2 are that water pipe and electric wire, 1-3 are that scraper plate, 1-4 are that upper nozzle, 1-5 are that motor, 1-6 are that fan, 1-7 are that drum-type hairbrush, 1-8 are that lower nozzle, 1-9 are that motor, 1-11 are that drum-type sponge brush, 1-12 are that camera, 1-13 are that sewage collecting treatment box, 1-14 are pressure sensor.
Fig. 3 is a wiper mechanism schematic side view of the present utility model.Wherein 1-3 is that scraper plate, 1-4 are that upper nozzle, 1-5 are that motor, 1-6 are that fan, 1-7 are that drum-type hairbrush, 1-8 are that lower nozzle, 1-11 are that drum-type sponge brush, 1-12 are that camera, 1-13 are that sewage collecting treatment box, 1-15 are balancing pole.
Fig. 4 is the utility model control circuit electrical schematic diagram.Wherein CPU is that microprocessor, M are that photoelectric isolating circuit, 4-1 are that color sensor, 1-10 are that pressure sensor, 4-2 are that photoelectric sensor, 4-3 are that button, 4-4 are that wireless control module, 4-5 are that relay 1,4-6 are that relay 2,4-7 are that relay 3,4-8 are that relay 4,4-9 are that relay 5,4-10 frequency converter, 2-2 are that worm and gear reducing motor, 1-5 are that motor, 1-6 are that fan, 2-5 are that stepper motor, 2-12 are that display screen, 1-12 are camera.
The specific embodiment
The utility model will be described further by following examples.
Embodiment.
Accompanying drawing 1,2,3,4 is the structure chart shown in the present embodiment, schematic diagram.
Adorn two front-wheels, two trailing wheels under the dolly body 2-1 of safe servo-actuated control dolly in the present embodiment, respectively adorn a stepper motor 2-5 on two trailing wheels, be fixed on two bearings on the dolly body vehicle seat rear end, by bearing block back-up roller 2-9, drum shaft is equipped with worm and gear reducing motor 2-2, and an end of drum shaft is installed rotating electrical connector 2-11, the other end is installed rotating water head 2-10; The both sides of the edge of little car body are provided with guide rail 2-6, bracing frame 2-4 is erected on the guide rail, the preceding top edge both sides of bracing frame 2-4 and centre are provided with three fixed pulley 2-3, steel wire rope 1-1 is on cylinder 2-9, two fixed pulley 2-3 by the top edge both sides are connected to cleaning mechanism, water pipe and electric wire 1-2 are also on cylinder 2-9, and the fixed pulley 2-3 by the centre is connected to cleaning mechanism; The centre of dolly body vehicle seat, perpendicular to the position of cylinder 2-9 direction motor 2-8 is installed, motor 2-8 is connected with lower edge behind the bracing frame 2-4 by screw mandrel 2-7; In dolly body vehicle seat side bottom one color sensor is installed also; One photoelectric sensor also is installed on cylinder 2-9.
Safe servo-actuated control dolly also is separately installed with pressure sensor 1-10 by two steel wire rope 1-1 traction cleaning mechanisms on two steel wire ropes.
Cleaning mechanism framework described in the utility model inboard is equipped with successively from top to bottom that scraper plate 1-3, upper nozzle 1-4, drum-type sponge brush 1-11, drum-type hairbrush 1-7, lower nozzle 1-8, sewage collecting treatment box 1-13, drum-type sponge brush are equipped with direct current generator 1-5, the drum-type hairbrush is equipped with direct current generator 1-9; Top, the framework outside is equipped with balancing pole 1-15, by rectangular groove in the middle of it and steel wire rope 1-1; Centre position, the framework outside is equipped with two desk fan 1-6, and the framework lower end is equipped with camera 1-12, and framework is respectively installed a pressure sensor 1-14 on four angles.
Balancing pole 1-15 is installed on top, the utility model framework outside, and be set to rectangular groove therebetween and be connected with steel wire rope 1-1, can be so that cleaning when being in conplane metope with roof eaves limit, steel wire rope 1-1 can be fixed on a side within the walls of the middle rectangular groove of balancing pole 1-15, inside when recessed when the relative roof eaves of metope limit, steel wire rope 1-1 can be fixed on the outside of rectangular groove in the middle of the balancing pole 1-15.
Control circuit described in the utility model, microprocessor CPU receives the signal of color sensor 4-1, pressure sensor 1-10, photoelectric sensor 4-2, button 4-3, wireless control module 4-4 respectively, photoelectric isolating circuit M keeps apart forceful electric power and light current, after microprocessor CPU is handled the signal that receives, by relay 14-5, relay 24-6 control frequency converter 4-10, control worm and gear reducing motor 2-2 through optical isolation M then; By relay 34-7, relay 44-8 control direct current generator 1-5, direct current generator 1-9; By relay 54-9 control fan 1-6; And direct control step motor 2-5.Display screen 2-12 receives the signal of camera 1-12, and receives the control of microprocessor CPU.
The control circuit microprocessor CPU of present embodiment adopts the STC89C52RC single-chip microcomputer.The single-chip microcomputer supply voltage is 5V, after the 380V/220V transformer converts the 220V interchange to, converts the 24V direct current to through Switching Power Supply by the 380V electricity again, converts through 7812 and 7805 at last.Wherein the 220VAC electricity is as the power supply of water pump, fan and motor, and 24VDC is as the power supply of direct current generator.

Claims (1)

1, a kind of high-rise wall face cleaning device is made up of safety servo-actuated control dolly, cleaning mechanism, control circuit, it is characterized in that:
Described safe servo-actuated control dolly, adorn two front-wheels, two trailing wheels under the little car body [2-1], respectively adorn a stepper motor [2-5] on two trailing wheels, be fixed on two bearings on the dolly body vehicle seat rear end, by bearing block back-up roller [2-9], drum shaft is equipped with worm and gear reducing motor [2-2], and an end of drum shaft is installed rotating electrical connector [2-11], the other end is installed rotating water head [2-10]; The both sides of the edge of little car body are provided with guide rail [2-6], bracing frame [2-4] is erected on the guide rail, the preceding top edge both sides of bracing frame [2-4] and centre are provided with three fixed pulleys [2-3], steel wire rope [1-1] is on cylinder [2-9], two fixed pulleys [2-3] by the top edge both sides are connected to cleaning mechanism, water pipe and electric wire [1-2] are also on cylinder [2-9], and the fixed pulley [2-3] by the centre is connected to cleaning mechanism; The centre of dolly body vehicle seat, motor [2-8] is installed perpendicular to the position of cylinder [2-9] direction, motor [2-8] by screw mandrel [2-7] and bracing frame [2-4] afterwards lower edge be connected; In dolly body vehicle seat side bottom one color sensor is installed also; On cylinder [2-9], a photoelectric sensor is installed also;
Described cleaning mechanism framework inboard is equipped with successively from top to bottom that scraper plate [1-3], upper nozzle [1-4], drum-type sponge brush [1-11], drum-type hairbrush [1-7], lower nozzle [1-8], sewage collecting treatment box [1-13], drum-type sponge brush are equipped with direct current generator [1-5], the drum-type hairbrush is equipped with direct current generator [1-9]; Top, the framework outside is equipped with balancing pole [1-15], links to each other with steel wire rope [1-1] by rectangular groove in the middle of it; Centre position, the framework outside is equipped with two desk fans [1-6], and the framework lower end is equipped with camera [1-12], and framework is respectively installed a pressure sensor [1-14] on four angles;
Two steel wire ropes [1-1] of safe servo-actuated control dolly are connected to the balancing pole [1-15] of cleaning mechanism, also are separately installed with pressure sensor [1-10] on two steel wire ropes;
Described control circuit, microprocessor CPU receives the signal of color sensor [4-1], pressure sensor [1-10], photoelectric sensor [4-2], button [4-3], wireless control module [4-4] respectively, establish photoelectric isolating circuit [M] between forceful electric power and the light current circuit, after microprocessor CPU is handled the signal that receives, through optical isolation [M] by relay 1[4-5], relay 2[4-6] control frequency converter [4-10], control worm and gear reducing motor [2-2] then; By relay 3[4-7], relay 4[4-8] control direct current generator [1-5], direct current generator [1-9]; By relay 5[4-9] control fan [1-6]; And direct control step motor [2-5]; The display screen of control circuit [2-12] receives the signal of camera [1-12].
CN2009201423597U 2009-04-13 2009-04-13 High-rise external wall surface cleaning device CN201431424Y (en)

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Application Number Priority Date Filing Date Title
CN2009201423597U CN201431424Y (en) 2009-04-13 2009-04-13 High-rise external wall surface cleaning device

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102029359A (en) * 2010-12-02 2011-04-27 苏州苏铸成套装备制造有限公司 Device for cleaning and detecting external part of sand box
CN102242568A (en) * 2010-05-13 2011-11-16 程大祥 Remote-control high-altitude cleaning decorating lifter
CN102688003A (en) * 2011-03-25 2012-09-26 刘红兵 Glass roof cleaning and snow load reducing device
CN104290095A (en) * 2013-11-12 2015-01-21 沈阳新松机器人自动化股份有限公司 High-altitude cleaning robot control system and method based on RC
CN104905739A (en) * 2015-06-04 2015-09-16 重庆广播电视大学 Building surface cleaning machine
CN105935276A (en) * 2016-06-21 2016-09-14 深圳市博飞航空科技有限公司 Curtain wall cleaning system capable of crossing obstacles
CN106041959A (en) * 2016-07-25 2016-10-26 哈尔滨理工大学 Bionic wall face cleaning robot device and cleaning method based on device
CN106108800A (en) * 2016-08-12 2016-11-16 付江 A kind of external wall cleaning equipment
CN106184453A (en) * 2016-08-31 2016-12-07 王照涵 A kind of four rotor Climbing Robot crossing normal plane
WO2017028293A1 (en) * 2015-08-20 2017-02-23 韩性峰 Laser-guided exterior wall cleaner
CN106466153A (en) * 2016-09-29 2017-03-01 安徽翼讯飞行安全技术有限公司 Glass outer wall cleans unmanned plane
CN106618362A (en) * 2017-01-12 2017-05-10 深圳智达机械技术有限公司 Intelligent window-wiping system
CN109549550A (en) * 2018-12-02 2019-04-02 杨留英 A kind of large glass curtain cleaning device
CN109717786A (en) * 2019-01-31 2019-05-07 王昕� A kind of glass curtain wall cleaning machine device people's system
CN110916571A (en) * 2019-12-07 2020-03-27 熊墨春 Curtain wall cleaning equipment

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102242568A (en) * 2010-05-13 2011-11-16 程大祥 Remote-control high-altitude cleaning decorating lifter
CN102029359A (en) * 2010-12-02 2011-04-27 苏州苏铸成套装备制造有限公司 Device for cleaning and detecting external part of sand box
CN102688003A (en) * 2011-03-25 2012-09-26 刘红兵 Glass roof cleaning and snow load reducing device
CN104290095A (en) * 2013-11-12 2015-01-21 沈阳新松机器人自动化股份有限公司 High-altitude cleaning robot control system and method based on RC
CN104905739A (en) * 2015-06-04 2015-09-16 重庆广播电视大学 Building surface cleaning machine
CN104905739B (en) * 2015-06-04 2017-12-08 重庆丰银包装材料有限公司 building surface cleaner
WO2017028293A1 (en) * 2015-08-20 2017-02-23 韩性峰 Laser-guided exterior wall cleaner
CN105935276B (en) * 2016-06-21 2019-05-24 深圳市博飞航空科技有限公司 A kind of curtain wall cleaning system may span across obstacle
CN105935276A (en) * 2016-06-21 2016-09-14 深圳市博飞航空科技有限公司 Curtain wall cleaning system capable of crossing obstacles
CN106041959A (en) * 2016-07-25 2016-10-26 哈尔滨理工大学 Bionic wall face cleaning robot device and cleaning method based on device
CN106108800A (en) * 2016-08-12 2016-11-16 付江 A kind of external wall cleaning equipment
CN106184453A (en) * 2016-08-31 2016-12-07 王照涵 A kind of four rotor Climbing Robot crossing normal plane
CN106466153A (en) * 2016-09-29 2017-03-01 安徽翼讯飞行安全技术有限公司 Glass outer wall cleans unmanned plane
CN106466153B (en) * 2016-09-29 2019-11-29 安徽翼讯飞行安全技术有限公司 Glass outer wall cleans unmanned plane
CN106618362A (en) * 2017-01-12 2017-05-10 深圳智达机械技术有限公司 Intelligent window-wiping system
CN109549550A (en) * 2018-12-02 2019-04-02 杨留英 A kind of large glass curtain cleaning device
CN109549550B (en) * 2018-12-02 2020-12-22 南京美华羽绒制品有限公司 Large-scale glass curtain wall belt cleaning device
CN109717786A (en) * 2019-01-31 2019-05-07 王昕� A kind of glass curtain wall cleaning machine device people's system
CN110916571A (en) * 2019-12-07 2020-03-27 熊墨春 Curtain wall cleaning equipment

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