CN208551668U - A kind of wheel mechanism for glass curtain wall cleaning systems - Google Patents
A kind of wheel mechanism for glass curtain wall cleaning systems Download PDFInfo
- Publication number
- CN208551668U CN208551668U CN201721262179.3U CN201721262179U CN208551668U CN 208551668 U CN208551668 U CN 208551668U CN 201721262179 U CN201721262179 U CN 201721262179U CN 208551668 U CN208551668 U CN 208551668U
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- Prior art keywords
- track
- wheel
- wheel group
- motor
- curtain wall
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Abstract
The utility model relates to a kind of wheel mechanism for glass curtain wall cleaning systems, including wheel group, telescoping mechanism one and transverse-moving mechanism one, one energy band driving wheel group vertical shift of telescoping mechanism, one energy band driving wheel group transverse shiftings of transverse-moving mechanism；Transverse-moving mechanism one includes guide rail, the movable block one being located on guide rail, guide spiro rod one, motor one and telescoping mechanism four, the interconnecting piece one of telescoping mechanism four is mounted on base apparatus, motor one is mounted 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 motor one drives guide spiro rod one to rotate, guide rail moves on chassis.Transverse-moving mechanism one can laterally adjust the position of wheel group, so as to the displacement of chassis lateral adjustments, to realize the traversing of entire machine people group.
Description
Technical field
The utility model belongs to cleaning applications more particularly to a kind of wheel mechanism for 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 sucking disc mechanism is mounted in tire or robot, and sucking disc 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 sucking disc 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 sucking disc mechanism is by true
Empty pumping falls the air in sucking disc mechanism, makes sucking disc 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 sucking disc 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. the utility model mainly figures out how the problem of realizing track and wheel group traversing technology, to realize robot
Group is traversing;
2. also to solve how clean robot group track is inverted to from rear distributor in preceding distributor on this basis,
The problem of so as to orbital cycle utilization;
3. also to solve the problems, such as that the switching of sucking disc mechanism adsorbed state is very difficult on this basis.
The technical solution adopted in the utility model is as follows:
A kind of wheel mechanism for glass curtain wall cleaning systems, it is characterised in that: including wheel group, telescoping mechanism one and traversing
Mechanism one, one energy band driving wheel group vertical shift of telescoping mechanism, one energy band driving wheel group transverse shifting of transverse-moving mechanism.
Telescoping mechanism one can move up and down vertically with driving wheel group, because wheel group is built-in in track, have on track
Sucking disc mechanism, when telescoping mechanism one is moved with driving wheel group, track can move together, to pull up or compress sucker machine
Structure, when the sucking disc mechanism of whole track is all in unadsorbed state, transverse-moving mechanism one can laterally adjust the position of wheel group, with
Just distributor and cleaner adjust the position on chassis, to realize the traversing of entire machine people group.
Further, wheel group is that three column or more are disposed in parallel in clean robot group, and wheel group is embedded in orbit, each column
Wheel group corresponds to a track, and track is equipped with sucking disc mechanism, and the clean robot group includes cleaner and distributor, described clear
The two sides of clean device are respectively equipped with distributor, and the both ends of track are connected to the folding and unfolding realized on distributor to track, described clear
Clean device is matched on track and freely walks；When telescoping mechanism one extends, in orbit, sucking disc mechanism is adsorbed on glass to wheel group pressure
On curtain wall, when telescoping mechanism one shortens, wheel group drives track to move up vertically together, sucking disc mechanism is pulled up, when whole track
When sucking disc mechanism is all in unadsorbed state, transverse-moving mechanism one can be with driving wheel group transverse shifting.
One distributor is in preceding laying track, and a distributor is in after-contraction track, and cleaner is in centre walking to glass
Curtain wall surface is cleaned, and is equably disposed with several sucking disc mechanisms on the length direction of track, and track is three or more and simultaneously
Column are arranged, wheel group corresponding with track is equipped in cleaner and distributor, and wheel group is embedded in orbit, every track corresponding one
Column wheel group, one energy band driving wheel group vertical shift of telescoping mechanism, one energy band driving wheel group transverse shifting of transverse-moving mechanism, the work of robot group
When, at least guarantee that two column wheel groups are pressed on track body, it is preferred that press the two of the maximum wheel group of spacing in orbit to arrange in wheel
Heart line and the intersection of the center of gravity line of clean robot group, in case clean robot group is turned on one's side, when certain track needs are crispaturaed or are shifted
When, wheel group corresponding to track is by one Xiang Shangyi of telescoping mechanism, because wheel group is embedded in track, track is taken up together,
Sucking disc mechanism is pulled up, and during traveling, sucking disc mechanism is ceaselessly pulled up clean robot group, when the suction of whole track
When disc mechanism is all in unadsorbed state, it can be inverted in the preceding distributor for being laid with track body, track body is inverted again and is crispaturaed
To on preceding distributor, continue to be laid with to meet next step track；Transverse-moving mechanism one can work as cross sliding machine with transverse shifting wheel group
Structure one complete it is traversing after, cleaner and distributor transverse shifting chassis, realize clean robot group transverse shifting.When needs are cut
When changing to idle trackwork, the corresponding wheel group of track of leaving unused is by telescoping mechanism one to moving down, and track is under pressure, sucker
Mechanism is adsorbed on glass curtain wall.The adsorbed state of sucking disc mechanism and wheel group move up and down linkage, and sucking disc mechanism is facilitated to adsorb
The adjusting of state, convenient retracted device recycle the reversion of track, facilitate the traversing of wheel group, finally realize entire clean robot
It is traversing.
Further, transverse-moving mechanism one includes guide rail and moving portion, and guide rail is mounted on the chassis of cleaner or distributor,
Moving portion can drive guide rail traversing on chassis.
Further, guide rail is equipped with guide groove, and guide groove can be coupled with the guide pad on chassis, and guide rail can led
It slides, and does not fall out on block.
It is coupled by the guide pad on guide groove and chassis, facilitates guide rail band driving wheel group transverse shifting on chassis,
Ball can be set on guide groove or guide pad, so as to the sliding of track；Guide pad is embedded in guide rail, and in guide rail movement
In the process, guide rail and guide pad will not separate.
Further, moving portion includes the movable block one being located on guide rail, guide spiro 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 telescoping mechanism four, guide spiro rod one
One end connects the output end of motor one, and the other end connects movable block one, and when motor one drives guide spiro rod one to rotate, guide rail is the bottom of at
It is moved on disk.
Motor one drives guide spiro rod one to rotate, and guide spiro rod one drives guide rail mobile by movable block one, to drive
The movement of wheel group, motor one are the servo motor that can control revolution and direction of rotation, and telescoping mechanism four is electric telescopic rod, the bottom of at
When disk is mobile, telescoping mechanism four is elongated or shortened, to cooperate the movement on chassis.
Further, wheel group includes driving wheel and driven wheel, and telescoping mechanism one includes expansion bend one and expansion bend two, is stretched
Device one can drive driving wheel vertical shift, and expansion bend two can drive driven wheel vertical shift, and driving wheel drives by driving mechanism one
Rotation.
Telescoping mechanism one can allow wheel group to compress track, the sucking disc mechanism on track is made to be adsorbed on glass curtain wall in elongation
On, when telescoping mechanism one shortens, wheel group can be allowed to drive track, sucking disc mechanism is pulled up, be in active state track.
Further, driving mechanism one includes motor four and shaft one, and the output end connection connection shaft one of motor four turns
Axis one drives driving wheel rotation under the driving of motor four.
Motor four is that driving wheel four can be driven to drive cleaner and distributor with the servo motor of positive and negative rotation, motor four
It moves forward or back and advances, u-turn is not had to when clean robot group commutates, directly retreat and advance, optimize cleaning route, improve cleaning
Efficiency.
In conclusion the beneficial effects of the utility model are:
1. wheel group can move up and down vertically under the drive of telescoping mechanism one, solves track in front and back distributor
Recycling problem is inverted, only needs a small amount of track that can complete the cleaning of entire glass curtain wall；
2. wheel group can move up and down vertically under the drive of telescoping mechanism one, it can simply and easily switch sucker machine
The adsorbed state of structure；
3. wheel mechanism can move left and right, so that the chassis of distributor or cleaner is traversing, to realize entire cleaner
Device people organizes traversing, makes cleaning route more flexible, more efficient.
Detailed description of the invention
Fig. 1 is clean robot group schematic diagram；
Fig. 2 is the structural schematic diagram for taking turns mechanism；
Fig. 3 is wheel mechanism and the schematic diagram that distributor chassis matches；
The schematic diagram of the position Fig. 4 driving wheel and guide rail cooperation；
Fig. 5 is the schematic diagram of guide rail and sucking disc mechanism；
Fig. 6 is the traversing schematic diagram of clean robot group；
Marked in the figure: 100- clean robot group, 1- distributor, 2- cleaner, the chassis 3-, 3001- guide pad,
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- sucking disc mechanism, 17- motor four, 18- telescoping mechanism
Four, 181- interconnecting piece one, 19- telescoping mechanism three.
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 a kind of wheel mechanisms for glass curtain wall cleaning systems, including wheel group, telescoping mechanism one
12 and transverse-moving mechanism one.One distributor 1 is in preceding laying track 4, and a distributor 1 is in after-contraction track 4, and cleaner 2 is in
Between walk the surface glass curtain wall D cleaned, several sucking disc mechanisms 16, rail are equably disposed on the length direction of track 4
Road 4 is three or more and is arranged in juxtaposition, and wheel group corresponding with track 4 is equipped in cleaner 2 and distributor 1, wheel group is embedded in
In track 4, every track 4 corresponds to a column wheel group, one 12 energy band driving wheel group vertical shift of telescoping mechanism, and transverse-moving mechanism one can drive
Wheel group transverse shifting at least guarantees that two column wheel groups are pressed on track 4, it is preferred that be pressed on track 4 when robot group works
The center line of two column wheels of the maximum wheel group of spacing and the center of gravity line intersection of clean robot group, in order to avoid clean robot group side
It turns over.
Transverse-moving mechanism one includes guide rail 5 and moving portion, and guide rail 5 is mounted on cleaner 2 and hand is put on the chassis 3 of device, guide rail 5
It is equipped with guide groove 51, the guide pad 3001 that guide groove 51 can be equipped with chassis 3 is coupled, and guide rail 5 can be in guide pad
Sliding is without falling on 3001；Moving portion includes movable block 1 on guide rail 5, guide spiro rod 1, motor 1 and flexible
The interconnecting piece 1 of mechanism 4 18, telescoping mechanism 4 18 is mounted on base apparatus, and motor 1 is mounted on telescoping mechanism 4 18
On, the output end of one end connection motor 1 of guide spiro rod 1, the other end connects movable block 1, when the drive of motor 1 is led
It is rotated to screw rod 1, guide rail 5 moves on chassis.
Wheel group includes driving wheel 14 and driven wheel 13, and telescoping mechanism 1 includes expansion bend 1 and expansion bend 2 122,
Expansion bend 1 can drive driving wheel vertical shift, and expansion bend 2 122 can drive driven wheel vertical shift, one 121 He of expansion bend
Expansion bend 2 122 is electric telescopic rod.Driving wheel 14 includes 4 17 He of motor by the driving rotation of driving mechanism one, driving mechanism one
Shaft 1.
Driving wheel 14 is equipped with the rotating mechanism in adjustment wheel group direction, and the rotating mechanism includes motor 3 11 and turntable one
15, motor 3 11 is mounted on telescoping mechanism 12, and the output end of motor 3 11 connects turntable 1, and motor 4 17 is mounted on turntable
On.
The chassis of cleaner and distributor, which is equipped with, to include chassis with the transverse-moving mechanism two on traversing chassis, transverse-moving mechanism two
On the movable block 2 3003, guide spiro rod 2 10, motor 28 and the telescoping mechanism 3 19 that set, telescoping mechanism 3 19 is mounted on guide rail
On, motor 28 is mounted on telescoping mechanism 3 19, one end of the output end connection guide spiro rod 2 10 of motor 28, guide spiro rod
2 10 other end connection mobile 2 3003, the interconnecting piece 2 30031 of movable block 2 3003 is mounted on chassis, 28 energy of motor
2 10 turns of guide spiro rod are driven by 2 3003 mobile chassis of movable block, when telescoping mechanism 3 19 can be traversing with wheel group, elongation or
Shorten.
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, sucking disc mechanism under tension, from glass
It is detached from glass curtain wall, during clean robot group is advanced, the sucking disc mechanism of track 4 is constantly pulled up, when whole rail
When the sucking disc mechanism in road 4 is all in unadsorbed state, distributor 1 is inverted, and track 4 is turned again in the preceding folding and unfolding for being laid with track 4
On device 1, continue to be laid with to meet next step track 4.
If clean robot group is traversing to the right, control mechanism first controls stretching for wheel group corresponding to the track 4 of location A
Contracting device 1 is synchronous with expansion bend 2 122 to be shortened, because wheel group is built-in in track 4, track is lifted together, sucker
Mechanism under tension, is detached from from glass curtain wall, and during clean robot group is advanced, the sucking disc mechanism of track 4 is not by
Disconnected pulls up, when the sucking disc mechanism of whole track 4 is all in unadsorbed state, control mechanism control location A track 4 pair
The output end connection guide spiro rod 1 of one 7 positive and negative rotation of motor for the wheel group answered, motor 1 rotates, to pass through movable block 1
Control guide rail 5 moves right, and telescoping mechanism 3 19 can elongate or shorten, to cooperate the movement of guide rail 5；When wheel, mechanism is laterally moved to
Behind the position A1, telescoping mechanism 1, which can extend, makes wheel group pressure in orbit, and control mechanism controls motor 28 and rotates, thus band
Action-oriented screw rod 2 10 rotates, and guide spiro rod drives chassis 3 mobile by movable block two, to realize cleaner 2 and distributor 1
It is traversing to the right, during this period, telescoping mechanism 4 18 elongates or shortens, to cooperate the movement on chassis 3, to realize entire cleaning
Robot group it is traversing.
If clean robot group needs to commutate, in the active of the preceding distributor 1 for being laid with track 4 being compressed on track 4
It takes turns 14 corresponding motors 3 11 to rotate under the control of control mechanism, turntable 1 is driven to rotate, 14 adjustment direction of driving wheel is right
The track 4 that should be depressed also adjustment direction, walks on track 4 in the cleaner 2 and distributor 1 of rear walking, can realize entire
The commutation of clean robot group.
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 (7)
1. a kind of wheel mechanism for glass curtain wall cleaning systems, it is characterised in that: including wheel group, telescoping mechanism one (12) and cross
Telephone-moving structure one, telescoping mechanism one (12) energy band driving wheel group vertical shift, one energy band driving wheel group transverse shifting of transverse-moving mechanism.
2. a kind of wheel mechanism for glass curtain wall cleaning systems as described in claim 1, which is characterized in that the wheel group is
Three column are above to be disposed in parallel in clean robot group, and wheel group is embedded in track (4), the corresponding track (4) of each column wheel group,
Track (4) is equipped with sucking disc mechanism, and the clean robot group (100) includes cleaner (2) and distributor (1), the cleaning
The two sides of device (2) are respectively equipped with distributor (1), and the both ends of track (4) are connected on distributor (1) and realize to track (4)
Folding and unfolding, the cleaner (2) is matched on track (4) and freely walks；When telescoping mechanism one (12) elongation, wheel group is pressed in rail
On road (4), sucking disc mechanism is adsorbed on glass curtain wall, and when telescoping mechanism one (12) shortens, wheel group drives track (4) to erect together
It directly moves up, pulls up sucking disc mechanism (16), when the sucking disc mechanism (16) when whole track (4) is all in unadsorbed state, cross sliding machine
Structure one can be with driving wheel group transverse shifting.
3. a kind of wheel mechanism for glass curtain wall cleaning systems as described in claim 1, which is characterized in that the cross sliding machine
Structure one includes guide rail (5) and moving portion, and guide rail (5) is mounted on the chassis of cleaner (2) or distributor (1), moving portion energy band
Dynamic guide rail (5) are traversing on chassis.
4. a kind of wheel mechanism for glass curtain wall cleaning systems as claimed in claim 3, which is characterized in that the guide rail
(5) guide groove (51) are equipped with, guide groove (51) can be coupled with the guide pad (3001) on chassis, and guide rail (5) can led
It slides, and does not fall out on block (3001).
5. a kind of wheel mechanism for glass curtain wall cleaning systems as claimed in claim 3, which is characterized in that the moving portion
Including movable block one (52), guide spiro rod one (6), motor one (7) and the telescoping mechanism four (18) being located on guide rail (5), stretch
The interconnecting piece one (181) of mechanism four (18) is mounted on base apparatus, and motor one (7) is mounted on telescoping mechanism four (18), is led
To the output end of one end of screw rod one (6) connection motor one (7), the other end connects movable block one (52), when motor one (7) drives
Guide spiro rod one (6) rotation, guide rail (5) move on chassis.
6. a kind of wheel mechanism for glass curtain wall cleaning systems as described in claim 1, which is characterized in that the wheel group packet
Driving wheel (14) and driven wheel (13) are included, telescoping mechanism one (12) includes expansion bend one (121) and expansion bend two (122), is stretched
Device one (121) can drive driving wheel (14) vertical shift, and expansion bend two (122) can drive driven wheel (13) vertical shift, actively
(14) are taken turns by the driving rotation of driving mechanism one.
7. a kind of wheel mechanism for glass curtain wall cleaning systems as claimed in claim 6, which is characterized in that the driving machine
Structure one includes motor four (17) and shaft one (9), and the output end connection of motor four (17) connects shaft one (9), and shaft one (9) exists
Under the driving of motor four, driving wheel (14) rotation is driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721262179.3U CN208551668U (en) | 2017-09-29 | 2017-09-29 | A kind of wheel mechanism for glass curtain wall cleaning systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721262179.3U CN208551668U (en) | 2017-09-29 | 2017-09-29 | A kind of wheel mechanism for glass curtain wall cleaning systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208551668U true CN208551668U (en) | 2019-03-01 |
Family
ID=65445269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721262179.3U Expired - Fee Related CN208551668U (en) | 2017-09-29 | 2017-09-29 | A kind of wheel mechanism for glass curtain wall cleaning systems |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208551668U (en) |
-
2017
- 2017-09-29 CN CN201721262179.3U patent/CN208551668U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190301 Termination date: 20190929 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |