CN203245886U - Two-dimensional suspension type high-rise outer wall cleaning robot - Google Patents
Two-dimensional suspension type high-rise outer wall cleaning robot Download PDFInfo
- Publication number
- CN203245886U CN203245886U CN 201320251234 CN201320251234U CN203245886U CN 203245886 U CN203245886 U CN 203245886U CN 201320251234 CN201320251234 CN 201320251234 CN 201320251234 U CN201320251234 U CN 201320251234U CN 203245886 U CN203245886 U CN 203245886U
- Authority
- CN
- China
- Prior art keywords
- cleaning
- frame
- reel
- reels
- suspension type
- 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.)
- Expired - Fee Related
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 48
- 239000000725 suspension Substances 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000005484 gravity Effects 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000003028 elevating effect Effects 0.000 claims description 8
- 238000005406 washing Methods 0.000 claims description 8
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
一种二维悬挂式高楼外墙清洁机器人，涉及一种高楼外墙清洁装置，包括清洗机构、两个升降机构、控制系统和机架，清洗机构包括一个由动力装置驱动的清洗盘，清洗盘设置在机架的一侧，升降机构包括驱动装置、传动装置和卷筒，驱动装置通过传动装置与卷筒的转轴相连，卷筒上缠绕有吊绳，两个卷筒设置在靠近清洗盘的机架一端，两个卷筒的位置高于整个清洁机器人重心所在的位置，并且两个卷筒所在的机架一端远离整个清洁机器人重心所在的一端，控制系统通过遥控器控制动力装置和驱动装置的运转。本实用新型不用附加其他辅助机构即可完成高楼外墙的清洁工作，而且不受高楼楼顶和外墙外形的限制，增强清洁机器人的适应性。
A two-dimensional suspended high-rise exterior wall cleaning robot, which relates to a high-rise exterior wall cleaning device, including a cleaning mechanism, two lifting mechanisms, a control system and a frame. The cleaning mechanism includes a cleaning disk driven by a power device, and the cleaning disk Set on one side of the frame, the lifting mechanism includes a driving device, a transmission device and a reel, the driving device is connected to the rotating shaft of the reel through the transmission device, a suspension rope is wound on the reel, and the two reels are set on the At one end of the frame, the position of the two reels is higher than the center of gravity of the entire cleaning robot, and the end of the frame where the two reels are located is far away from the end of the center of gravity of the entire cleaning robot. The control system controls the power unit and drive device through the remote control operation. The utility model can complete the cleaning work of the outer wall of the high-rise building without adding other auxiliary mechanisms, and is not limited by the shape of the roof and the outer wall of the high-rise building, thereby enhancing the adaptability of the cleaning robot.
Description
Technical field
The utility model relates to a kind of high building exterior wall cleaning device, especially relates to a kind of two-dimentional suspension type high-rise facade washing machine device people.
Background technology
The main cleaning means of high building exterior wall has artificial cleaning and robot cleaner at present.Artificial cleaning is that the street cleaner stands on the scaffold put up or the common vertical hanging formula hanging basket and cleans tall building wall.When adopting artificial scaffold cleaning, need to scaffold be installed according to the height of body of wall, and cleaning needs the scaffold of dismantling after finishing, labour intensity is large, and cleaning efficiency is low and have a potential safety hazard.When adopting artificial common rectilinear hanging basket, can satisfy the cleaning on the high building exterior wall vertical direction, and the cleaning that will satisfy whole body of wall hangs many group hanging baskets with regard to needs.
Robot cleaner has two kinds of common basket-hanging and sucked types.The basket-hanging robot is installed in cleaning mechanism on the hanging basket, the horizontal guide rail by being installed in roof and hang steel wire and finish motion at body of wall, but be subjected to the roof shape limitation.And the sucked type robot is adsorbed on cleaning mechanism by sucker to move on the high building exterior wall, finishes cleaning, and this kind robot architecture complexity can not be used widely.
The utility model content
The purpose of this utility model just provides a kind of two-dimentional suspension type high-rise facade washing machine device people, this cleaning machine robot mechanism is simple, easy to use, be not subjected to the restriction of tall building roof and exterior wall profile, strengthen the adaptability of clean robot, satisfy the cleaning of high building exterior wall.
For achieving the above object, the technical solution of the utility model is: a kind of two-dimentional suspension type high-rise facade washing machine device people, comprise wiper mechanism, two elevating mechanisms, control system and frame, wiper mechanism comprises a cleaning disc that is driven by power set, cleaning disc is arranged on a side of frame, elevating mechanism comprises drive unit, transmission device and reel, drive unit links to each other with the rotating shaft of reel by transmission device, be wound with lifting rope on the reel, two reels are arranged on frame one end of close cleaning disc, the position of two reels is higher than the position at whole clean robot center of gravity place, and frame one end at two reel places is away from an end at whole clean robot center of gravity place, and control system is by the running of remote controller control power set and drive unit.
Described power set comprise a reducing motor, and the main shaft of reducing motor is installed on the frame by bearing, and the main shaft of reducing motor is connected with cleaning disc.
Described drive unit is the elevator motor.
The outside of described cleaning disc is provided with flexible hairbrush.
Beneficial effect: the utility model in use only need be separately fixed at two lifting ropes of two elevating mechanisms two jiaos of high building top, two lifting ropes are mutually certain angle, finish wiper mechanism in the translational motion of high building exterior wall by the contraction of controlling two lifting ropes, the any point that reaches metope is finished cleaning, thereby horizontal guide rail need to be set in addition on the high building top with the movement of control wiper mechanism, need not consider the restriction of tall building roof and exterior wall profile.The utility model can make between cleaning deskitte and the exterior wall according to self force way and produce interaction force, and additionally additional mechanism providing additional operation just can make cleaning deskitte be close on the exterior wall, cleans more effective.
Description of drawings
Fig. 1 is that structure chart is partly cutd open in side of the present utility model.
Fig. 2 is plan structure figure of the present utility model.
Overall diagram when Fig. 3 is the utility model implementation.
Be labeled as among the figure: 1, wiper mechanism, 2, elevating mechanism, 3, frame, 4, power set, 5, cleaning disc, 6, drive unit, 7, transmission device, 8, reel, 9, lifting rope, 10, bearing, 11, high building exterior wall.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further specified.
A kind of two-dimentional suspension type high-rise facade washing machine device people, comprise wiper mechanism 1, two elevating mechanisms 2, control system and frame 3, wiper mechanism 1 comprises a cleaning disc 5 that is driven by power set 4, described power set 4 comprise a reducing motor, the main shaft of reducing motor is installed on the frame 3 by bearing 10, the main shaft of reducing motor is connected with cleaning disc 5, the outside of cleaning disc is provided with flexible hairbrush, be used for the cleaning of External Wall, cleaning disc 5 is arranged on a side of frame 3, elevating mechanism 2 comprises drive unit 6, transmission device 7 and reel 8, drive unit 6 is the elevator motor, link to each other by the rotating shaft of transmission device 7 with reel 8, be wound with lifting rope 9 on the reel 8, two reels 8 are arranged on frame 3 one ends of close cleaning disc 5, the position of two reels 8 is higher than the position at whole clean robot center of gravity place, and frame 3 one ends at two reel 8 places are away from an end at whole clean robot center of gravity place, control system is by the running of remote controller control power set 4 and drive unit 6, also be provided with electric supply installation on the frame, to provide energy to power set 4 and drive unit 6.
During work, lifting rope 9 on two reels 8 is separately fixed at two jiaos of high building exterior wall top, two lifting ropes 9 are mutually certain angle, robot and lifting rope 9 form a triangle, and robot just in time is in leg-of-mutton top, forms a two-dimensional coordinate system, by adjusting the length of two lifting ropes 9, just can make clean robot move to the optional position of high building exterior wall 11, the cleaning to high building exterior wall 11 is finished in simultaneously power set 4 drive cleaning discs 5 rotations.In addition, the utility model robot integral body is a rectangular structure, to whole Force Analysis of Robot, be subjected to lifting rope pulling force obliquely and gravity straight down, gravity is moved to a bit that is subjected to pulling force, translation principle according to power, need additional couple, the moment of couple of couple equals gravity to the square of pulling force point, and this couple can make robot be close on the high building exterior wall, make to produce an interaction force between cleaning disc 5 and the high building exterior wall 11, finish effective cleaning of External Wall.
Claims (3)
1. two-dimentional suspension type high-rise facade washing machine device people, it is characterized in that: comprise wiper mechanism (1), two elevating mechanisms (2), control system and frame (3), wiper mechanism (1) comprises a cleaning disc (5) that is driven by power set (4), cleaning disc (5) is arranged on a side of frame (3), elevating mechanism (2) comprises drive unit (6), transmission device (7) and reel (8), drive unit (6) links to each other with the rotating shaft of reel (8) by transmission device (7), be wound with lifting rope (9) on the reel (8), two reels (8) are arranged on frame (3) one ends near cleaning disc (5), the position of two reels (8) is higher than the position at whole clean robot center of gravity place, and frame (3) one ends at two reels (8) place are away from an end at whole clean robot center of gravity place, and control system is controlled the running of power set (4) and drive unit (6) by remote controller.
2. a kind of two-dimentional suspension type high-rise facade washing machine device people as claimed in claim 1, it is characterized in that: described power set (4) comprise a reducing motor, the main shaft of reducing motor is installed on the frame (3) by bearing (10), and the main shaft of reducing motor is connected with cleaning disc (5).
3. a kind of two-dimentional suspension type high-rise facade washing machine device people as claimed in claim 1, it is characterized in that: described drive unit (6) is the elevator motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320251234 CN203245886U (en) | 2013-05-10 | 2013-05-10 | Two-dimensional suspension type high-rise outer wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320251234 CN203245886U (en) | 2013-05-10 | 2013-05-10 | Two-dimensional suspension type high-rise outer wall cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203245886U true CN203245886U (en) | 2013-10-23 |
Family
ID=49372346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320251234 Expired - Fee Related CN203245886U (en) | 2013-05-10 | 2013-05-10 | Two-dimensional suspension type high-rise outer wall cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203245886U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273492A (en) * | 2013-05-10 | 2013-09-04 | 河南科技大学 | Two-dimensional suspended type high-rise outer wall cleaning robot |
| CN106993976A (en) * | 2017-03-22 | 2017-08-01 | 盛富春 | A kind of high-rise cleaner device people of two-sided bidirectional walking |
| CN108643599A (en) * | 2018-05-25 | 2018-10-12 | 杭州电子科技大学 | Topological three-dimensional suspended structure glass-wall cleaning robot system and motion control method |
-
2013
- 2013-05-10 CN CN 201320251234 patent/CN203245886U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273492A (en) * | 2013-05-10 | 2013-09-04 | 河南科技大学 | Two-dimensional suspended type high-rise outer wall cleaning robot |
| CN103273492B (en) * | 2013-05-10 | 2015-07-29 | 河南科技大学 | A kind of two dimensional suspension formula high-rise facade washing machine device people |
| CN106993976A (en) * | 2017-03-22 | 2017-08-01 | 盛富春 | A kind of high-rise cleaner device people of two-sided bidirectional walking |
| CN106993976B (en) * | 2017-03-22 | 2020-05-19 | 盛富春 | High-rise cleaning robot capable of walking in two directions on two sides |
| CN108643599A (en) * | 2018-05-25 | 2018-10-12 | 杭州电子科技大学 | Topological three-dimensional suspended structure glass-wall cleaning robot system and motion control method |
| CN108643599B (en) * | 2018-05-25 | 2020-11-06 | 杭州电子科技大学 | Topological three-dimensional suspension structure curtain wall cleaning robot system and motion control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201987468U (en) | Counterweight type high-rise window cleaning machine | |
| CN105476560B (en) | A kind of robot for cleaning wall surface and its control method | |
| CN203729592U (en) | Vertical bush hammering equipment | |
| CN107130777A (en) | A kind of external wall of high-rise building multiple degrees of freedom plastering machine | |
| CN103445731A (en) | Double-flexible-cable-driven glass curtain wall cleaning robot | |
| CN103169419A (en) | High-rise wall surface cleaning robot moving device | |
| CN203245886U (en) | Two-dimensional suspension type high-rise outer wall cleaning robot | |
| CN104146651A (en) | Winch type window cleaning machine | |
| CN203295132U (en) | Lifting device for high-rise operation | |
| CN112343223A (en) | Curtain wall mounting device | |
| CN202184690U (en) | Automatic dry cleaning robot for outer wall of high-rise building | |
| CN103273492B (en) | A kind of two dimensional suspension formula high-rise facade washing machine device people | |
| CN101803895A (en) | Moving and protecting device of wall surface washing robot for high-rise building | |
| CN203138344U (en) | High-rise wall face cleaning robot moving device | |
| CN105816096A (en) | Automatic window wiping robot | |
| CN201701161U (en) | High-rise building wall surface cleaning robot moving and protecting device | |
| CN202718381U (en) | Transfer-free lifting device | |
| CN205306917U (en) | Wall cleaning robot | |
| CN205932998U (en) | Building tower crane with safe hanging flower basket | |
| CN206901617U (en) | A kind of plant equipment mast-up | |
| CN201005621Y (en) | Suspended type electric cleaner for the glass of the high building | |
| CN206239322U (en) | Window cleaning equipment | |
| CN203875043U (en) | Coop bottom floor sweeper | |
| CN202139005U (en) | Hanging basket rope-aligning mechanism | |
| CN204971131U (en) | High building outer wall belt cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131023 Termination date: 20140510 |