CN205885366U - Automatic wipe window robot - Google Patents

Abstract

The utility model discloses an automatic wipe window robot, including lifting machine structure and robot main part, lifting machine constructs location, the removal work of accomplishing the robot main part, the robot main part includes fixed establishment, cleans the mechanism, fixed establishment constitute by two fixed arms installing on the dead lever, clean the mechanism and install on the lead screw on the dead lever. The utility model discloses to the outer watch crystal that the high level was built, realize automatic process of cleaning, avoided artifical and cleaned operation high -risk, high strength, improved the operating efficiency greatly, have good removal and commonality (applicable in about 50% high -rise building ), reserve the track far below building in -process under construction on the cost and the window machine is wiped in the preparation.

Description

A kind of automatic window-cleaning family robot

Technical field

This utility model is related to a kind of robot wiping window, is specifically a kind of with low cost, working performance is high Automatic window-cleaning family robot.

Background technology

The cleaning method of skyscraper glass mainly has two kinds at present: one kind is to carry cleaner by hoistable platform or hanging basket Carry out the cleaning of glass curtain wall, though simple and easy to do, high labor intensive, there is very big danger.Another kind is with installing In the track of roof and sling system, window cleaning equipment be aligned window is carried out automatic scrubbing, the first cost of investment of this mode is higher.

Existing automatic window wiping robot in the market, is mainly directed towards domestic consumer it is impossible to realize crossing over the shifting of window frame Dynamic it is necessary to by manually moving on another sheet glass after a piece of glass wipes.

Utility model content

For solving the problems, such as that background technology mentions, the utility model proposes a kind of with low cost, high automatic of working performance Wipe window robot, adopt the following technical scheme that:

A kind of automatic window-cleaning family robot, including derricking gear and robot body, described robot body includes solid Fixed pole, and fixed mechanism, walking mechanism and the scrubbing mechanism being connected with fix bar, wherein, fixed mechanism includes being hinged on admittedly The fixed arm at fixed pole two ends, any of which fixed arm is provided with controlling organization, and described controlling organization controls fixed arm around it Rotate with the pin joint of fix bar, make the end of fixed arm be stuck in the upper and lower edge of window；Walking mechanism is arranged on fixed arm end Portion, described walking mechanism includes the wheel being driven by running motor, and is located in the groove of lateral wheel, coaxial with wheel Inflation lid；Described groove is connected with trachea, and the trachea other end connects air supply system；Scrubbing mechanism is connected solid by cylinder Fixed pole, and can translate along fix bar.

Further, derricking gear includes two lifting machines, and lifting machine is fixed on the balcony two of building by fixed mount Side, lifting machine passes through lifting rope and is connected with the fix bar of robot body, and two lifting machine coordinated complete to robot body Positioning, mobile working.

Further, the controlling organization of fixed arm includes the worm gear with the worm screw being driven from motor and worm screw and rolling Cylinder, worm gear and cylinder are linked by gear train, and the traction steel wire on cylinder has two strands, draws two fixations respectively by pulley Arm.Two fixed arm ends are equipped with the return spring connecting with fix bar, when controlling organization works, turning with fixed arm Dynamic, return spring is stretched, and plays cushioning effect；When controlling organization quits work, return spring shrinks, by fixed arm and lead Draw steel wire to reset.

Further, described scrubbing mechanism includes with the hinged scouring plate of cylinder head portions, and the upper and lower both sides of scouring plate are provided with Clean silica gel strip, scouring plate is also equipped with pressure transducer；Scouring plate surrounding is additionally provided with some sparge pipes, the sparge pipe other end Connect water system.

Further, the cylinder of scrubbing mechanism is connected on the screw mandrel in fix bar, and screw mandrel is by the lead screw motor of its end Drive.

This utility model is directed to the high-rise appearance surface glass built, realize the process of automatic scrubbing, it is to avoid artificial scouring High-risk, high intensity operation, substantially increases working performance；There is good movement and versatility (is applicable to 50% about Skyscraper), on cost be far below during Jian Lou reserved track and make window cleaning equipment.

Brief description:

Fig. 1 is overall structure diagram of the present utility model；

Fig. 2 is the structural representation of robot body of the present utility model；

Fig. 3 is fix bar of the present utility model and fixed arm junction schematic enlarged-scale view；

Fig. 4 is the controlling organization structural representation of this utility model fixed arm；

Fig. 5 is Fig. 4 b b cross-sectional view；

Fig. 6 is this utility model walking mechanism structural representation；

Fig. 7 is this utility model scrubbing mechanism structural representation.

Specific embodiment

In order that those skilled in the art more fully understands the technical solution of the utility model, below to this utility model It is described further:

Shown in Fig. 1, a kind of automatic window-cleaning family robot, including derricking gear and robot body, derricking gear includes two Individual lifting machine (1), lifting machine (1) is fixed on the balcony both sides of building (2) by fixed mount, lifting machine (1) pass through lifting rope with Robot body is connected, and two lifting machine (1) coordinated complete the positioning to robot body, mobile working.

Shown in Fig. 2-3, robot body includes fix bar (3), and fix bar (3) end is provided with the lifting rope with lifting machine (1) The pulley assembly (11) connecting, each hinged fixed arm (4) in fix bar (3) two ends；Fixed arm (4) is provided with controlling organization (5), Described controlling organization (5) as illustrated in figures 4-5, with the worm screw (52) being driven from fixing motor (51) and worm screw (52) Worm gear (53) and cylinder (54), worm gear (53) and cylinder (54) pass through gear train (55) and link.Traction on cylinder (54) Steel wire has two strands, draws two fixed arms (4) respectively by pulley (31), (32), when fixing horse (51) reaches work, draws steel Silk two fixed arms (4) of traction, so as to rotate around the pin joint with fix bar (3), make the end of fixed arm (4) be stuck in window Upper and lower edge.

Two fixed arm (4) ends are equipped with the return spring (56) connecting with fix bar (3), (57), work as controlling organization (5) when working, with the rotation of fixed arm (4), return spring (56), (57) are stretched, and play cushioning effect；When controlling organization stops When only working, return spring (56), (57) are shunk, and fixed arm (4) and traction steel wire are resetted.

The end of two fixed arms (4) is equipped with walking mechanism (6), and described walking mechanism (6) is as shown in fig. 6, include Connector (61), wheel (62) connects with rotating shaft (65), and rotating shaft (65) is arranged on connector (61) side by bearing (63).

Described wheel (62) simultaneously has the groove (64) of circle, and groove (64) is with the rotating shaft (65) of wheel (62) Portion's cavity connection, inflation lid (66) is arranged in groove (64), and trachea (67) passes through gas-tpe fitting (610) with rotating shaft (65) Cavity connects, and the gas outlet of rotating shaft (65) internal cavities is just to inflation lid (66) back.

Canine tooth wheel disc (68) is fixing with rotating shaft (65), with the cooperation of gear wheel (68) disk little gear disk (69) by running motor (60) drive, thus carrying motor car wheel (62) to rotate.

During work, respectively with the upper and lower edge contact of window, wheel (62) is parallel with glass for two wheels (62).Now lead to Cross air supply system (7) to blow to trachea (67), air flows to surrounding under the guiding of inflation lid (66), thus forming Bernoulli Jacob Effect, but will not be with glass contact so that wheel (62) adsorbs in glass surface.Wheel (60) under the driving of running motor, Can move along windowsill, complete the translation motion to robot body.

Scrubbing mechanism (9) is connected with fix bar (3) by cylinder (8), and cylinder is arranged on the screw mandrel in fix bar (3), Screw mandrel is driven by the lead screw motor of its end.Described scrubbing mechanism (9) is as shown in fig. 7, comprises hinged with cylinder (8) end Scouring plate (91), both sides are provided with scouring silica gel strip (93) to scouring plate (91) up and down, and scouring plate is also equipped with pressure sensing on (91) Device；Scouring plate (91) surrounding is additionally provided with some sparge pipes (92), and sparge pipe (92) other end connects water system (10).

After two fixed arms (4) are fixed with the upper and lower edge of window, cylinder (8) works, and scouring plate (91) is withstood on glass table Face.When pressure reaches 5.5n, cylinder (8) quits work.Now sparge pipe (92) starts to spray water, and lead screw motor drives swaging machine Structure moves up and down, and completes a scouring process.

Above describes some one exemplary embodiment of the present utility model by way of explanation, undoubtedly, for Those of ordinary skill in the art, in the case of without departing from spirit and scope of the present utility model, can be with various different Mode is modified to described embodiment.Therefore, above-mentioned accompanying drawing and description are inherently illustrative, should not be construed as Restriction to this utility model claims.

Claims (6)

1. a kind of automatic window-cleaning family robot, including derricking gear and robot body it is characterised in that described robot master Body includes fix bar, and fixed mechanism, walking mechanism and the scrubbing mechanism being connected with fix bar, and wherein, fixed mechanism includes It is hinged on the fixed arm at fix bar two ends, and arbitrary fixed arm is provided with controlling organization, described controlling organization controls fixed arm Rotate with the pin joint of fix bar around it, make the end of fixed arm be stuck in the upper and lower edge of window；Walking mechanism is arranged on fixation Arm end, described walking mechanism includes the roller being driven by running motor, and is located in the groove outside roller, and with rolling Take turns coaxial inflation lid；Described groove is connected with trachea, and the trachea other end connects air supply system；Scrubbing mechanism passes through cylinder Be connected bar, and can translate along fix bar.

2. a kind of automatic window-cleaning family robot according to claim 1, is further characterized in that, derricking gear includes two to be risen Loop wheel machine, lifting machine is fixed on the balcony both sides of building by fixed mount, and lifting machine passes through the fixation with robot body for the lifting rope Bar is connected, and two lifting machine coordinated complete the positioning to robot body, mobile working.

3. a kind of automatic window-cleaning family robot according to claim 1, is further characterized in that, the controlling organization bag of fixed arm Include the worm gear with the worm screw being driven from motor and worm screw and cylinder, worm gear and cylinder are linked by gear train, on cylinder Traction steel wire have two strands, two fixed arms are drawn respectively by pulley.

4. a kind of automatic window-cleaning family robot according to claim 3, is further characterized in that, two fixed arm ends are all provided with There is the return spring connecting with fix bar.

5. a kind of automatic window-cleaning family robot according to claim 1, is further characterized in that, described scrubbing mechanism includes With the hinged scouring plate of cylinder head portions, the upper and lower both sides of scouring plate are provided with scouring silica gel strip, scouring plate are also equipped with pressure sensing Device；Scouring plate surrounding is additionally provided with some sparge pipes, and the sparge pipe other end connects water system.

6. a kind of automatic window-cleaning family robot according to claim 1, is further characterized in that, the cylinder of scrubbing mechanism is even It is connected on the screw mandrel in fix bar, screw mandrel is driven by the lead screw motor of its end.