CN206303845U - A multifunctional glass curtain wall cleaning robot - Google Patents

Abstract

The utility model belongs to the technical field of the robotechnology and specifically relates to a multi-functional glass curtain wall cleaning machines people. The device comprises a body controller, a pneumatic pump, a liquid supply device, a lifting device, a vacuum chuck longitudinal crawler assembly, a vacuum chuck transverse crawler assembly, a dust removing device, a liquid spraying device, a water stain sucking device and a function expanding device, wherein the vacuum chuck longitudinal crawler assembly, the vacuum chuck transverse crawler assembly, the dust removing device, the liquid spraying device, the water stain sucking device and the function expanding device are arranged on the body controller, and the function expanding device is a multimedia display screen or a solar cell panel. The utility model can ensure the cleaning effect by polishing, scraping, cleaning, absorbing and removing water stains and other treatments to the solid deposits on the surface of the curtain wall; meanwhile, the auxiliary functions of the whole robot can be greatly enriched through the arranged function expanding device, for example, when the robot is used for cleaning a curtain wall, advertisement or news information can be issued through the multimedia display screen, and the influence on the integral attractiveness of a building caused by cleaning the curtain wall is avoided; the solar cell panel can also be arranged to provide power for the whole robot, so that the effects of energy conservation and environmental protection are achieved.

Description

A multifunctional glass curtain wall cleaning robot

technical field

The utility model relates to the technical field of robots, in particular to a multifunctional glass curtain wall cleaning robot.

Background technique

Glass curtain wall is one of the most important decorative materials in the world today, and it has been widely used as the outdoor wall of various buildings. The factors are organically unified, so that the building can present different tones from different angles, giving people a dynamic beauty with the changes of sunlight, moonlight, and lights.

Because the dust in the air, the dust entrained in the rain, and the excrement of birds will gradually deposit on the surface of the curtain wall of the building, which will affect the aesthetics of the curtain wall and the cleanliness of the building's appearance; therefore, the cleaning of the glass curtain wall It has attracted more and more people's attention and gradually formed a huge curtain wall cleaning market.

However, at present, the cleaning of the glass curtain wall is mainly done manually, that is, after the cleaning personnel are suspended from the roof to the side wall of the building, the cleaning personnel manually clean the surface of the curtain wall. There are problems such as low cleaning efficiency and high risk factor in the whole process, and the cleaning cost is high, which also affects the beauty, cleanliness and further development space of the glass curtain wall.

Utility model content

In view of the deficiencies in the above-mentioned prior art, the purpose of this utility model is to provide a multifunctional glass curtain wall cleaning robot.

In order to achieve the above object, the utility model adopts the following technical solutions:

A multifunctional glass curtain wall cleaning robot, which includes a body controller arranged on the curtain wall of a building, a pneumatic pump placed on the roof of the building, a liquid supply device placed on the roof of the building, a The lifting device installed on the top of the curtain wall of the building and the two vacuum suction cup longitudinal track assemblies, two vacuum suction cup horizontal track assemblies, a dust removal device, and a liquid injection device installed on the body controller and a water spot suction device;

The two vacuum sucker longitudinal crawler assemblies are respectively located on the left and right sides of the body controller, and the two vacuum sucker transverse crawlers are respectively located on the upper and lower sides of the body controller. The water stain suction device, liquid injection device and The dust removal devices are sequentially distributed on the abdominal side of the body controller from top to bottom, the pneumatic pump is connected with the water spot suction device through a negative pressure adsorption hose arranged on the body controller, and the liquid supply device The liquid supply hose arranged on the body controller is connected with the liquid injection device, and the lifting device is connected with the body controller through at least two parallel distributed slings; the vacuum suction cup longitudinal crawler assembly is adsorbed on the building On the curtain wall or drive the body controller to move in the up and down direction, the vacuum suction cup transverse crawler assembly is adsorbed on the building curtain wall or drives the body controller to move in the left and right directions, and the body controller controls the dust removal device action;

It also includes a function expansion device installed on the body controller and positioned at the back side of the body controller, the function expansion device is a multimedia display screen controlled by the body controller or a device electrically connected to the body controller solar panel.

Preferably, the vacuum suction cup longitudinal crawler assembly and the vacuum suction cup transverse crawler assembly both include a suction cup skeleton, a crawler set on the suction cup skeleton and rotating relative to the suction cup skeleton, and formed on the outer surface of the crawler along the rotation direction of the crawler. Several vacuum suction cups on the body and at least one vacuum pump that is installed on the body controller and connected with the vacuum suction cups through a rigid vacuum tube.

Preferably, a main air cavity is formed between the track and the suction cup skeleton, and a branch line air cavity communicating with the corresponding vacuum suction cup is provided on the track and at a position corresponding to each vacuum suction cup, and each of the A vacuum valve is installed in the air cavity of the branch line, and the rigid vacuum tube communicates with the vacuum sucker through the main air cavity and the air cavity of the branch line.

Preferably, the dust removal device includes a rotating brush installed on the abdomen side of the body controller through a beam frame and a dust scraper installed on the abdomen side of the body controller and above the rotating brush, the The dust scraper includes a scraper and two driving cylinders distributed in parallel at the left and right ends of the scraper. The body of the driving cylinder is installed on the body controller and controlled by the body controller. The output of the driving cylinder The shaft is fixed to the back side of the scraper.

Preferably, the liquid injection device includes at least two main liquid pipes distributed in parallel along the left and right directions, and several liquid nozzles are arranged in parallel on the abdomen side of each of the main liquid pipes along the left and right directions, and the main liquid pipes The tube is connected to the fluid supply hose arranged on the body controller through several rigid suspension tubes.

Preferably, the water stain suction device includes an air plate with a hollow structure inside, and the abdominal side of the air plate extends outward to form a flared suction cover with a cross-sectional shape of an isosceles trapezoid, and the air plate It is connected with the negative pressure adsorption hose arranged on the body controller through several rigid suspension air tubes.

Preferably, the hanging device includes a guide rail arranged along the top contour of the curtain wall of the building, a fixed seat embedded on the guide rail and sliding relative to the guide rail, and a hoist installed in the fixed seat. The top end is wound on the winch, and the bottom end is fixed on the body controller.

Preferably, the body controller is provided with several connecting posts, and the function expansion device is mounted on the body controller through the connecting posts and covers the back of the body controller.

Due to the adoption of the above scheme, the utility model can ensure the cleaning effect by grinding, scraping, cleaning, and absorbing water stains on the solid deposits on the surface of the curtain wall; at the same time, the function expansion device can greatly enrich the whole The auxiliary functions of the robot, such as when using the robot to clean the curtain wall, can publish advertisements or news information through the multimedia display screen to avoid affecting the overall aesthetics of the building when cleaning the curtain wall; it can also be provided for the entire robot by setting solar panels. Electricity, to achieve the effect of energy saving and environmental protection.

Description of drawings

Fig. 1 is the structural representation of the utility model embodiment under the state of installation and use;

Fig. 2 is a schematic structural view of the body controller of the utility model embodiment;

Fig. 3 is a schematic plan view of the utility model embodiment in the case of having a solar cell panel;

Fig. 4 is a schematic diagram of the planar structure of the embodiment of the present invention with a multimedia display screen;

Fig. 5 is a schematic cross-sectional structure diagram of the crawler belt assembly of the embodiment of the present invention.

detailed description

The embodiments of the utility model will be described in detail below in conjunction with the accompanying drawings, but the utility model can be implemented in various ways defined and covered by the claims.

As shown in Figures 1 to 5, a multifunctional glass curtain wall cleaning robot provided in this embodiment includes a body controller a arranged on the curtain wall of a building, a pneumatic pump placed on the roof of the building b. A liquid supply device c placed on the roof of the building (it can be composed of a clean water storage tank and a detergent storage tank. In order to ensure that liquid with a certain pressure can be provided, power source equipment such as water pumps can be installed in the storage tank at the same time. ), a lifting device installed on the top of the building curtain wall and two vacuum suction cup longitudinal track assemblies d installed on the body controller a, two vacuum suction cup horizontal track assemblies e, a dust removal Device f, a liquid injection device g and a water stain removal device h; among them, two vacuum suction cup longitudinal crawler assemblies d are respectively located on the left and right sides of the body controller a, and two vacuum suction cup transverse crawlers e are respectively located on the body On the upper and lower sides of the controller a, the water stain suction device h, the liquid injection device g and the dust removal device f are sequentially distributed on the abdomen side of the body controller a from top to bottom, and the pneumatic pump b is arranged on the body control unit through a The negative pressure adsorption hose k on the device a is connected with the water spot suction device h, the liquid supply device c is connected with the liquid injection device g through the liquid supply hose arranged on the body controller a, and the lifting device is connected through at least two The sling m distributed in parallel is connected with the body controller a; the vacuum suction cup longitudinal crawler assembly d is adsorbed on the curtain wall of the building or drives the body controller a to move up and down, and the vacuum suction cup transverse crawler assembly e is adsorbed on the building On the curtain wall or drive the body controller a to move along the left and right direction, the body controller a simultaneously controls the action of the dust removal device f; at the same time, the cleaning robot of this embodiment also includes a device installed on the body controller a and located on the body The function expansion device n on the back side of the controller a, the function expansion device n can adopt a multimedia display screen controlled by the body controller a or a solar panel electrically connected with the body controller a according to specific conditions.

In this way, when using the robot to clean the glass curtain wall of the building, the pneumatic pump b and the liquid supply device c can be placed on the roof of the building in advance, and then the lifting device is installed on the top wall of the curtain wall of the building The body controller a and the components installed on the body controller a are simultaneously hoisted by using the lifting device and the sling m, so that the body controller a can be attached to the wall of the glass curtain wall; and then the vacuum can be used The negative pressure generated by the longitudinal track assembly d of the suction cup and the transverse track assembly e of the vacuum sucker firmly adsorbs the entire robot on the curtain wall (at this time, the robot can stay at a certain position on the curtain wall for a period of time), and can also pass through Utilizing the motion effect of the longitudinal track assembly, the robot can gradually move down along the curtain wall from top to bottom. During the downward movement or the robot’s stay, the body controller a activates the dust removal device f, and the dust removal device f During the action, the solid deposits (such as dust, bird droppings, etc.) attached to the surface of the curtain wall can be removed by wiping or rotating grinding, and then the liquid supply device c provides clean water and detergent to the liquid injection device g through the liquid supply hose Clean the surface of the curtain wall after being treated by the dust removal device f, and then, the robot drives the water stain removal device h to move to the position after cleaning, and the air pump b absorbs the water stains through the negative pressure adsorption hose k The device h generates negative pressure suction to suck away the water stains or tiny solid residues remaining on the surface of the curtain wall, so as to realize the all-round cleaning treatment of the surface of the curtain wall; ) can be realized by moving the lifting device and utilizing the transverse track assembly. In addition, the auxiliary function of the whole robot can be greatly enriched by setting the function expansion device n. For example, when using the robot to clean the curtain wall, advertisements or news information can be released through the multimedia display screen to avoid affecting the overall structure of the building when cleaning the curtain wall. Aesthetics; can also provide power for the entire robot by setting solar panels to achieve the effect of energy saving and environmental protection.

In order to optimize the structure of the entire track assembly and ensure that it can generate a motion effect while forming a strong vacuum adsorption pressure, the vacuum suction cup longitudinal track assembly d and the vacuum suction cup transverse track assembly e of this embodiment both include a suction cup Skeleton 1, a crawler belt 2 set on the suction cup skeleton 1 and rotating relative to the suction cup skeleton 1, several vacuum suction cups 3 formed on the outer surface of the crawler belt 2 along the rotation direction of the crawler belt 2, and at least one mounted on the body controller a vacuum pump 5 that is connected to the vacuum chuck 3 through a rigid vacuum tube 4; in this way, the suction and deflation of the vacuum pump 5 can be used to make the vacuum chuck 3 produce a negative pressure effect, and the crawler belt 2 rotates corresponding to the suction cup skeleton 1. It is also possible to utilize the vacuum suction cup 3 to firmly adsorb the entire robot on the curtain wall wall.

As a preferred solution, a main air cavity 6 is formed between the crawler belt 2 and the suction cup frame 1, and a branch line air cavity 6 connected with the corresponding vacuum suction cup 3 is provided on the crawler belt 2 at a position corresponding to each vacuum suction cup 3. Chamber 7, a vacuum valve 8 is installed in each branch air chamber 7, and the rigid vacuum tube 4 communicates with the vacuum chuck 3 through the main air chamber 6 and the branch air chamber 7. In this way, when the vacuum pump 5 is in operation, the opening and closing of the vacuum valve 8 can be used to close the airflow channel of the corresponding vacuum chuck 3, so as to realize the control of the suction or deflation of the vacuum chuck 3.

In order to ensure that the robot can effectively clean the solid deposits on the surface of the curtain wall, the dust removal device f of this embodiment includes a rotating brush 10 installed on the belly side of the body controller a through a beam frame 9 and a brush installed on the body The dust scraper on the abdominal side of the controller a and above the rotating brush 10. The dust scraper includes a scraper 11 and two driving cylinders 12 distributed in parallel at the left and right ends of the scraper. The body of the driving cylinder 12 is installed On the body controller a and controlled by the body controller a, the output shaft of the driving cylinder 12 is fixed on the back side of the scraper 11, so that the deposition and the surface of the curtain wall can be polished by rotating the brush 10. The solid deposits are crushed, and the driving cylinder 12 can make the scraper 11 closely adhere to the surface of the curtain wall so that the dust adsorbed on the surface of the curtain wall can be further removed during the movement of the scraper 11 .

In order to further optimize the cleaning performance of the robot, the liquid injection device g of this embodiment includes at least two main liquid pipes 13 distributed in parallel along the left and right directions, and are arranged in parallel on the abdominal side of each main liquid pipe 13 and along the left and right directions There are several liquid nozzles 14, and the main liquid pipe 13 is connected to the liquid supply hose arranged on the body controller a through several rigid suspension pipes 15; the robot of this embodiment preferably adopts the independent supply of clean water and detergent way, that is, the liquid supply hose includes a clean water supply hose 16 and a detergent supply hose 17, and the two main liquid pipes 13 respectively pass through the respective rigid liquid suspension pipes 15 and the clean water supply hose 16 and the detergent supply hose. Pipe 17 is connected, so that when the solid deposits on the surface of the curtain wall are treated by the dust removal device f, certain marks or some dust will remain on the surface of the curtain wall, so that the above-mentioned residues can be removed by the high-pressure spray effect of the liquid nozzle 14 Items for further cleaning.

In order to remove residues on the surface of the curtain wall to the greatest extent, especially water stains will be formed on the surface of the curtain wall after being cleaned by the liquid injection device g, the water stain removal device h of this embodiment includes an air plate 18 with a hollow structure inside, The abdominal side of the gas board 18 extends outwards to form a flared suction cover 19 with a cross-sectional shape that is isosceles trapezoidal. The gas board 18 passes through several rigid suspension air tubes 20 and the negative pressure adsorption hose arranged on the body controller a. k is connected; in this way, the negative pressure effect produced by the pneumatic pump b can be used to absorb the undried water stains on the surface of the curtain wall while the flared suction cover 19 is in close contact with the surface of the curtain wall, so as to ensure that the curtain wall Clean and bright.

In addition, in order to improve the convenience of installation and adjustment of the whole robot, the hanging device of this embodiment includes a guide rail 21 arranged along the top contour of the building curtain wall, a fixing seat embedded in the guide rail 21 and sliding relative to the guide rail 21 22 and the hoist (not shown) installed in the fixed seat, the top of the sling m is wound on the hoist, and the bottom end is fixed on the body controller a; thus, when the whole robot needs to be translated When, it is realized by using the directional sliding effect of the fixed seat 22 on the guide rail 21 and the moving effect of the transverse crawler belt assembly.

Of course, in order to expand the coverage area of the function expansion device n to maximize its functional effect, several connecting columns 23 are arranged on the body controller a, and the function expanding device n is installed on the body controller a through the connecting columns 23 and Covers the back of the body controller a.

The above descriptions are only preferred embodiments of the present utility model, and are not therefore limiting the patent scope of the present utility model. Any equivalent structure or equivalent process transformation made by using the specification of the utility model and the contents of the accompanying drawings may be directly or indirectly used in Other relevant technical fields are all included in the patent protection scope of the present utility model in the same way.

Claims (8)

1. a kind of multifunctional glass glass-wall cleaning robot, it is characterised in that：It is arranged on constructure screen wall wall including one Body controller, an air driven pump being positioned on building roof, one are positioned over fluid Supplying apparatus, one on building roof Two vacuum cups for hanging drawing device and being installed on body controller for being installed in the top of constructure screen wall wall are longitudinally carried out Band assembly, two vacuum cup transverse direction track rail assemblies, a dirt thing removal device, a liquid injection apparatus and water stain an absorptions fill Put；

Two vacuum cup longitudinal direction track rail assemblies are respectively positioned at the left and right sides of body controller, two vacuum cups Horizontal crawler belt is respectively positioned at the both sides up and down of body controller, the removal of the water stain absorption device, liquid injection apparatus and dirt thing Device is from top to bottom sequentially distributed in the belly side of body controller, and the air driven pump is arranged on body controller by one Negative-pressure adsorption flexible pipe be connected with water stain absorption device, the fluid Supplying apparatus are by the liquid that is arranged on body controller Supply hose is connected with liquid injection apparatus, and the drawing device that hangs is by least two hoist cables of parallel distributed and body controller It is connected；Vacuum cup longitudinal direction track rail assembly is adsorbed on constructure screen wall wall or drives body controller to enter along the vertical direction Row movement, the vacuum cup transverse direction track rail assembly is adsorbed on constructure screen wall wall or drives body controller in left-right direction Move, the body controller control dirt thing removal device action；

It also includes that one is installed on body controller and positioned at the function expanding device of the back side of body controller, the work( Energy expanding unit is a multimedia display screen for being controlled by body controller or a solar-electricity electrically connected with body controller Pond plate.

2. a kind of multifunctional glass glass-wall cleaning robot as claimed in claim 1, it is characterised in that：The vacuum cup is indulged Include that a sucker skeleton, one are set on sucker skeleton and relative to suction to track rail assembly and vacuum cup transverse direction track rail assembly Crawler belt that disk skeleton is rotated, several vacuum cups on the outer surface of crawler belt and at least are formed at along the rotation direction of crawler belt One vavuum pump for being installed on body controller and being connected with vacuum cup by a rigid vacuum pipe.

3. a kind of multifunctional glass glass-wall cleaning robot as claimed in claim 2, it is characterised in that：The crawler belt and sucker A trunk air cavity is formed between skeleton, on the crawler belt position corresponding with each vacuum cup offer one with it is right A vacuum valve, the rigid vacuum are equiped with the branch line air cavity that the vacuum cup answered is connected, each described branch line air cavity Pipe is connected by trunk air cavity and branch line air cavity with vacuum cup.

4. a kind of multifunctional glass glass-wall cleaning robot as claimed in claim 1, it is characterised in that：The dirt thing removal dress Put including one by roof beam structure be installed in body controller belly side rotating brush and a belly side for being installed in body controller And positioned at the dust scraper of the top of rotating brush, the dust scraper includes a scraper plate and two left and right two for being concurrently distributed in scraper plate The drive cylinder at end, the body of the drive cylinder is installed on body controller and is controlled by body controller, the driving The output shaft of cylinder is fixed on the back side of scraper plate.

5. a kind of multifunctional glass glass-wall cleaning robot as claimed in claim 1, it is characterised in that：The liquid injection dress Put the main hydraulic pipe including at least two parallel distributeds in left-right direction, the belly side of each main hydraulic pipe and equal in left-right direction Concurrently it is provided with several fluid jetting heads, the main hydraulic pipe is by by several rigidity hanging liquid pipe and being arranged in body control Liquid supply hose on device is connected.

6. a kind of multifunctional glass glass-wall cleaning robot as claimed in claim 1, it is characterised in that：The water stain absorption fills It is the gas plate of hollow structure to put including an inside, and the belly epitaxial lateral overgrowth of the gas plate is formed with a cross sectional shape in isosceles after stretching Cover is absorbed in trapezoidal enlarging, and it is soft with the negative-pressure adsorption being arranged on body controller that the gas plate hangs tracheae by several rigidity Pipe is connected.

7. a kind of multifunctional glass glass-wall cleaning robot as claimed in claim 1, it is characterised in that：It is described to hang drawing device bag Include guide rail, the fixed seat that is flush-mounted on guide rail and enters line slip relative to guide rail along the top outline of constructure screen wall And be installed in the hoist engine in fixed seat, the tipping overwrap of the hoist cable on hoist engine, bottom be fixed on body controller On.

8. a kind of multifunctional glass glass-wall cleaning robot as claimed in claim 1, it is characterised in that：The body controller On be provided with several connecting poles, the function expanding device is installed on body controller by connecting pole and covers body control The back of device processed.