CN203245886U - Two-dimensional suspension type high-rise outer wall cleaning robot - Google Patents

Two-dimensional suspension type high-rise outer wall cleaning robot Download PDF

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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
rise
cleaning
suspension type
cleaning robot
frame
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
Application number
CN 201320251234
Other languages
Chinese (zh)
Inventor
朱亚飞
李玉柱
冯崇
薛坤鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Henan University of Science and Technology
Original Assignee
Henan University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Henan University of Science and Technology filed Critical Henan University of Science and Technology
Priority to CN 201320251234 priority Critical patent/CN203245886U/en
Application granted granted Critical
Publication of CN203245886U publication Critical patent/CN203245886U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a high-rise outer wall cleaning device, in particular to a two-dimensional suspension type high-rise outer wall cleaning robot. The two-dimensional suspension type high-rise outer wall cleaning robot comprises a washing mechanism, two lifting mechanisms, a control system and a rack, wherein the washing mechanism comprises a washing disc driven by a power device, the washing disc is arranged on one side of the rack, each lifting mechanism comprises a driving device, a transmission device and a winding drum, the driving devices are connected with rotation shafts of the winding drums through the transmission devices, hanging ropes are wound on the winding drums, the two winding drums are arranged at the end, close to the washing disc, of the rack, the positions of the two winding drums are higher than the position of the gravity center of the whole cleaning robot, the end, provided with the two winding drums, of the rack is far away from the end where the gravity center of the whole cleaning robot is located, and the control system controls the power device and the driving devices to operate through a remote-control unit. According to the two-dimensional suspension type high-rise outer wall cleaning robot, the cleaning work of high-rise outer walls can be completed without additional arrangement of auxiliary mechanisms, the limitation of high-rise floors and outer wall shapes on the cleaning work is avoided, and the adaptation of the cleaning robot is strengthened.

Description

A kind of two-dimentional suspension type high-rise facade washing machine device people
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.
CN 201320251234 2013-05-10 2013-05-10 Two-dimensional suspension type high-rise outer wall cleaning robot Expired - Fee Related CN203245886U (en)

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)

* Cited by examiner, † Cited by third party
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

Cited By (6)

* Cited by examiner, † Cited by third party
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

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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