CN207341707U - A kind of glass curtain wall obstacle detouring clean robot - Google Patents
A kind of glass curtain wall obstacle detouring clean robot Download PDFInfo
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- CN207341707U CN207341707U CN201720259606.6U CN201720259606U CN207341707U CN 207341707 U CN207341707 U CN 207341707U CN 201720259606 U CN201720259606 U CN 201720259606U CN 207341707 U CN207341707 U CN 207341707U
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- obstacle detouring
- curtain wall
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Abstract
A kind of glass curtain wall obstacle detouring clean robot,Including control system and detecting system,Control system is connected with detecting system,The hoist engine auxiliary system for further including robot main frame and being connected with control system,The cleaning systems being connected with control system are installed on robot main frame,Purely mechanic adaptive obstacle crossing device,Effluent cycle regenerative system,The wind pressure laminating apparatus being connected with control system,Hoist engine auxiliary system is connected with robot main frame,Control the lifting of robot main frame,It is symmetrically separately positioned on the top and bottom of robot main frame,Cleaning systems are in the upper end of robot main frame,And it is connected with effluent cycle regenerative system,Purely mechanic adaptive obstacle crossing device is connected with cleaning systems,Control cleaning systems are lifted or fallen with purely mechanic adaptive obstacle crossing device,The clean surface of cleaning systems is set to be attached at glass curtain wall always.By detecting the clean-up performance of metope, the speed for automatically adjusting rise and fall carries out obstacle detouring cleaning for robot.
Description
Technical field
A kind of robot is the utility model is related to, barrier-surpassing robot is cleaned more particularly to a kind of glass curtain wall, belongs to certainly
Dynamicization glass curtain wall cleaning technology field.
Background technology
In construction industry, since the lighting performance of glass is good, heat-holding dampproof performance is good, stained glass is practical and attractive, and high level is built
More and more structures for using glass curtain wall are built, investigation result is shown, Chinese architecture area is up to 50,000,000,000 square metres at present, its
Middle curtain wall accounts for 5%, and China will create about 90,000,000 square metres of glass curtain wall every year.But due in sleety weather and air
The influence of dust etc., glass curtain wall become easily infected by the dirts such as water stain, dust, thus need periodically to carry out glass curtain wall clear
Wash, the cleaning frequency is averagely about 4 months.However, the cleaning of this glass curtain wall but only has " spider-man " to clean and wipe window
Machine cleans two ways, there are cleaning efficiency it is low, dangerous high, cleaning is of high cost the drawbacks of.
Curtain wall geometric modeling is rich and varied, has vertical, inclined-plane, cylindrical surface, terrace with edge face and sphere etc., wherein with level
Or the plane curtain wall of vertical window frame is most commonly seen." barriers " such as the horizontal or vertical window frames of curtain wall entirety will cause wall
It is uneven.Dirt on glass wall includes pitch-dark, clod, paper scrap, dust, oil stain and dust stratification etc..Therefore, to plane
Glass curtain wall cleaning machine device people proposes following design requirement：1. ensureing that 2. safety and reliability of cleaning effect is high, prevent
Curtain wall is fallen, hits and damaged in cleaning process；2. the uneven of pair local wall has certain adaptive capacity；3. pair building
Wall geometric error caused by construction and window frame obstacle are insensitive, and absorption stability is good and can leaping over obstacles.
Utility model content
The purpose of this utility model is the deficiency there are certain difficulty for existing glass curtain wall cleaning, it is proposed that
Moved by hoist engine on metope, the abrasive tumbling device of cleaning systems and scratch device are by wind pressure fitting dress in moving process
Put and be attached at curtain wall surface, metope is cleaned successively, during cleaning, by effluent cycle regenerative system to sewage into
Row is filtered and recycled, when running into frame obstacle on purely mechanic adaptive obstacle crossing device, along blocking surfaces by the way that robot leads to
The clean-up performance of detection metope is crossed, automatically adjusts a kind of glass curtain wall cleaning detection robot of the speed of rise and fall.
The utility model specifically adopts the following technical scheme that：A kind of glass curtain wall obstacle detouring clean robot, including control system
System and detecting system, control system are connected with detecting system, further include robot main frame and the elevator being connected with control system
Machine auxiliary system, is provided with the cleaning systems being connected with control system, purely mechanic adaptive obstacle detouring dress on robot main frame
Put, effluent cycle regenerative system, the wind pressure laminating apparatus being connected with control system, hoist engine auxiliary system and robot main frame
Connection, the lifting of control robot main frame, wind pressure laminating apparatus are equipped with even number set, it is symmetrically separately positioned on the main frame of robot
The top and bottom of frame, cleaning systems are in the upper end of robot main frame, and are connected with effluent cycle regenerative system, purely mechanic
Adaptive obstacle crossing device is connected with cleaning systems, and control cleaning systems are lifted or fallen with purely mechanic adaptive obstacle crossing device, are made
The clean surface of cleaning systems is attached at glass curtain wall always.
Wind pressure laminating apparatus described in the utility model is ducted fan.
Cleaning systems described in the utility model include injection apparatus, abrasive tumbling device and scratch device, the injection apparatus
The upper end of robot main frame, abrasive tumbling device and scratch device is arranged on purely mechanic adaptive obstacle crossing device to be connected.
Injection apparatus described in the utility model includes high-pressure nozzle, soap pump, pipe-line mixer, high pressure centrifugal pump and dense
Contracting cleaning solution, each component are connected by rubber hose, and soap pump is pumped into pipe-line mixer by detergent is concentrated, and is mixed with water, mixes
Cleaning solution after conjunction is pumped to metope through high pressure centrifugal pump at high-pressure nozzle.
Abrasive tumbling device described in the utility model includes radical occlusion device, transmission device and brush device, and radical occlusion device is set
In the top of brush device, transmission device is connected with brush device, and transmission device is controlled by control system drives brush device to turn
It is dynamic.
Scratch device described in the utility model is " V " font scraper plate, and " V " font inclination angle is 15 degree, is provided with below small
Sewage is guided to effluent cycle regenerative system by hole, aperture water outlet by rubber hose.
Effluent cycle regenerative system described in the utility model includes sewage coarse filter, sewage fine filter, sewage collecting dress
Put, liquid level sensor and miniature diaphragm water pump, the sewage collection equipment are connected by rubber hose with miniature diaphragm water pump, scraped
Wipe the sewage that device is collected and realize filtering by sewage coarse filter and sewage fine filter successively, the water after filtering is filled in sewage collecting
Stored in putting, liquid level sensor is arranged on the water level of detection sewage collection equipment in sewage collection equipment, when water level reaches
During height set in advance, the water of storage is pumped into injection apparatus by miniature diaphragm water pump by rubber hose.
Hoist engine auxiliary system described in the utility model includes outer framework, electric capstan, slide, leading screw, connecting rod A, cunning
Block one, sliding block two, rope, water pipe, conducting wire and fixed pulley, the slide, leading screw and connecting rod A are arranged on outer framework, electronic
Capstan winch is connected with the sliding block one on slide, and fixed pulley is connected with the sliding block two on connecting rod A, be wrapped in the steel wire rope of electric capstan around
Fixed pulley is crossed with robot main frame to be connected.
Purely mechanic adaptive obstacle crossing device described in the utility model is fixed on robot main frame, including amplification
Mechanism and position-limit mechanism；
The enlarger includes level-one enlarger and two level enlarger, and level-one enlarger is supported including obstacle detouring
Bar, contiguous block, hinge one, hinge two, obstacle detouring supporting rod are connected with contiguous block, and contiguous block is connected on cleaning systems, obstacle detouring branch
Strut and connecting rod are connected by hinge one and hinge two with the both ends of integrated rod respectively, and integrated rod is in bending, it bends most bottom
End is connected on base by optical axis, and second level enlarger includes sliding block, be hinged three, connecting rod B, one end of sliding block and connecting rod B
Connected by hinge three, the other end of connecting rod B is integrally connected bar by hinge two, integrated rod is rotated on optical axis；
The position-limit mechanism includes level-one position-limit mechanism and two level position-limit mechanism, and level-one position-limit mechanism is arranged on level-one amplification
At mechanism, two level position-limit mechanism is arranged on two level enlarger rear, and level-one position-limit mechanism includes rack and pinion mechanism and circular arc
Groove straight trough mechanism, rack and pinion mechanism include gear, rack, limit spring, support shaft, and support bracket is located on obstacle detouring supporting rod
Side, gear is threaded through in support shaft and the rack with being arranged on base engage, and limit spring one end is connected with rack, one end and
Base connects, and support shaft is connected by the arc groove straight trough mechanism on obstacle detouring supporting rod with obstacle detouring supporting rod, when obstacle detouring supporting rod
During swing, supporting rod is driven to rotate, two level position-limit mechanism includes short compression spring, long compression spring, baffle, slide bar, in base
On offer U-shaped sliding slot, be equipped with baffle in the side of sliding slot, be fixed with two parallel slide bars on baffle, sliding block slides
It is set on slide bar, a pair of short compression spring and a pair of long each two sections of spring that compresses is respectively equipped with the both sides of sliding block in two cunnings
On bar, short compression both ends of the spring is connected with sliding block and base respectively, and long compression both ends of the spring is connected with baffle and sliding block respectively.
The utility model beneficial effect is：
A kind of glass curtain wall cleaning detection robot of the utility model, solves existing glass curtain wall cleaning and deposits
In the deficiency of certain difficulty, innovation is novel, and structurally consummate, use cost is low, and risk is small, efficient, accords with the demands of the market, and
Also environmental protection and energy saving the advantages that.It there is no similar product to sell on domestic market, there are good market prospects.
In existing same machines people, for some without barrier getting over mechanism, some is electronic obstacle detouring, and electronic obstacle detouring there are work not
Stablize, cannot clean frame, the defects of power consumption, and the purely mechanic adaptive obstacle crossing device of the utility model design can overcome the disadvantages that these
Defect.
The water consumption of the glass curtain wall in one building of robot cleaner is very big, but similar works not on sewage disposal,
The design recycled, and the utility model design effluent cycle regenerative system can well solution water consumption greatly ask
Topic, the effectively save energy.
Some uses leg formula sucker suction in similar works, but being constantly bonded of sucker and glass, decontrols and can influence machine
Cleaning effect, and design complicated, the similar works having provide pressure using propeller, and size is big, and pressure is small, and noise is big, this
Utility model is bonded using wind pressure, provides the pressure for being attached at metope for robot using ducted fan, ducted fan is than spiral
The size of paddle is small, and pressure is big, and noise is small.
Scratch device is designed using V-shape, and the residual which can preferably scrape off on glass curtain wall is water stain, and by water
Stain converges into wastewater treatment equipment, and after efficiently solving same machines people cleaning metope, metope has the problem of residual waste water.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model；
Fig. 2 is the main frame structure schematic diagram of the utility model；
Fig. 3 is the cleaning systems structure diagram of the utility model；
Fig. 4 is the injection apparatus structure diagram of the utility model；
Fig. 5 a are the abrasive tumbling apparatus structure schematic diagram of the utility model；
Fig. 5 b are the abrasive tumbling apparatus structure schematic diagram of the utility model；
Fig. 6 is the purely mechanic adaptive obstacle crossing device structure diagram of the utility model；
Fig. 7 is the structure diagram of the enlarger of the utility model；
Fig. 8 is the level-one position limiting structure schematic diagram of the utility model；
Fig. 9 is the two level position limiting structure schematic diagram of the utility model；
Figure 10 is the effluent cycle regenerative system course diagram of the utility model；
Figure 11 is the wind pressure laminating apparatus structure diagram of the utility model；
Figure 12 a are the hoist engine auxiliary system structure diagram of the utility model；
Figure 12 b are the hoist engine auxiliary system structure diagram of the utility model；
Figure 13 is the detecting element schematic diagram of the utility model；
Figure 14 is the scratch device structure diagram of the utility model；
Figure 15 is the structure diagram that the purely mechanic adaptive obstacle crossing device of the utility model coordinates with other structures；
Figure 16 is that the state that the purely mechanic adaptive barrier getting over mechanism of the utility model completes once complete obstacle detouring is continuously illustrated
Figure；
Figure 17 is the package assembly of the Deformable baffle one of the utility model, Deformable baffle two and Deformable baffle three
Schematic diagram.
Embodiment
In order to make the technical means, creative features, achievable purpose and effectiveness that the utility model is realized easy to understand, under
Face combines the drawings and specific embodiments and the utility model is expanded on further in specific embodiment.
With reference to Fig. 1-Figure 13, a kind of glass curtain wall cleans barrier-surpassing robot, including robot main frame 1-7, for metope
Clean cleaning systems, for the purely mechanic adaptive obstacle crossing device 1-2 across curtain wall frame obstacle, for handling cleaning process
It is middle produce sewage effluent cycle regenerative system 1-5, for make cleaning device be attached at metope wind pressure laminating apparatus 1-8, use
Power, water power and the hoist engine auxiliary system of safeguard protection are moved in being provided for robot, for detecting metope clean-up performance
Detecting system 1-3, the control system for controlling robot and hoist engine co-ordination.
As shown in Fig. 2, robot main frame 1-7 includes front end frame 2-1, middle frame 2-2, postposition frame 2-5, bottom plate
2-4 and top plate 2-3, the injection apparatus 3-1 are arranged on the bottom plate 2-4 of front end frame 2-1, purely mechanic adaptive obstacle detouring dress
Put 1-2 to be arranged on middle frame 2-2, effluent cycle regenerative system 1-5 is arranged on the bottom plate 2-4 of postposition frame 2-5, wind pressure
Laminating apparatus 1-8, detecting system 1-3 and robot control system are arranged on top plate 2-3, hoist engine auxiliary system with it is preposition
Frame 2-1 or postposition frame 2-5 are connected by rope.
Wind pressure laminating apparatus 1-8 is set using a pair of of ducted fan 11-1 and formed, the pair of ducted fan 11-1 difference
It is connected with the top plate 2-3 of the top plate 2-3 and postposition frame 2-5 of front end frame 2-1.Ducted fan 11-1 high-speed rotations produce
Thrust, allows the robot to be close to metope and is cleaned, and ensure that the stationarity of robot work.
As shown in figure 3, cleaning systems include injection apparatus 3-1, abrasive tumbling device 3-2 and scratch device 3-3, the injection dress
3-1 is put to be arranged on the bottom plate 2-4 of front end frame 2-1, the abrasive tumbling device 3-2 and scratch device 3-3 with it is described it is purely mechanic from
Obstacle crossing device 1-2 is adapted to be connected.
As shown in figure 4, injection apparatus 3-1 includes high-pressure nozzle 4-1, soap pump 4-2, pipe-line mixer 4-3, centrifugal high pressure
4-5 and concentration cleaning solution 4-4 are pumped, is connected by rubber hose, soap pump 4-2 is pumped into pipe-line mixer 4-3 by detergent is concentrated,
Mixed with water, mixed cleaning solution is pumped to metope through high pressure centrifugal pump 4-5 at high-pressure nozzle 4-1.
Abrasive tumbling device 3-2 includes radical occlusion device, transmission device and brush device, and brush device includes one 5- of Deformable baffle
1st, two 5-3 of Deformable baffle, three 5-7 of Deformable baffle, one 5-5 of motor, shaft 5-4, connection ring 5-2, for blocking round brush height
The water that speed rotation is thrown away, one 5-1 of Deformable baffle are connected with obstacle crossing device, and one 5-5 of motor is arranged on Deformable baffle one
On 5-1, the shaft is connected with one 5-5 of motor, and described connection ring one end is connected with shaft, one end and Deformable baffle two
5-3 or three 5-7 of Deformable baffle are connected, and drive shaft to rotate by motor 5-5, so as to drive two 5-3 of Deformable baffle or can
Three 5-7 liftings of baffle are deformed, transmission device includes belt 5-9, a pair of of gear A 5-10, two 5-6 of motor, electric machine support 5-8, electricity
Two 5-6 of machine is installed on electric machine support 5-8, and electric machine support is connected with Deformable baffle 9-2 mono-, and a pair of of gear B 8-2 pacifies respectively
On motor shaft and roller brush shaft, belt coordinates with a pair of of gear A 5-10, and brush device includes round brush 5-11 and right angle rotates
Connector 5-12, round brush 5-11 inner hollows, outside are provided with many apertures, and right angle swivel joint 5-12 is installed on round brush axis 5-13
Place, is connected with water supply hose, supplies water into round brush 5-11, is rotated by the high speed of round brush 5-11, water is thrown away.
Deformable baffle is made of three block baffles as shown in figure 17, is wherein provided with two on two 5-3 of Deformable baffle
Motor, each motor are connected with a shaft 5-4, and each shaft 5-4 is connected with two connection ring 5-2, two 5-3 of Deformable baffle
The connection ring of the upper left and right sides is connected with one 5-1 of Deformable baffle, three 5-7 of Deformable baffle respectively.By above structure,
To realize：Motor rotates, and drives Deformable baffle two, Deformable baffle three to deform.
Scratch device 3-3 is designed using " V " font, and " V " font inclination angle is 15 degree, and lower section is provided with aperture, for collecting dirt
Water, aperture water outlet are connected with rubber hose.Scratch device 3-3 by the water stain collection of glass curtain wall remained on surface be flowed to
In the sewage collection equipment for the effluent cycle regenerative system that " V " type scratch device 3-3 is connected.
Purely mechanic adaptive obstacle crossing device 1-2 and middle frame 2-2 is connected by screw, including enlarger 6-2 and limit
Position mechanism 6-1.
Enlarger 6-2 includes level-one enlarger and two level enlarger.Level-one enlarger includes obstacle detouring supporting rod
7-2, contiguous block 7-1, one 7-3 of hinge, two 7-5 of hinge.Obstacle detouring supporting rod 7-2 is connected with contiguous block 7-1, obstacle detouring supporting rod 7-2
It is connected respectively by one 7-3 of hinge and two 7-5 of hinge with integrated rod 7-4 with connecting rod B7-8, integrated rod 7-4 is rotated around optical axis 7-9.
Two level enlarger includes obstacle detouring supporting rod 7-2, contiguous block 7-1, integrated rod 7-4, connecting rod B7-8, sliding block 7-6, optical axis 7-9.It is sliding
Block 7-6 and connecting rod B7-8 is integrally connected bar 7-4 and optical axis 7-9 by hinge three and forms two level enlarger, and integrated rod 7-4 passes through
Optical axis 7-9 is fixed on base 7-10, and is rotated around optical axis 7-9, and level-one enlarger and two level enlarger pass through one 7-3 of hinge
Connection.
Position-limit mechanism 6-1 includes level-one position-limit mechanism and two level position-limit mechanism, and level-one position-limit mechanism 6-1 includes gear B 8-
2-rack 8-3 mechanisms, arc groove-straight trough mechanism, gear B 8-2-rack 8-3 mechanisms include gear B 8-2, rack 8-
3rd, limit spring 8-4, support shaft 8-1, gear B 8-2 are engaged through support shaft 8-1 with rack 8-3, limit spring 8-4 one end
It is connected with rack 8-3, one end is connected with base 7-10, and the main function of limit spring 8-4 is control obstacle detouring supporting rod 7-2
Swing angle, arc groove-straight trough mechanism include pawl, arc groove, polished rod, straight trough, and pawl passes through support shaft 8-1, and two level is spacing
Mechanism includes short compression spring 9-5, long compression spring 9-4, baffle 9-2, slide bar 9-1, U-shaped straight trough 9-3, a pair of short compression spring
9-5 and a pair of long each two sections of spring 9-4 that compresses are respectively fitted on two slide bar 9-1, short compression spring 9-5 both ends respectively with sliding block
7-6 is connected with base 7-10, and long compression spring 9-4 both ends are connected with baffle 9-2 and sliding block 7-6 respectively.
Purely mechanic adaptive obstacle crossing device is installed on robot both sides by screw, is connected with the cleaning device of robot,
The obstacle crossing function of cleaning device is realized when running into barrier.When robot is in glass curtain wall apparent motion, obstacle crossing device is in
Self-locking state, robot smoothly clean glass curtain wall.When running into barrier, obstacle detouring supporting rod 7-2 touches barrier
Hinder thing, polished rod 8-6 starts to slide in straight trough 8-7, and integrated rod 7-4 starts to rotate around fixed optical axis 7-9, and pawl 8-5 starts to take off
From obstacle detouring supporting rod 8-1, the auto-lock function of position-limit mechanism gradually weakens, and until disappearing, polished rod 8-6 continues the edge in straight trough 8-7
Linear slide, completes first step obstacle detouring, as polished rod 8-6 jointly with the second level enlarger of integrated rod 7-4, optical axis 7-9 composition
When being moved to the end of straight trough 8-7, obstacle detouring supporting rod 7-2 is rotated around polished rod 8-6, limit spring 8-4 limitation obstacle detouring supporting rods 7-2
Swing angle, device continues obstacle detouring, and obstacle detouring supporting rod 7-2 is during rotation, by first order enlarger again
It is secondary to expand obstacle detouring stroke.When obstacle detouring supporting rod 7-2 leaves barrier, obstacle crossing device is in short compression spring 9-5, long compression bullet
Resetted under the restoring force effect of spring 9-4 and limit spring 8-4, auto-lock function recovers, and completes whole obstacle detouring process, robot
Continuation again cleans vertical glass curtain wall.
Effluent cycle regenerative system 1-5 includes sewage coarse filter 10-5, sewage fine filter 10-3, sewage collection equipment 10-
1st, liquid level sensor 10-2 and miniature diaphragm water pump 10-4, the sewage collection equipment 10-1 pass through with miniature diaphragm water pump 10-4
Rubber hose connects, and the sewage that the scratch device 3-3 is collected passes through the sewage coarse filter 10-5 and sewage fine filter successively
10-3 realizes filtering, and the water after filtering is stored in the sewage collection equipment 10-1, and liquid level sensor 10-2 detections are dirty
Water level in water collecting device 10-1, when water level, which reaches, presets height, miniature diaphragm water pump 10-4 starts to work, and will store up
The water deposited is pumped into injection apparatus 3-1 by rubber hose.
Hoist engine auxiliary system includes outer framework 12-2, electric capstan 12-4, slide 12-3, screw 12-1, connecting rod A 12-
8 sliding block, one 12-5, two 12-6 of sliding block, rope, water pipe, conducting wire and fixed pulley 12-7, the slide 12-3, screw 12-1 and connecting rod
A 12-8 are arranged on outer framework 12-2, and the electric capstan 12-4 is connected with one 12-5 of sliding block on the slide 12-3,
Fixed pulley 12-7 is connected with two 12-6 of sliding block on connecting rod A 12-8, and the steel wire rope for being wrapped in the electric capstan 12-4 bypasses institute
Fixed pulley 12-7 is stated with the front end frame 2-1 or postposition frame 2-5 to be connected.
Detecting system 1-3 includes ultrasonic sensor 13-1 and color mark sensor 13-2, the ultrasonic sensor 13-1
Connected with color mark sensor 13-2 and robot control system with the communication of hoist engine control system, the ultrasonic sensor 13-1
Machine is measured apart from the distance of the distance of roof and bottom of the building, radical occlusion device and frame obstacle, the color mark sensor 13-2 is to wall
Face clean level is detected.
Control system includes robot control system and hoist engine control system, communicates and connects with the detecting system 1-3,
Startup, stopping, translational speed and the displacement distance of robot are controlled, controls rotating speed, the start and stop of brush device, control hides
Lifting, the work and stopping of miniature diaphragm water pump 10-4 of blocking means, startup, stopping and the rotating speed of control ducted fan 11-1.
The utility model it is a kind of based on cleaning glass detection robot whole process be：
The utility model relies on the capstan winch in hoist engine auxiliary system to be connected by rope with robot, in electric capstan
Under the drive of 12-4, robot can be moved according to speed set in advance on metope, during movement, wind pressure fitting dress
1-8 suction composite streams are put, pressure is provided to abrasive tumbling device 3-2 and scratch device 3-3, the two is attached at metope, it is right successively
Metope is cleaned.Machine is cleaned by " spray, wipe, scrape " clean mode of three steps.Ejected first by injection apparatus 3-1
The clear water of roof conveying and the liquid that mixes of concentration cleaning solution 4-4, then motor one, which drives, rotates, by belt transmission,
Drive round brush to rotate at a high speed, glass curtain wall is cleaned, it is high-speed rotating in round brush while throw away clear water, on the one hand reduce wall
The residual cleaning liquid in face, on the one hand carries out round brush self-cleaning.Sewage is finally introduced into sewage coarse filtration successively by scratch device 3-3
Device 10-5, sewage fine filter 10-3, are finally stored in sewage collection equipment 10-1, real by effluent cycle regenerative system 1-5
Existing dirt water reuse.Abrasive tumbling device 3-2 and scratch device 3-3 is installed on purely mechanic adaptive obstacle crossing device 1-2, runs into side
During frame obstacle, the two is by the position-limit mechanism 6-1 and enlarger 6-2 of purely mechanic adaptive obstacle crossing device 1-2 from barrier table
Face, by detecting the clean-up performance of metope, automatically adjusts the speed of rise and fall by, robot.
The utility model is explained in detail above in conjunction with attached drawing, but the utility model is not limited to above-mentioned implementation and retouches
State, within the knowledge of a person skilled in the art, the premise of the utility model aims can also not departed from
Under make a variety of changes.
Claims (9)
1. a kind of glass curtain wall obstacle detouring clean robot, including control system and detecting system, control system connects with detecting system
Connect, it is characterised in that：The hoist engine auxiliary system for further including robot main frame and being connected with control system, in the main frame of robot
The cleaning systems being connected with control system, purely mechanic adaptive obstacle crossing device, effluent cycle regenerative system and control are installed on frame
The wind pressure laminating apparatus of system processed connection, hoist engine auxiliary system are connected with robot main frame, control robot main frame
Lifting, wind pressure laminating apparatus are equipped with even number set, it is symmetrically separately positioned on the top and bottom of robot main frame, cleaning systems
It is connected in the upper end of robot main frame, and with effluent cycle regenerative system, purely mechanic adaptive obstacle crossing device is with cleaning
System connection, control cleaning systems are lifted or fallen with purely mechanic adaptive obstacle crossing device, the clean surface of cleaning systems is pasted always
Invest glass curtain wall.
A kind of 2. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：The wind pressure fitting dress
It is set to ducted fan.
A kind of 3. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：The cleaning systems bag
Include injection apparatus, abrasive tumbling device and scratch device, the injection apparatus is arranged on the upper end of robot main frame, abrasive tumbling device and
Scratch device is connected with purely mechanic adaptive obstacle crossing device.
A kind of 4. glass curtain wall obstacle detouring clean robot as claimed in claim 3, it is characterised in that：The injection apparatus bag
Include high-pressure nozzle, soap pump, pipe-line mixer, high pressure centrifugal pump and concentration cleaning solution, each component by rubber hose to be connected, soap
Liquid pump is pumped into pipe-line mixer by detergent is concentrated, and is mixed with water, and mixed cleaning solution is through high pressure centrifugal pump from high-pressure nozzle
Place is pumped to metope.
A kind of 5. glass curtain wall obstacle detouring clean robot as claimed in claim 3, it is characterised in that：The abrasive tumbling device bag
Radical occlusion device, transmission device and brush device are included, radical occlusion device is arranged on the top of brush device, transmission device and brush device
Connection, transmission device is controlled by control system drives brush device to rotate.
A kind of 6. glass curtain wall obstacle detouring clean robot as claimed in claim 3, it is characterised in that：The scratch device is
" V " font scraper plate, " V " font inclination angle are 15 degree, are provided with aperture below, and aperture water outlet is by rubber hose by sewage water conservancy diversion
To effluent cycle regenerative system.
A kind of 7. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：The effluent cycle is again
Raw system includes sewage coarse filter, sewage fine filter, sewage collection equipment, liquid level sensor and miniature diaphragm water pump, the dirt
Water collecting device is connected with miniature diaphragm water pump by rubber hose, and the sewage that scratch device is collected passes through sewage coarse filter successively
Realize and filter with sewage fine filter, the water after filtering is stored in sewage collection equipment, and liquid level sensor is arranged on sewage
The water level of detection sewage collection equipment in collection device, when water level reaches height set in advance, miniature diaphragm water pump will store up
The water deposited is pumped into injection apparatus by rubber hose.
A kind of 8. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：The hoist engine auxiliary
System includes outer framework, electric capstan, slide, leading screw, connecting rod A, sliding block one, sliding block two, rope, water pipe, conducting wire and fixed pulley,
The slide, leading screw and connecting rod A are arranged on outer framework, and electric capstan is connected with the sliding block one on slide, fixed pulley and company
Sliding block two on bar A is connected, and is wrapped in the steel wire rope of electric capstan and is connected around fixed pulley with robot main frame.
A kind of 9. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：Described is purely mechanic adaptive
Obstacle crossing device is answered to be fixed on robot main frame, including enlarger and position-limit mechanism；
The enlarger includes level-one enlarger and two level enlarger, and level-one enlarger includes obstacle detouring supporting rod, connects
Connect block, hinge one, hinge two, obstacle detouring supporting rod is connected with contiguous block, and contiguous block is connected on cleaning systems, obstacle detouring supporting rod and
Connecting rod is connected by hinge one and hinge two with the both ends of integrated rod respectively, and integrated rod is in bending, it bends lowermost end and passes through
Optical axis is connected on base, and second level enlarger includes sliding block, be hinged three, connecting rod B, and one end of sliding block and connecting rod B passes through hinge
Chain three connects, and the other end of connecting rod B is integrally connected bar by hinge two, integrated rod is rotated on optical axis；
The position-limit mechanism includes level-one position-limit mechanism and two level position-limit mechanism, and level-one position-limit mechanism is arranged on level-one enlarger
Place, two level position-limit mechanism are arranged on two level enlarger rear, and level-one position-limit mechanism includes rack and pinion mechanism, arc groove straight trough
Mechanism, rack and pinion mechanism include gear, rack, limit spring, support shaft, and support shaft is located above obstacle detouring supporting rod, gear
It is threaded through in support shaft and the rack with being arranged on base engages, limit spring one end is connected with rack, and one end connects with base
Connecing, support shaft is connected by the arc groove straight trough mechanism on obstacle detouring supporting rod with obstacle detouring supporting rod, when obstacle detouring supporting rod is swung,
Supporting rod is driven to rotate, two level position-limit mechanism includes short compression spring, long compression spring, baffle, slide bar, is offered on base
U-shaped sliding slot, baffle is equipped with the side of sliding slot, is fixed with two parallel slide bars on baffle, and sliding block is slidably located in cunning
On bar, a pair of short compression spring and a pair of long each two sections of spring that compresses are respectively equipped with the both sides of sliding block on two slide bars, it is short
Compression both ends of the spring is connected with sliding block and base respectively, and long compression both ends of the spring is connected with baffle and sliding block respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259606.6U CN207341707U (en) | 2017-03-17 | 2017-03-17 | A kind of glass curtain wall obstacle detouring clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259606.6U CN207341707U (en) | 2017-03-17 | 2017-03-17 | A kind of glass curtain wall obstacle detouring clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207341707U true CN207341707U (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720259606.6U Expired - Fee Related CN207341707U (en) | 2017-03-17 | 2017-03-17 | A kind of glass curtain wall obstacle detouring clean robot |
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| Country | Link |
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| CN (1) | CN207341707U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108553016A (en) * | 2018-06-27 | 2018-09-21 | 江苏亘德科技有限公司 | A kind of outer wall cleaning robots people |
| CN108742275A (en) * | 2018-06-21 | 2018-11-06 | 宁波介量机器人技术有限公司 | One kind climbing wall cleaning robot |
| CN108784508A (en) * | 2018-06-27 | 2018-11-13 | 江苏亘德科技有限公司 | A kind of outer wall cleaning robots people adaptive determination method and device |
| CN109770779A (en) * | 2019-03-28 | 2019-05-21 | 西安森格环保工程有限公司 | A kind of high-altitude glass curtain wall cleaning machine device people and its application method |
| CN111820802A (en) * | 2019-12-16 | 2020-10-27 | 苏州创之杰环保设备工程有限公司 | High-efficient automatic cleaning machine of city glass outer wall |
-
2017
- 2017-03-17 CN CN201720259606.6U patent/CN207341707U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742275A (en) * | 2018-06-21 | 2018-11-06 | 宁波介量机器人技术有限公司 | One kind climbing wall cleaning robot |
| CN108553016A (en) * | 2018-06-27 | 2018-09-21 | 江苏亘德科技有限公司 | A kind of outer wall cleaning robots people |
| CN108784508A (en) * | 2018-06-27 | 2018-11-13 | 江苏亘德科技有限公司 | A kind of outer wall cleaning robots people adaptive determination method and device |
| CN109770779A (en) * | 2019-03-28 | 2019-05-21 | 西安森格环保工程有限公司 | A kind of high-altitude glass curtain wall cleaning machine device people and its application method |
| CN111820802A (en) * | 2019-12-16 | 2020-10-27 | 苏州创之杰环保设备工程有限公司 | High-efficient automatic cleaning machine of city glass outer wall |
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Granted publication date: 20180511 Termination date: 20190317 |