CN208551666U - It is a kind of can clean again can be traversing glass curtain wall cleaning systems - Google Patents

Abstract

The utility model relates to one kind can clean again can be traversing glass curtain wall cleaning systems, including rail set, clean robot group and safety device, rail set is adsorbed on glass curtain wall, clean robot group (100) is walked on rail set, and safety device prevents clean robot group and rail set from falling；The clean robot group (100) can be traversing, and clean robot group (100) includes two clean robots (1), and the both ends of rail set are connected to the folding and unfolding realized on clean robot (1) to rail set.The clean robot group of the utility model can arbitrarily be walked in former and later two directions, after a cleaning route has cleaned, turn around without turning, and clean robot group is directly traversing, reversed to walk, convenient and efficient, greatly improve cleaning efficiency.

Description

It is a kind of can clean again can be traversing glass curtain wall cleaning systems

Technical field

The utility model belongs to cleaning applications, more particularly to it is a kind of can clean again can be traversing glass curtain wall cleaning systems.

Background technique

With social progress and expanding economy, high buildings and large mansions are rised sheer from level ground in city, and present higher and higher to become Gesture.Glass is widely used in office building because light, transparent, beautiful, but by the dust in air, institute in rainwater Dust, excreta of birds of entrainment etc. can gradually deposit to the curtain wall surface of building, so that the beauty of curtain wall is influenced, because This, has had been to be concerned by more and more people the cleaning of glass curtain wall and has gradually formed huge curtain cleaning market.

However, completing at present to the cleaning of the curtain wall of glass mainly or using manual type, it may be assumed that by cleanup crew from Roof suspends in midair to Architectural Services Department, is manually cleared up curtain wall surface by cleanup crew, such mode not only has whole process The problems such as cleaning efficiency is not high, danger coefficient is big, and cleaning cost is higher, also thus affects the beautiful, clear of glass curtain wall Space that is clean and further developing.

In response to this problem, occur some robots that automated cleaning can be carried out to glass curtain wall currently on the market, this A little robots, which can be adsorbed on the wall of glass curtain wall, clears up glass curtain wall surface, however, because existing cleaner Device people's adsorbing mechanism is mounted in tire or robot, and adsorbing mechanism quantity is few, and adsorption area is small, if there is somewhere on glass A large amount of booty, just will affect the adsorption capacity of adsorbing mechanism, to influence the stress of entire robot, be easy to fall, dangerous； Existing clean robot can only straight line walking, cannot turn, cleaning route is not flexible；Existing robot adsorbing mechanism is by true Empty pumping falls the air in adsorbing mechanism, makes adsorbing mechanism keep vacuum suction on glass curtain wall, vacuum pump will increase entirely The self weight of equipment and vacuum pump is when extracting the air in adsorbing mechanism, can consume a large amount of power, influence whole equipment battery Cruising ability.

Utility model content

The goal of the invention of the utility model is:

1. solving existing clean robot cleaning to glass curtain wall edge, when converting cleaning route, troublesome problem of turning；

2. also to solve the problems, such as that clean robot is easy to fall on this basis；

3. also to solve clean robot on this basis easily to fall from glass curtain wall, ask what pedestrian damaged Topic.

The technical solution adopted in the utility model is as follows:

It is a kind of can clean again can be traversing glass curtain wall cleaning systems, it is characterised in that: including rail set, cleaning machine People's group and safety device, rail set can be adsorbed on glass curtain wall, and clean robot group is walked on rail set, and safety fills Setting prevents clean robot group and rail set from falling；The clean robot group can be traversing, and clean robot group includes two A clean robot, the both ends of rail set are connected to the folding and unfolding realized on clean robot to rail set.

One clean robot is in preceding laying rail set, and a clean robot is in after-contraction rail set, using one Clean robot is arranged after previous, when the cleaning of clean robot group needs to adjust route to glass curtain wall edge, does not have to rotation Direction will directly now become in after-contraction rail set in the preceding clean robot for being laid with track, originally originally in rear folding and unfolding The clean robot of rail set now becomes in preceding laying rail set, and the commutation of clean robot group is convenient and efficient, can be significantly Improve cleaning efficiency；Using clean robot is one in front and one in back arranged, the length that rail set is adsorbed on glass curtain wall can increase, To increase adsorption capacity, reduce the probability that whole equipment is fallen.

Further, rail set includes track and adsorbing mechanism, is equably disposed on the length direction of track several Adsorbing mechanism, adsorbing mechanism can be adsorbed on track on glass curtain wall；The adsorbing mechanism includes sucker and sealing element, works as sealing When part is moved inward relative to sucker, sucker is in adsorbed state, and when sealing element is displaced outwardly relative to sucker, sucker is in Non-adsorbed state.

When rail set is squeezed, sucker stress squeezes out internal air, and sucker mouth is fitted on glass, seals Part is forced through seal to be goed deep into sucker, thus hermetic seal mouth, entire suction cup interior forms vacuum, because of suction cup interior With the pressure difference of atmosphere, sucker being adsorbed on glass curtain wall tightly, to bear the power of whole device；When sealing element is from sucker When interior extraction, air enters in sucker from seal, and pressure difference disappears inside and outside sucker, and sucker loses adsorption capacity, and sucker is from glass It falls off on curtain wall；Using the insertion and extraction of sealing element, the adsorbed state of sucker is controlled, than traditional vacuum pump that uses, more Power, and the reduction of vacuum pump are saved, the weight of whole device can be mitigated, keep whole device lighter.

Further, clean robot includes transversely movable base apparatus, the radio and tape player being mounted on base apparatus Structure, wheel mechanism, battery one, control mechanism one, cleaning mechanism and propeller, jack can carry out folding and unfolding, wheel to rail set Mechanism can be traversing with respect to base apparatus, and propeller can increase clean robot to the normal pressure of track, and cleaning mechanism can be to glass Curtain wall is cleaned.

Battery one provides the energy to clean robot, and control mechanism one controls the operation of entire clean robot, radio and tape player Structure is responsible for the folding and unfolding to track, and wheel mechanism drives the movement of clean robot, and propeller can increase clean robot and fill to track On the one hand the normal pressure set can increase the frictional force of wheel group and track, conducive to the walking of clean robot, on the other hand increase Clean robot is conducive to adsorbing mechanism and preferably adsorbs to the pressure of track to increase track to the pressure of adsorbing mechanism On glass curtain wall.

Further, base apparatus includes chassis and transverse-moving mechanism two, and transverse-moving mechanism two can drive chassis is opposite to take turns mechanism Transverse shifting, chassis are equipped with guide part, and the slave jack that rail set can be allowed smooth is transitioned into wheel mechanism.

Transverse-moving mechanism two drives chassis traversing, to realize that clean robot is traversing, guide part can allow rail set smooth Slave jack be transitioned into wheel mechanism, reduce the abrasion of rail set, advancing the track device uses the time.

Further, transverse-moving mechanism two includes movable block two, guide spiro rod two, motor two and telescoping mechanism three, telescopic machine Structure three is mounted in wheel mechanism, and motor two is mounted on telescoping mechanism three, and the one of the output end connection guide spiro rod two of motor two End, the other end connection mobile two of guide spiro rod two, the interconnecting piece two of movable block two is mounted on chassis, and motor two can drive and lead It is elongated or shortened when telescoping mechanism three can be traversing with wheel group to the rotation of screw rod two by two mobile chassis of movable block.

Motor two drives guide spiro rod two to rotate, and guide spiro rod two drives chassis mobile by movable block two, and motor two is It can control the servo motor of revolution and direction of rotation, telescoping mechanism three is electric telescopic rod, when wheel group is mobile, is stretched Mechanism three elongates or shortens, and with the movement of match wheel group, transverse-moving mechanism two drives bottom to press wheel group in orbit as supporting point What disk transverse shifting realize the transverse shifting of clean robot group, the change of robot group cleaning route convenient for cleaning, cleaning from Route is more flexible.

Further, wheel mechanism includes wheel group, telescoping mechanism one and transverse-moving mechanism one, and one energy band driving wheel group of telescoping mechanism is perpendicular Translation is dynamic, one energy band driving wheel group transverse shifting of transverse-moving mechanism, and the transverse-moving mechanism one includes guide rail and moving portion, and guide rail is mounted on On base apparatus, moving portion can drive guide rail traversing on base apparatus；Moving portion includes the movable block one being located on guide rail, leads To screw rod one, motor one and telescoping mechanism four, the interconnecting piece one of telescoping mechanism four is mounted on base apparatus, and motor one is mounted on On telescoping mechanism four, the output end of one end connection motor one of guide spiro rod one, the other end connects movable block one, when one band of motor Action-oriented screw rod one rotates, and guide rail moves on chassis；Wheel group includes driving wheel and driven wheel, and telescoping mechanism one includes expansion bend One and expansion bend two, expansion bend one can drive driving wheel vertical shift, expansion bend two can drive driven wheel vertical shift, motor four Output end connection connection shaft one, shaft one under the driving of motor four, drive driving wheel rotation.

Telescoping mechanism one can move up and down vertically with driving wheel group, because wheel group is built-in in track, have on track Adsorbing mechanism, when telescoping mechanism one is moved with driving wheel group, track can move together, to pull up or compress adsorption machine Structure, when the adsorbing mechanism of whole track is all in unadsorbed state, transverse-moving mechanism one can laterally adjust the position of wheel group, horizontal Telephone-moving structure two adjusts the position on chassis, to realize the traversing of entire machine people group；Motor one drives guide spiro rod one to rotate, Guide spiro rod one drives guide rail mobile by movable block one, thus mobile with driving wheel group, motor one is that can control revolution and rotation Turning the servo motor in direction, telescoping mechanism four is electric telescopic rod, when chassis is mobile, the elongation of telescoping mechanism four or contracting It is short, to cooperate the movement on chassis.

Further, cleaning mechanism includes the flusher and swab of water tank, connection water tank, water tank and swab It is mounted on base apparatus.

Further, it is fitted with swab before and after flusher, before being with the direction that clean robot group is walked, Swab after flusher works, and the swab before flusher is idle.

Swab is fitted with before and after flusher, before being with the direction that clean robot group is walked, flusher Swab afterwards works, and the swab before flusher is idle；When one route of clean robot group has cleaned, need anti- To when, originally it is preceding be laid with track clean robot now became in after-contraction track, originally in rear folding and unfolding track Clean robot now becomes in preceding laying track, and the swab after flusher became before flusher originally, not busy It sets；Originally now becoming after flusher before flusher, operation；Scouring dress is fitted with before and after flusher It sets, before being with the direction that clean robot group is walked, the swab after flusher works, the swab before flusher Idle, after can guarantee that clean robot group is reversed, cleaning mechanism is operated normally；Camera is housed on clean robot, is checked It is whether clean in preceding clean robot, if can be cleaned again in rear clean robot, without clean to reach To clean, for preceding clean robot in preceding cleaning, posterior clean robot is clear in preceding clean robot somewhere when check It when clean unclean, is cleaned again for sordid place, is not had to clean back and forth in preceding clean robot, greatly improve cleaning Efficiency.

Further, water tank is divided into cleaning agent case and Sewage treatment case, and cleaning agent case is connected with flusher, and waste water returns It receives case to be connected with swab, waste water recovery pipe is equipped in swab, the pump in Sewage treatment case can be by swab Waste water recovery pipe the Sewage treatment on swab into waste water tank；Swab includes bracket one, telescoping mechanism five, turns over Rotary device one and scrubber, one one end of bracket are mounted on base apparatus, and one end connects telescoping mechanism five, and turnover device one is installed On telescoping mechanism five, during clean, telescoping mechanism five ceaselessly extends shortening, is driven and is cleaned by turnover device one Device back moves, and is cleared up back and forth glass curtain wall, and turnover device one includes expansion bend three and motor six, and expansion bend three passes through The output shaft of motor six is hinged on telescoping mechanism five；During clean, control mechanism is for a moment according to the slope of glass curtain wall It spends the length of automatic regulation telescopic unit three and angle of the expansion bend three with respect to glass curtain wall is controlled by motor six.

Water tank is divided into cleaning agent case and waste water tank, the recycling to waste water is realized, glass curtain wall can be stayed in avoid water stain On；During clean robot walking, scrubber ceaselessly extends shortening, cleans to glass curtain wall, can allow clear Face cleaning product is wider, and cleans cleaner；Control mechanism one can be according to the gradient of glass curtain wall, the length of automatic regulation telescopic unit three Degree and expansion bend three realize the cleaning to acclive glass curtain wall with respect to the angle of glass curtain wall.

Further, safety device includes suspension apparatus, and suspension apparatus is slidably connected on track two, which is characterized in that Hoisting mechanism and power device with safety rope are fixedly installed in suspension apparatus, power device is hoisting mechanism and entirely hangs Device for hoisting provides power, and the free-end of the safety rope on hoist engine stretches out the bottom of suspension apparatus, and solid with cleaning robot group The junction of fixed connection, safety rope and suspension apparatus bottom is equipped with from device of bursting, and from bursting, device is fixedly mounted on suspension apparatus Bottom is fixedly connected with locked portion from device of bursting, and the portion that locks is equipped with perforation, and safety rope passes through the perforation in locked portion, when When safety rope is more than setting value to the pressure of perforation, locked safety rope is held tightly by locked portion from device is burst.

Suspension apparatus is slidably connected in orbit, which is characterized in that is fixedly installed in suspension apparatus with safety rope Hoisting mechanism and power device, power device provide power for hoisting mechanism and entire suspension apparatus, the safety rope on hoist engine Free-end stretch out the bottom of suspension apparatus, and be fixedly connected with cleaning robot, the handover of safety rope and suspension apparatus bottom Place is equipped with from device of bursting, and the bottom of suspension apparatus is fixedly mounted on from device of bursting, and is fixedly connected with locked portion from device of bursting, is locked Equipped with perforation, safety rope passes through the perforation in locked portion in dead portion, when pressure of the safety rope to perforation is more than setting value, bursts certainly Device holds locked safety rope tightly by locked portion.Due to the setting of above structure, when the lowering velocity of safety rope is more than regulation speed When i.e. cleaning robot group is fallen downwards when spending, safety rope increases the pressure of perforation, when pressure reaches the receiving pressure of design When, locked safety rope is held tightly by locked portion from device is burst, and then prevent the further decentralization of safety rope, successfully prevented as a result, Cleaning robot group is fallen.

In conclusion the beneficial effects of the utility model are:

1. the clean robot group of the utility model can arbitrarily be walked in former and later two directions, cleaned in a cleaning route It after complete, turns around without turning, clean robot group is directly traversing, and then reversed walking, convenient and efficient, greatly improves cleaning effect Rate；

2. track can recycle, track length is not limited by glass curtain wall height, allows glass curtain wall cleaning systems Using face is wider；

3. cleaning mechanism can automatically adjust length and angle, acclive glass curtain wall can be cleaned；

4. preceding clean robot, in preceding cleaning, posterior clean robot, which is worked as, to be checked in preceding clean robot It when place's cleaning is not clean, is cleaned again for sordid place, is not had to clean back and forth in preceding clean robot, greatly improve Cleaning efficiency.

Detailed description of the invention

Fig. 1 is cleaning systems overall schematic；

Fig. 2 is the schematic diagram of clean robot；

Fig. 3 is the schematic bottom view of clean robot；

Fig. 4 is the schematic diagram for taking turns mechanism；

Fig. 5 is the schematic diagram of rail set；

Fig. 6 is that driving wheel and track turn the schematic diagram matched；

Fig. 7 is draw off gear schematic diagram；

Fig. 8 is safety device use-schematic diagram；

Fig. 9 is from apparatus structure schematic diagram of bursting；

Figure 10 is the traversing schematic diagram of clean robot.

Marked in the figure: 100- clean robot group, 1- clean robot, the chassis 3-, 3001- guide pad, 3002- guiding Portion, 30021- guide part one, 30022- guide part two, 3003- movable block two, 30031- interconnecting piece two, 4 tracks, 5- guide rail, 51- guide groove, 52- movable block one, 6- guide spiro rod one, 7- motor one, 8- motor two, 9- shaft one, 10- guide spiro rod two, 11- motor three, 12- telescoping mechanism one, 121- constrictor one, 122- constrictor two, 13- driven wheel, 14- driving wheel, 15- turntable One, 16- adsorbing mechanism, 161- sucker, 162- sealing element, 17- motor four, 18- telescoping mechanism four, 181- interconnecting piece one, 19- stretches Contracting mechanism three, 20- battery one, 21- control mechanism one, 24 support devices, 241 right supports, 241- left support, 25- shaft two, 26- motor five, 27- baffle, 28- propeller, 30- wiper mechanism, 301- water tank, 302- flusher, 303- swab, 3031- telescoping mechanism five, 3032- turnover device one, 30321- expansion bend three, 30322- motor six, 3033 scrubbers, 3034- Bracket one, 3035- motor seven, 35- suspension apparatus, 36- track two, 37- safety rope, 38- lock portion.

Specific embodiment

In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain this Utility model is not used to limit the utility model.

Embodiment

The utility model discloses one kind can clean again can be traversing glass curtain wall cleaning systems, including it is rail set, clear Clean robot group and safety device, rail set can be adsorbed on glass curtain wall D, and clean robot group 100 is on rail set Walking, safety device prevent clean robot group and rail set from falling；The clean robot group 100 can be traversing, cleaning Robot group 100 includes two clean robots 1, and the both ends of rail set are connected on clean robot 1 and realize to rail The folding and unfolding of road device.

Rail set includes track 4 and adsorbing mechanism 16, is equably disposed with several adsorption machines on the length direction of track 4 Structure 16, adsorbing mechanism 16 can be adsorbed on track 4 on glass curtain wall；The adsorbing mechanism 16 includes sucker 161 and sealing element 162, when sealing element 162 is moved inward relative to sucker 161, sucker 161 is in adsorbed state, when sealing element 162 relative to When sucker 161 is displaced outwardly, sucker 161 is in non-adsorbed state.

Clean robot includes transversely movable base apparatus, be mounted on jack on base apparatus, wheel mechanism, Battery 1, control mechanism 1, cleaning mechanism 30 and propeller 28, jack can carry out folding and unfolding to track, and wheel mechanism can Opposite base apparatus is traversing, and propeller 28 can increase clean robot to the normal pressure of track, and cleaning mechanism 30 can be to glass curtain Wall is cleaned, two in clean robot group cleaner people's communication connection, the control mechanism of two clean robots one According to the signal transmitted each other, coordinate the operation of clean robot group.

Base apparatus includes chassis 3 and transverse-moving mechanism two, and transverse-moving mechanism two can drive the opposite wheel mechanism in chassis 3 laterally to move Dynamic, chassis 3 is equipped with guide part 3002, and the slave jack that rail set can be allowed smooth is transitioned into wheel mechanism, guide part 3002 Including guide part 1 and guide part 2 30022, the transverse-moving mechanism two include movable block 2 3003, guide spiro rod 2 10, Motor 28 and telescoping mechanism 3 19, telescoping mechanism 3 19 are mounted in wheel mechanism, and motor 28 is mounted on telescoping mechanism 3 19, One end of the output end connection guide spiro rod 2 10 of motor 28, the other end connection mobile 2 33 of guide spiro rod 2 10, movable block 2 3003 interconnecting piece 2 331 is mounted on chassis, and the rotation of 28 energy band action-oriented screw rod 2 10 of motor passes through movable block 2 3003 Mobile chassis elongates or shortens when telescoping mechanism 3 19 can be traversing with wheel group.

Taking turns mechanism includes wheel group, telescoping mechanism 1 and transverse-moving mechanism one, and one 12 energy band driving wheel group of telescoping mechanism is moved vertically Dynamic, one energy band driving wheel group transverse shifting of transverse-moving mechanism, the transverse-moving mechanism one includes guide rail 5 and moving portion, and guide rail 5 is equipped with and leads To slot 51, guide groove 51 can be coupled with the guide pad 3001 on chassis, and moving portion can drive guide rail 5 on guide pad 3001 Sliding, and do not fall out；Moving portion includes the movable block 1 being located on guide rail 5, guide spiro rod 1, motor 1 and telescopic machine The interconnecting piece 1 of structure 4 18, telescoping mechanism 4 18 is mounted on base apparatus, and motor 1 is mounted on telescoping mechanism 4 18, The output end of one end connection motor 1 of guide spiro rod 1, the other end connect movable block 1, when one 7 band action-oriented spiral shell of motor Bar 1 rotates, and guide rail 5 moves on chassis；Wheel group includes driving wheel 14 and driven wheel 13, and telescoping mechanism 1 includes expansion bend One 121 and expansion bend 2 122, expansion bend 1 can drive driving wheel vertical shift, and expansion bend 2 122 can drive driven wheel perpendicular Translation is dynamic, and the output end connection connection shaft 1 of motor 4 17, shaft 1 drives driving wheel 14 to revolve under the driving of motor four Turn, driving wheel 14 is equipped with the rotating mechanism in adjustment wheel group direction, and rotating mechanism includes motor 3 11 and turntable 1, motor 3 11 It is mounted on telescoping mechanism, the output end of motor 3 11 connects turntable 1, and motor 4 17 is mounted on turntable.Rotating mechanism can With according to the direction of the instruction adjustment driving wheel of control mechanism one, because wheel group is built-in in track, driving wheel is rotating Adjustment is put to track can also follow adjustment direction together, to realize that clean robot group commutates under the action of mechanism.

Jack includes support device and rotating device one, and rotating device one is mounted in support device, rotating device One energy positive and negative rotation, realizes the folding and unfolding of track；Rotating device one includes the output end for driving motor 5 26 and shaft 2 25, motor 5 26 Connect shaft；The support device 24 includes left support 242 and right support 241, and shaft is mounted on left support 242 and right support On 241, left support 242 and right support 241 are equipped with the baffle 27 for making track 5 crispatura neat, and shaft 2 25 is equipped with detection and turns The how many sensor of the upper rail of axis 2 25, sensor can be pressure sensor.

Cleaning mechanism includes the flusher 302 and swab 303 of water tank 301, connection water tank, water tank 301 and scouring Device 303 is mounted on base apparatus；The front and back of flusher 302 is fitted with swab 303, with clean robot group Before the direction of 100 walkings is, the swab 303 after flusher 302 works, and the swab 303 before flusher 302 is not busy It sets；Water tank 301 is divided into cleaning agent case and Sewage treatment case, and cleaning agent case is connected with flusher 302, Sewage treatment case and wiping Cleaning device 303 is connected, and waste water recovery pipe is equipped in swab 303, the pump in Sewage treatment case can be by swab 303 Waste water recovery pipe the Sewage treatment on swab 303 into waste water tank；Swab 303 includes bracket 1, stretches Contracting mechanism 5 3031, turnover device 1 and scrubber 3033, one 3034 one end of bracket are mounted on chassis 3, one end connection Telescoping mechanism 5 3031, turnover device 1 is mounted on telescoping mechanism 5 3031, during clean, telescoping mechanism five 3031 ceaselessly elongation shortenings, drive scrubber 3033 back to move, come to glass curtain wall by turnover device 1 Return cleaning；Turnover device 1 includes expansion bend 3 30321 and motor 6 30322, and expansion bend 3 30321 passes through motor six 30322 output shaft is hinged on telescoping mechanism 5 3031；During clean, control mechanism is for a moment according to glass curtain wall The length of gradient automatic regulation telescopic unit three and passes through motor 6 30322 and control expansion bend 3 30321 with respect to glass curtain wall Angle；Expansion bend 3 30321 connects motor 7 3035 far from one end of telescoping mechanism 5 3031, and the output shaft of motor 7 3035 connects Scrubber 3033 is connect, the liquid level sensor of detection liquid level is installed in water tank 301, water tank 301 and flusher 302 lean on solenoid valve Control on-off.

Safety device includes suspension apparatus 35, and suspension apparatus is slidably connected on track 2 36, which is characterized in that suspention dress It sets and is fixedly installed with hoisting mechanism and power device with safety rope 37 in 35, power device is hoisting mechanism and entire suspention Device provides power, and the free-end of the safety rope 37 on hoist engine stretches out the bottom of suspension apparatus 35, and with cleaning robot group It is fixedly connected, the junction of safety rope 37 and 35 bottom of suspension apparatus is equipped with from device of bursting, and from bursting, device is fixedly mounted on suspention The bottom of device 35 is fixedly connected with locked portion 38 from device of bursting, and the portion that locks is equipped with perforation, and safety rope 37 passes through locked portion Perforation on 38 holds locked peace tightly by locked portion 38 from device is burst when the pressure that 37 pairs of safety rope are perforated is more than setting value Full rope 37.

When the lowering velocity of safety rope 37 be more than fixing speed when, that is, cleaning robot group 100 fall downwards when, safety rope The pressure of 37 pairs of perforation increases, and when pressure reaches the receiving pressure of design, holds locked peace tightly by locked portion 38 from device is burst Full rope 37, and then the further decentralization of safety rope 37 is prevented, falling for cleaning robot group 100 is successfully prevented as a result,.

The wheel mechanism that clean robot group has three column to be set side by side, the corresponding track 4 of each column wheel group, at work, until Rare two column wheel group is pressed on glass curtain wall by track 4.The corresponding position of three tracks of clean robot group be respectively A, B, C, when the corresponding track 4 of B location needs to crispatura, the expansion bend 1 and expansion bend of wheel group corresponding to the track 4 of B location 2 122 synchronous shortenings, because wheel group is built-in in track 4, track is lifted together, 16 under tension of adsorbing mechanism, from It is detached from glass curtain wall, during clean robot group 100 is advanced, the adsorbing mechanism of track 4 is constantly pulled up, when whole When the adsorbing mechanism of track 4 is all in unadsorbed state, the motor 5 26 of jack is inverted, and track 4 is turned again to preceding It is laid in the shaft 2 25 of the clean robot of track 4, continues to be laid with to meet next step track 4.

If clean robot group is traversing to the right, control mechanism one first controls wheel group corresponding to the track 4 of location A Expansion bend 1 is synchronous with expansion bend 2 122 to be shortened, because wheel group is built-in in track 4, track is lifted together, is inhaled Random structure under tension, is detached from from glass curtain wall, during clean robot group is advanced, the adsorbing mechanism quilt of track 4 It constantly pulls up, when the adsorbing mechanism of whole track 4 is all in unadsorbed state, control mechanism one controls the track 4 of location A Forward or reverse, the output end connection guide spiro rod 1 of motor 1 rotates the motor 1 of corresponding wheel group, to pass through shifting Motion block 1 controls guide rail 5 and moves right, and telescoping mechanism 3 19 can elongate or shorten, to cooperate the movement of guide rail 5；Work as turbine After structure is laterally moved to the position A1, telescoping mechanism 1, which can extend, makes wheel group pressure in orbit, and control mechanism one controls motor 28 and revolves Turn, so that guide spiro rod 2 10 be driven to rotate, guide spiro rod drives chassis 3 mobile by movable block two, to realize cleaner Device people's is traversing to the right, and during this period, telescoping mechanism 4 18 elongates or shortens, to cooperate the movement on chassis 3, to realize entire Clean robot group it is traversing.

When the cleaning of clean robot group is to glass curtain wall edge, clean robot group is first traversing and then commutation, then allows Originally it now became in the preceding clean robot for being laid with track in after-contraction rail set, originally in the clear of rear folding and unfolding rail set Clean robot now becomes in preceding laying rail set, and the commutation of clean robot group is convenient and efficient, can greatly improve cleaning efficiency It can be carried out carrying out the variation of cleaning route.

Camera is housed on clean robot, whether inspection is clean in preceding clean robot, if do not cleaned Completely, it can be cleaned again in rear clean robot, to reach clean, preceding clean robot is posterior in preceding cleaning Clean robot is cleaned when checking when the cleaning of preceding clean robot somewhere is not clean for sordid place again, Do not have to clean back and forth in preceding clean robot, greatly improves cleaning efficiency.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model Protection scope within.

Claims (10)

1. one kind can clean glass curtain wall cleaning systems that can be traversing again, it is characterised in that: including rail set, cleaning machine People's group and safety device, rail set can be adsorbed on glass curtain wall, and clean robot group (100) is walked on rail set, Safety device prevents clean robot group and rail set from falling；The clean robot group (100) can be traversing, cleans machine People's group (100) includes two clean robots (1), and the both ends of rail set are connected to realization pair on clean robot (1) The folding and unfolding of rail set.

2. one kind as described in claim 1 can clean glass curtain wall cleaning systems that can be traversing again, which is characterized in that described Rail set includes track (4) and adsorbing mechanism (16), is equably disposed with several adsorbing mechanisms on the length direction of track (4) (16), adsorbing mechanism (16) can be adsorbed on track (4) on glass curtain wall；The adsorbing mechanism (16) include sucker (161) and Sealing element (162), when sealing element (162) is moved inward relative to sucker (161), sucker (161) is in adsorbed state, when close When sealing (162) is displaced outwardly relative to sucker (161), sucker (161) is in non-adsorbed state.

3. one kind as described in claim 1 can clean glass curtain wall cleaning systems that can be traversing again, which is characterized in that described Clean robot includes transversely movable base apparatus, is mounted on jack on base apparatus, wheel mechanism, battery one (20), control mechanism one (21), cleaning mechanism (30) and propeller (28), jack can carry out folding and unfolding, wheel to rail set Mechanism can be traversing with respect to base apparatus, and propeller (28) can increase clean robot to the normal pressure of track, cleaning mechanism (30) Glass curtain wall can be cleaned.

4. one kind as claimed in claim 3 can clean glass curtain wall cleaning systems that can be traversing again, which is characterized in that described Base apparatus includes chassis (3) and transverse-moving mechanism two, and transverse-moving mechanism two can drive chassis (3) opposite wheel mechanism transverse shifting, bottom Disk (3) is equipped with guide part (3002), and the slave jack that rail set can be allowed smooth is transitioned into wheel mechanism.

5. one kind as claimed in claim 4 can clean glass curtain wall cleaning systems that can be traversing again, which is characterized in that described Transverse-moving mechanism two includes movable block two (3003), guide spiro rod two (10), motor two (8) and telescoping mechanism three (19), telescopic machine Structure three (19) is mounted in wheel mechanism, and motor two (8) is mounted on telescoping mechanism three (19), the output end connection of motor two (8) One end of guide spiro rod two (10), the other end of guide spiro rod two (10) connect mobile two (33), the company of movable block two (3003) Socket part two (331) is mounted on chassis, and motor two (8) energy band action-oriented screw rod two (10) rotation is moved by movable block two (3003) Dynamic chassis elongates or shortens when telescoping mechanism three (19) can be traversing with wheel group.

6. one kind as claimed in claim 3 can clean glass curtain wall cleaning systems that can be traversing again, which is characterized in that described Wheel mechanism includes wheel group, telescoping mechanism one (12) and transverse-moving mechanism one, and telescoping mechanism one (12) energy band driving wheel group vertical shift is horizontal One energy band driving wheel group transverse shifting of telephone-moving structure, the transverse-moving mechanism one include guide rail (5) and moving portion, and guide rail (5) is mounted on bottom On disk device, moving portion can drive guide rail (5) traversing on base apparatus；Moving portion includes the movable block being located on guide rail (5) One (52), guide spiro rod one (6), motor one (7) and telescoping mechanism four (18), the interconnecting piece one (181) of telescoping mechanism four (18) It is mounted on base apparatus, motor one (7) is mounted on telescoping mechanism four (18), and one end of guide spiro rod one (6) connects motor The output end of one (7), the other end connect movable block one (52), when motor one (7) drives guide spiro rod one (6) rotation, guide rail (5) It is moved on chassis；Wheel group includes driving wheel (14) and driven wheel (13), telescoping mechanism one (12) include expansion bend one (121) and Expansion bend two (122), expansion bend one (121) can drive driving wheel vertical shift, and expansion bend two (122) can drive driven wheel vertical Mobile, output end connection connection shaft one (9) of motor four (17), shaft one (9) drives master under the driving of motor four (17) Driving wheel (14) rotation.

7. one kind as claimed in claim 3 can clean glass curtain wall cleaning systems that can be traversing again, which is characterized in that described Cleaning mechanism includes the flusher (302) and swab (303) of water tank (301), connection water tank, water tank (301) and scouring Device (303) is mounted on base apparatus.

8. one kind as claimed in claim 7 can clean glass curtain wall cleaning systems that can be traversing again, which is characterized in that described Swab (303) are fitted with before and after flusher (302), before being with the direction that clean robot group (100) walk, spray Swab (303) after spilling device (302) works, and the swab (303) before flusher (302) is idle.

9. one kind as claimed in claim 7 can clean glass curtain wall cleaning systems that can be traversing again, which is characterized in that described Water tank (301) is divided into cleaning agent case and Sewage treatment case, and cleaning agent case is connected with flusher (302), Sewage treatment case and Swab (303) is connected, and waste water recovery pipe is equipped in swab (303), and the pump in Sewage treatment case can be filled by cleaning The waste water recovery pipe in (303) is set the Sewage treatment on swab (303) into waste water tank；Swab (303) includes Bracket one (3034), telescoping mechanism five (3031), turnover device one (3032) and scrubber (3033), bracket one (3034) one end It is mounted on base apparatus, one end connects telescoping mechanism five (3031), and turnover device one (3032) is mounted on telescoping mechanism five (3031) on, during clean, telescoping mechanism five (3031) ceaselessly extends shortening, passes through turnover device one (3032) band Dynamic scrubber (3033) back move, and are cleared up back and forth glass curtain wall, turnover device one (3032) includes expansion bend three (30321) and motor six (30322), expansion bend three (30321) are hinged on telescoping mechanism by the output shaft of motor six (30322) On five (3031)；During clean, control mechanism is for a moment according to the length of the gradient automatic regulation telescopic unit three of glass curtain wall Angle short and by motor six (30322) control expansion bend three (30321) with respect to glass curtain wall.

10. one kind as described in claim 1 can clean glass curtain wall cleaning systems that can be traversing again, which is characterized in that described Safety device includes suspension apparatus (35), and suspension apparatus is slidably connected on track two (36), which is characterized in that suspension apparatus (35) hoisting mechanism and power device with safety rope (37) are fixedly installed in, power device is hoisting mechanism and entirely hangs Device for hoisting provides power, and the free-end of the safety rope (37) on hoist engine stretches out the bottom of suspension apparatus (35), and and cleaning machine Device people's group is fixedly connected, and the junction of safety rope (37) and suspension apparatus (35) bottom is equipped with from device of bursting, and from bursting, device is fixed It is mounted on the bottom of suspension apparatus (35), is fixedly connected with locked portion (38) from device of bursting, the portion that locks is equipped with perforation, safety (37) are restricted across the perforation locked on portion (38), when pressure of the safety rope (37) to perforation is more than setting value, device leads to from bursting It crosses locked portion (38) and holds locked safety rope (37) tightly.