CN206453740U - Glass curtain wall cleaning machine device people - Google Patents
Glass curtain wall cleaning machine device people Download PDFInfo
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- CN206453740U CN206453740U CN201621190829.3U CN201621190829U CN206453740U CN 206453740 U CN206453740 U CN 206453740U CN 201621190829 U CN201621190829 U CN 201621190829U CN 206453740 U CN206453740 U CN 206453740U
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Abstract
The utility model is related to a kind of glass curtain wall cleaning machine device people, cleaning for glass curtain wall, including support frame, drive mechanism, the drive mechanism includes being used for the reel and one ends wound that are fixed on building on the reel and drawstring that the other end is connected with support frame as described above；Wiper mechanism, is arranged on support frame as described above close to the side of the glass curtain wall；Fu Bi mechanisms, are arranged on the side away from the glass curtain wall on support frame as described above, and for making the wiper mechanism push against the glass curtain wall by support frame as described above.Controlling organization, on support frame as described above and for controlling the drive mechanism, the wiper mechanism and the Fu Bi mechanisms.In the presence of Fu Bi mechanisms, Fu Bi mechanisms make wiper mechanism be contacted in glass curtain wall by promoting support frame, so that wiper mechanism is effectively cleaned to glass curtain wall, the robot significantly improves cleaning efficiency, while ensuring the quality and security of cleaning.
Description
Technical field
The utility model is related to robotic technology field, more particularly to a kind of glass curtain wall cleaning machine device people.
Background technology
With expanding economy and the raising of Urbanization Rate, city can be used construction area fewer and fewer, in order to economize on
Ground, city middle-high building thing is more and more, and the daylighting based on glass curtain wall preferably, can bring more attractive decorative effect,
So, current most of middle-high building outer surfaces are decorated using glass curtain wall, simultaneously also bring heavier glass
Curtain cleaning task.
For a long time, high-rise glass curtain cleaning is all the operating type of " one barrel of water, rope, one block of plate ".It is so far
Only, the automation equipment of high building wall cleaning is not yet well solved, and this kind of work is still fallen stool by manually taking hanging basket and entered
Row work high above the ground is completed, and upper air current makes hanging basket and staff be difficult to balance, and personal safety and building wall are constituted very
Big threat, and this operating type efficiency is low, cost is high.
Utility model content
Based on this, it is necessary to which providing a kind of can improve the glass curtain wall cleaning machine device people of glass curtain wall cleaning efficiency.
A kind of glass curtain wall cleaning machine device people, for the cleaning of glass curtain wall, including：
Support frame,
Drive mechanism, for driving support frame as described above to be moved along the glass curtain wall；The drive mechanism includes being used for admittedly
The reel and one ends wound being scheduled on building are on the reel and drawstring that the other end is connected with support frame as described above；
Wiper mechanism, is arranged on support frame as described above close to the side of the glass curtain wall；
Fu Bi mechanisms, are arranged on the side away from the glass curtain wall on support frame as described above, and for passing through the support
Frame makes the wiper mechanism push against the glass curtain wall；
Controlling organization, on support frame as described above and for controlling the drive mechanism, the wiper mechanism and described
Fu Bi mechanisms.
In one of the embodiments, in addition on support frame as described above opposite end and for crossing over robot
The barrier getting over mechanism of barrier, the barrier getting over mechanism includes the hold-down support being connected with support frame as described above and the hold-down support turns
First joint link lever of dynamic connection, one end rotate the second joint connecting rod being connected, installed in described with first joint link lever
The other end of second joint connecting rod and the sucker for mutually being adsorbed with the glass curtain wall；
The first motor for driving first joint link lever to rotate is provided with the hold-down support, first joint connects
The junction of bar and the second joint connecting rod is provided with the second motor for driving the second joint link rotatable, described second
Joint link lever is provided with the 3rd motor for driving the sucker to rotate close to one end of the sucker.
In one of the embodiments, the wiper mechanism includes being arranged on support frame as described above roller, along the rolling
The drive component that the cleaning brush being arranged circumferentially and the driving roller of cylinder are rotated.
In one of the embodiments, the drive component includes motor, the peace being arranged in the drive mechanism
The timing belt of belt wheel mounted in described roller one end, the output shaft of the connection motor and the belt wheel, be arranged on it is described
Bearing spider on support frame and the bearing for being connected and being arranged on the bearing spider with the roller, the motor
It is also associated with controlling the machine governor of its rotating speed.
In one of the embodiments, in addition to the auxiliary wiper mechanism that is arranged on support frame as described above, the auxiliary is clear
Washing machine structure include be arranged on support frame as described above on installing plate, connected with the installing plate and be used to contact with the glass curtain wall
Flexible scraper plate.
In one of the embodiments, it is provided with the installing plate for making the flexible scraper plate and the installing plate spiral shell
The tabletting of line connection, for detecting on glass curtain wall the distance measuring sensor of obstacle height and for detecting the flexible scraper plate
The pressure sensor of thrust between the glass curtain wall.
In one of the embodiments, the Fu Bi mechanisms include multiple thrust assemblies being arranged symmetrically, the thrust group
Part includes the linking arm that one end is fixed on by the first buckle on support frame as described above, by the second buckle is fixed on the linking arm
The 4th motor on the other end, the blade being connected with the 4th motor output shaft.
In one of the embodiments, in addition to be arranged on support frame as described above close to the glass curtain wall side peace
Full mechanism, the release mechanism includes multiple bumper assemblies, mounting seat that the bumper assembly includes being connected with support frame as described above,
The anticollision wheel for being connected and preventing that support frame as described above from colliding with barrier or the glass curtain wall is rotated with the mounting seat.
In one of the embodiments, the controlling organization is located between the wiper mechanism and the Fu Bi mechanisms, institute
Stating controlling organization includes the central dividing plate being connected with support frame as described above, the controller being arranged on the central dividing plate, Yi Jiyong
In the accelerometer and gyro sensor that gather glass curtain wall cleaning machine device people's movement state information.
In one of the embodiments, in addition to the controlling organization image acquisition mechanism being connected, the figure is adopted
Collecting mechanism includes the first L-type bearing, the first head electricity on the first L-type bearing being connected with the controlling organization
Machine, the second L-type bearing being connected with the first horizontal stage electric machine output shaft, the second cloud on the second L-type bearing
Platform motor, the collection camera being connected by camera bearing with the second horizontal stage electric machine output shaft.
The glass curtain wall cleaning machine device people that the utility model is provided, in the presence of Fu Bi mechanisms, Fu Bi mechanisms are by pushing away
Move support frame and wiper mechanism is contacted in glass curtain wall, so that wiper mechanism is effectively cleaned to glass curtain wall, driving
Mechanism drives support frame to do transverse direction and vertical motion along glass curtain wall, robot is carried out any position of glass curtain wall clear
Wash, control structure then realizes the adjustment to robot motion's state by controlling drive mechanism, wiper mechanism and Fu Bi mechanisms,
The robot significantly improves cleaning efficiency, while ensuring the quality and security of cleaning.
Brief description of the drawings
Fig. 1 is the positive structure diagram of robot；
Fig. 2 is the partial structural diagram of robot；
Fig. 3 is the backsight structural representation of robot；
Fig. 4 is the planar structure schematic diagram of wiper mechanism；
Fig. 5 is the structural representation of thrust assemblies；
Fig. 6 is the structural representation of control structure；
Fig. 7 is the structural representation of auxiliary wiper mechanism；
Fig. 8 is the structural representation of barrier getting over mechanism；
Fig. 9 is the structural representation of anticollision mechanism；
Figure 10 is the structural representation that figure gathers structure；
Figure 11 is the control principle block diagram of controlling organization；
Figure 12 is the sequence of movement block diagram of barrier getting over mechanism.
Embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
State.Better embodiment of the present utility model is given in accompanying drawing.But, the utility model can come in many different forms
Realize, however it is not limited to embodiments described herein.On the contrary, the purpose for providing these embodiments is to make to this practicality newly
It is more thorough comprehensive that the disclosure of type understands.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also have element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " interior ", " outer ", "left", "right" and
For illustrative purposes only, it is unique embodiment to be not offered as similar statement.
Refering to Fig. 1 to Fig. 3, a kind of glass curtain wall cleaning machine device people 000, for the cleaning of glass curtain wall, including support frame
100, drive mechanism 200, wiper mechanism 300, Fu Bi mechanisms 400 and controlling organization 500.Drive mechanism 200, which is used to drive, to be supported
Frame 100 is moved along glass curtain wall, and wiper mechanism 300 is arranged on close to the side of glass curtain wall on support frame 100, for cleaning glass
Glass curtain wall.Fu Bi mechanisms 400 are arranged on the side away from glass curtain wall on support frame 100, for making cleaning by support frame 100
Mechanism 300 pushes against glass curtain wall, and in other words, during work, Fu Bi mechanisms 400 make whole robot 000 be attached on glass curtain wall.
Controlling organization 500 is arranged on support frame 100, for controlling drive mechanism 200, wiper mechanism 300 and Fu Bi mechanisms 400 with association
Adjust the motion between three.
Refering to Fig. 1 and Fig. 2, support frame 100 is in rectangular-shape, including top frame 120, underframe 110 and column 130, top frame 120
It is be arranged in parallel with underframe 110, column 130 is connected between top frame 120 and underframe 110.Wiper mechanism 300 is arranged on support frame
On 100 underframe 110, Fu Bi mechanisms 400 are arranged in the top frame 120 of support frame 100, and controlling organization 500 is arranged on support frame
The middle part of 100 column 130, i.e. controlling organization 500 are located between underframe 110 and top frame 120.
Refering to Fig. 1 and Fig. 3, drive mechanism 200 is hoist engine, and hoist engine includes reel 220 and drawstring 210, and reel 220 is consolidated
Be scheduled on building at (top of such as building), the one ends wound of drawstring 210 on reel 220, one end of drawstring 210 then with
Support frame 100 is connected, and when drawstring stretches about 210, can drive whole robot 000 along glass by support frame 100
Curtain wall is moved up and down, and when reel 220 is moved left and right, can drive whole robot 000 along glass by support frame 100
Curtain wall does transverse motion, by the effect of drive mechanism 200, and robot 000 can arrive at the optional position on glass curtain wall, from
And comprehensive cleaning is carried out to glass curtain wall.It is appreciated that anti-back pieces can also be set on hoist engine, according to actual conditions
Need, anti-back pieces are used to control reversion or the main story of reel 220 so that robot 000 it is reliable and stable stop at glass curtain
Optional position on wall.
Refering to Fig. 1 to Fig. 4, wiper mechanism 300 includes roller 310, cleaning brush 320 and drive component 330, and roller 310 is pacified
Mounted in the middle part of the underframe 110 of support frame 100, cleaning brush 320 includes some brush filaments 321, and some brush filaments 321 are in the table of roller 310
Formed a line brush filament group along its axial direction on face, multiple row brush filament group is arranged circumferentially along roller 310, and multiple row brush filament group is then formed
Whole cleaning brush 320.The growth strip of brush filament 321, brush filament 321 is made of flexible nylon material, can be dirty according to glass surface
Dirty degree produces a variety of deformation quantities, so as to reach different cleaning performances, when there is highly relatively low barrier on glass curtain wall
When, the plastic deformation amount that whole roller 310 is produced by brush filament 321 rolled barrier, so that the barrier can not hinder
Hinder the movement of robot 000.
Refering to Fig. 1 to Fig. 4, and Fig. 6, specifically, drive component 330 includes motor 331, belt wheel 334, timing belt
(not shown), bearing spider 333 and bearing 332.Motor 331 is arranged in drive mechanism 200, the number of bearing spider 333
Measure as two, two bearing spiders 333 are arranged on the underframe 110 of support frame 100, and bearing 332 is corresponding with bearing spider 333
And quantity is similarly two, bearing 332 can use rolling bearing and sliding bearing, and bearing spider 333 is played to bearing 332 and held
Load is acted on, and when roller 310 is rotated, bearing 332 can reduce the coefficient of friction in the rotation process of roller 310, while ensureing rolling
The rotating accuracy of cylinder 310.Belt wheel 334 is arranged on one end of roller 310, the output shaft of motor 331 and is also provided with one
Belt wheel 334, timing belt is then connected on two belt wheels 334, when motor 331 is rotated, and timing belt is by motor 331
Power roller 310 is passed to by the rotation of belt wheel 334 so that roller 310 produces rotation, the roller 310 of rotation drives
Brush filament 321 cleans glass curtain wall.Motor 331 is also associated with machine governor 520, and controlling organization 500 passes through electric machine speed regulation
Device 520 is to control the rotating speed of motor 331, so as to control the scouring speed to glass curtain wall of cleaning brush 320.Certainly, may be used
To understand, roller 310 can also be using the pattern being directly connected with the output shaft of motor 331.
Refering to Fig. 7, auxiliary wiper mechanism 600 is additionally provided with support frame 100, aids in the quantity of wiper mechanism 600 can be with
Two, the roller 310 that auxiliary wiper mechanism 600 is arranged on the two ends of the underframe 110 of support frame 100, wiper mechanism 300 is then firm
It is located at well between this two auxiliary wiper mechanisms 600.Wiper mechanism 600 is aided in include installing plate 620 and flexible scraper plate 610, peace
Dress plate 620 is arranged on two sides of support frame 100, and installing plate 620 is perpendicular to the underframe 110 of support frame 100, installing plate
Tabletting 650 is provided with 620, tabletting 650 and flexible scraper plate 610 are fixed on installing plate 620 by bolt, flexible scraper plate
The certain distance of underframe 110 of 610 protrusion support frames 100.When cleaning brush 320 removes the higher pollutant of adhesion on glass curtain wall
Except after, with the movement of robot 000, the glass curtain wall that flexible scraper plate 610 cleaned cleaning brush 320 is further wiped
Wipe, more improve the finish of glass curtain wall.
Further, distance measuring sensor 640 and pressure sensor 630, distance measuring sensor are additionally provided with installing plate 620
640 be infrared distance sensor 640, and distance measuring sensor 640, which is used to detect, may hinder what robot 000 was moved on glass curtain wall
The height of barrier, while detecting the distance between the bottom of support frame 100 and barrier, and will gather feedback of the information to control machine
Structure 500, to prevent producing collision between support frame 100 and barrier.Pressure sensor 630 is pressure-strain piece, pressure sensor
630 can detect the thrust between flexible scraper plate 610 and glass curtain wall, pass through the adjustment of controlling organization 500 so that flexibility is scraped
Suitable thrust is produced between plate 610 and glass curtain wall to realize effective scouring.
Include multiple thrust assemblies 410 being arranged symmetrically refering to Fig. 1 to Fig. 3, Fig. 5, and Fu Bi mechanisms 400, in this implementation
In example, thrust assemblies 410 are four, the linking arm 412 of thrust assemblies 410, the motor 413 of blade 411 and the 4th.Linking arm 412
One end is fixed at the corner of top frame 120 of support frame 100 by the first buckle 414, four linking arms 412 just respectively with branch
The diagonal on the surface of top frame 120 of support 100 is overlapped, in brief, four linking arms 412 radially be arranged on support frame
In 100 top frame 120.4th motor 413 is fixed on the other end of linking arm 412 by the second buckle 415, and blade 411 is installed
On the output shaft of the 4th motor 413, when the 4th motor 413 driving blade 411 runs at high speed, by being designed on blade 411
Runner to away from the direction of glass curtain wall discharge air, air the reaction force that blade 411 is produced then further is conducted to
Support frame 100, support frame 100 will produce pressure to glass curtain wall and robot 000 is attached on glass curtain wall.Work as blade
When 411 movement velocitys increase, the reaction force increase that air is produced to blade 411, the Adhesion enhancement of robot 000；On the contrary,
When the movement velocity of blade 411 reduces, the reaction force that air is produced to blade 411 reduces, and the adhesive force of robot 000 subtracts
It is weak.
Refering to Fig. 1 to Fig. 3, and Fig. 9, robot 000 also includes release mechanism 800, and release mechanism 800 includes multiple anticollisions
Component, in the present embodiment, bumper assembly are four, and bumper assembly on the corner of the underframe 110 of support frame 100, is prevented respectively
Hitting component includes mounting seat 820 and anticollision wheel 810.Mounting seat 820 is arranged on the underframe 110 of support frame 100, anticollision wheel 810
Rotate and be connected with mounting seat 820, because anticollision wheel 810 protrudes a certain distance of underframe 110 of support frame 100, when support frame 100
During by impact perpendicular to glass curtain wall, anticollision wheel 810 will avoid support frame 100 from directly contacting and and produce with glass curtain wall
It is raw to hit, while absorbing the impact that support frame 100 is transmitted.Furthermore, anticollision wheel 810 can also avoid support frame 100 and barrier
Hinder and contact between thing and produce sharp impacts, so as to protect whole robot 000 not damaged because of collision.
Refering to Fig. 1 to Fig. 3, and Fig. 6, controlling organization 500 is located between wiper mechanism 300 and Fu Bi mechanisms 400, control machine
Structure 500 includes central dividing plate 530, controller 510, accelerometer and gyro sensor 540.Central dividing plate 530 is arranged on branch
The medial position of support 100, controller 510 is arranged on central dividing plate 530.Controller 510 can control motor 331
Rotating speed is to control the cleaning speed of cleaning brush 320, and controller 510 can also control the rotating speed of the 4th motor 413 to control blade
411 rotating speed, so that further adhesive force of the control machine people 000 on glass curtain wall.Accelerometer and gyro sensor
540 can gather the movement state information of robot 000 jointly, such as movement velocity and acceleration of motion, so as to controller
The real-time monitoring and adjustment of 510 pairs of motion states of robot 000.Refering to Figure 11, the control of 500 pairs of each parts of controlling organization is with reality
The motion of existing robot 000.
Refering to Fig. 3 and Figure 10, robot 000 also includes image acquisition mechanism 900, image acquisition mechanism 900 and control machine
Structure 500 is connected, and image acquisition mechanism 900 includes the first L-type bearing 910, the first horizontal stage electric machine 911, the second L-type bearing 920, the
Two horizontal stage electric machines 921 and collection camera 930.First L-type bearing 910 is arranged on the central dividing plate 530 on controlling organization 500,
First horizontal stage electric machine 911 is installed on the first L-type bearing 910, and the second L-type bearing 920 is arranged on the output of the first horizontal stage electric machine 911
On axle, the second horizontal stage electric machine 921 is arranged on the second L-type bearing 920, and camera is installed on the output shaft of the second horizontal stage electric machine 921
Bearing 940, collection camera 930 is then arranged on camera bearing 940, and the first horizontal stage electric machine 911 and the are controlled by controller 510
The rotation of two horizontal stage electric machines 921, it is possible to achieve the rotation in collection camera 930 multiple degrees of freedom direction, hinders so as to be gathered from multi-angle
Hinder the information on thing and glass curtain wall surface, the height of such as barrier, the distance between support frame 100 and barrier etc..
What is particularly worth mentioning is that, glass material is chronically exposed to outdoor, exposes to the weather by long-term, it is possible to can send out
The phenomenons such as raw explosion, these situations can not such as find that the glass of explosion may fall after being hung for a long time on metope to be drawn in time
Send out security incident.Therefore, during robot 000 is cleaned to glass curtain wall, the collection camera on image acquisition mechanism 900
930 will in real time be monitored to the situation on glass curtain wall surface, are found as early as possible and are excluded potential safety hazard, prevent the hair of fortuitous event
It is raw.Robot 000 is also equipped with safety monitoring and preventing function in addition to possessing cleaning function.
Refering to Fig. 1 to Fig. 3, and Fig. 8, robot 000 also includes barrier getting over mechanism 700, and barrier getting over mechanism 700 is arranged on support frame
On the two ends of 100 top frame 120, barrier getting over mechanism 700 includes hold-down support 740, the first joint link lever that quantity is four
710th, second joint connecting rod 720 and sucker 730.Hold-down support 740 is fixedly connected with support frame 100, the first joint link lever 710 with
Hold-down support 740 rotates connection, and one end of second joint connecting rod 720 rotates with the first joint link lever 710 and is connected, and second joint connects
The other end of bar 720 is rotated with sucker 730 and is connected.Sucker 730 is adsorbed on glass curtain wall in the presence of negative pressure of vacuum, so that
The weight of whole robot 000 can be born.
Specifically, being provided with the first motor 741 on hold-down support 740, the first motor 741 can drive the first joint link lever
710 rotate, and the junction of the first joint link lever 710 and second joint connecting rod 720 is provided with the second motor 711, the second motor 711
Driving second joint connecting rod 720 is rotated, and second joint connecting rod 720 is provided with the 3rd motor 721 close to one end of sucker 730, the
Three motors 721 driving sucker 730 is rotated, and the controller 510 on controlling organization 500 can control first the 741, second electricity of motor
The rotation situation of the motor 721 of machine 711 and the 3rd, so as to control the first joint link lever 710, second joint connecting rod 720 and sucker 730
Rotation.
When distance measuring sensor 640 and collection camera 930 do not detect impassable barrier, the first joint link lever
710 are rotated to be close to the top frame 120 of support frame 100, and then, second joint connecting rod 720 is turned to and the first joint link lever
710 close at the position overlapped, and now, barrier getting over mechanism 700 has been in holosystolic off working state.
When robot 000 is moved downward along glass curtain wall, the drawstring 210 in drive mechanism 200 extends downwards, by surveying
Information gathering away from sensor 640 and collection camera 930, if there is height on glass curtain wall is more than roller 310 or support frame
The barrier of 100 height, i.e. barrier can prevent roller 310 rotate or support frame 100 movement when, barrier getting over mechanism can be opened
700 make robot 000 cross over the barrier, and concrete operation method is as follows：
Refering to Fig. 1 and Fig. 2, first, deploy the two second joint connecting rods 720 positioned at the bottom of support frame 100, cross simultaneously
Second joint connecting rod 720 is fixed on glass curtain wall by barrier, sucker 730, and the second joint positioned at the bottom of support frame 100 connects
Bar 720 also deploys, and sucker 730 is fixed on glass curtain wall, now, and whole barrier getting over mechanism 700 will be played to robot 000
Supporting role.Then, it is progressively smaller until that stopping driving blade 411 is rotated by the 4th motor 413, releases Fu Bi mechanisms 400
To the adhewsive action of robot 000.Finally, by the rotation of the first joint link lever 710, by support frame 100 with respect to glass curtain wall
Lifting certain altitude one avoids the interference of barrier, now, positioned at the bottom of support frame 100 the first joint link lever 710 to away from
The direction of barrier is shunk, and the first joint link lever 710 positioned at the top of support frame 100 then stretches to the direction close to barrier,
And then promote whole robot 000 to move downward so that (i.e. the top of support frame 100 is fully located at barrier completely across barrier
Lower section).After the success across obstacle of robot 000, barrier getting over mechanism 700 reforms into original contraction state, while the
Four motors 413 driving blade 411 is rotated, and robot 000 is attached on glass curtain wall.Refering to Figure 12, in a word, according to being recognized
Obstacle identity, controlling organization 500 drives the first joint link lever 710 and second joint connecting rod by the motor program of matching
720 motions, so that the smoothly across obstacle of robot 000.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the present utility model, and it describes more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent scope.It should be pointed out that for the common skill of this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
Protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of glass curtain wall cleaning machine device people, the cleaning for glass curtain wall, it is characterised in that including：
Support frame,
Drive mechanism, for driving support frame as described above to be moved along the glass curtain wall；The drive mechanism includes being used to be fixed on
Reel and one ends wound on building are on the reel and drawstring that the other end is connected with support frame as described above；
Wiper mechanism, is arranged on support frame as described above close to the side of the glass curtain wall；
Fu Bi mechanisms, are arranged on the side away from the glass curtain wall on support frame as described above, and for being made by support frame as described above
The wiper mechanism pushes against the glass curtain wall；
Controlling organization, on support frame as described above and for controlling the drive mechanism, the wiper mechanism and the attached wall
Mechanism.
2. glass curtain wall cleaning machine device people according to claim 1, it is characterised in that also including installed in support frame as described above
On opposite end and for making the barrier getting over mechanism of robot across obstacle, the barrier getting over mechanism includes being connected with support frame as described above
Hold-down support, rotate the first joint link lever be connected, one end and first joint link lever with the hold-down support and rotate company
Second joint connecting rod, the other end installed in the second joint connecting rod and the suction for mutually being adsorbed with the glass curtain wall connect
Disk；
Be provided with the first motor for driving first joint link lever to rotate on the hold-down support, first joint link lever with
The junction of the second joint connecting rod is provided with the second motor for driving the second joint link rotatable, the second joint
Connecting rod is provided with the 3rd motor for driving the sucker to rotate close to one end of the sucker.
3. glass curtain wall cleaning machine device people according to claim 1, it is characterised in that the wiper mechanism includes being arranged on
Roller on support frame as described above, the cleaning brush being arranged circumferentially along the roller and the driving for driving the roller to rotate
Component.
4. glass curtain wall cleaning machine device people according to claim 3, it is characterised in that the drive component includes being arranged on
Motor in the drive mechanism, the belt wheel installed in described roller one end, the output shaft of the connection motor with
The timing belt of the belt wheel, the bearing spider being arranged on support frame as described above and it is connected with the roller and is arranged on the axle
The bearing on bearing is held, the motor is also associated with controlling the machine governor of its rotating speed.
5. glass curtain wall cleaning machine device people according to claim 1, it is characterised in that also including being arranged on support frame as described above
On auxiliary wiper mechanism, the auxiliary wiper mechanism include be arranged on support frame as described above on installing plate, with the installing plate
Connect and be used for the flexible scraper plate contacted with the glass curtain wall.
6. glass curtain wall cleaning machine device people according to claim 5, it is characterised in that being provided with the installing plate is used for
Tabletting, the ranging for detecting obstacle height on glass curtain wall for the flexible scraper plate is threadedly coupled with the installing plate are passed
Sensor and the pressure sensor for detecting thrust between the flexible scraper plate and the glass curtain wall.
7. glass curtain wall cleaning machine device people according to claim 1, it is characterised in that it is multiple right that the Fu Bi mechanisms include
Claim the thrust assemblies of arrangement, the thrust assemblies include one end be fixed on by the first buckle linking arm on support frame as described above,
The 4th motor being fixed on by the second buckle on the linking arm other end, the oar being connected with the 4th motor output shaft
Leaf.
8. glass curtain wall cleaning machine device people according to claim 1, it is characterised in that also including being arranged on support frame as described above
The release mechanism of the upper side close to the glass curtain wall, the release mechanism includes multiple bumper assemblies, the bumper assembly
Including be connected with support frame as described above mounting seat, rotated with the mounting seat and be connected and prevent support frame as described above and barrier or institute
State the anticollision wheel of glass curtain wall collision.
9. glass curtain wall cleaning machine device people according to claim 1, it is characterised in that the controlling organization is located at described clear
Between washing machine structure and the Fu Bi mechanisms, the controlling organization include be connected with support frame as described above central dividing plate, be arranged on institute
The controller on central dividing plate is stated, and for gathering the accelerometer of glass curtain wall cleaning machine device people's movement state information
And gyro sensor.
10. glass curtain wall cleaning machine device people according to claim 1, it is characterised in that also including with the controlling organization
The image acquisition mechanism of connection, described image collecting mechanism include be connected with the controlling organization the first L-type bearing, be arranged on
The first horizontal stage electric machine, the second L-type bearing being connected with the first horizontal stage electric machine output shaft on the first L-type bearing, peace
The second horizontal stage electric machine on the second L-type bearing, it is connected with the second horizontal stage electric machine output shaft by camera bearing
Collection camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621190829.3U CN206453740U (en) | 2016-10-28 | 2016-10-28 | Glass curtain wall cleaning machine device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621190829.3U CN206453740U (en) | 2016-10-28 | 2016-10-28 | Glass curtain wall cleaning machine device people |
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| Publication Number | Publication Date |
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| CN206453740U true CN206453740U (en) | 2017-09-01 |
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ID=59692974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201621190829.3U Active CN206453740U (en) | 2016-10-28 | 2016-10-28 | Glass curtain wall cleaning machine device people |
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| CN (1) | CN206453740U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106388724A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Glass curtain wall washing robot |
-
2016
- 2016-10-28 CN CN201621190829.3U patent/CN206453740U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106388724A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Glass curtain wall washing robot |
| CN106388724B (en) * | 2016-10-28 | 2022-05-20 | 深圳精智机器有限公司 | Glass curtain wall cleaning robot |
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Effective date of registration: 20220325 Address after: 518000 Bike Science and Technology Building 1101-B, No. 9 Scientific Research Road, Nanshan High-tech Zone, Shenzhen City, Guangdong Province Patentee after: SHENZHEN JINGZHI MACHINE Co.,Ltd. Patentee after: Wang Xin Patentee after: HARBIN INSTITUTE OF TECHNOLOGY (SHENZHEN) Address before: 518000 Bike Science and Technology Building 1101-B, No. 9 Scientific Research Road, Nanshan High-tech Zone, Shenzhen City, Guangdong Province Patentee before: SHENZHEN JINGZHI MACHINE Co.,Ltd. Patentee before: Wang Xin Patentee before: HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN GRADUATE SCHOOL |
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