CN208755886U - A kind of base apparatus of the cleaner for glass curtain wall cleaning systems - Google Patents

Abstract

The utility model relates to a kind of base apparatus of cleaner for glass curtain wall cleaning systems, including chassis and transverse-moving mechanism two, transverse-moving mechanism two can drive chassis with respect to wheel group transverse shifting, transverse-moving mechanism two includes the movable block two set on chassis, telescoping mechanism three in orbit is installed, motor two and guide spiro rod two, motor two is mounted on telescoping mechanism three, two one end of guide spiro rod connects motor two, one end connects the rotation of two motor of movable block, two energy band action-oriented screw rod two and passes through two mobile chassis of movable block, when telescoping mechanism three can be traversing with wheel group, it elongates or shortens.Transverse-moving mechanism two drives chassis transverse shifting to press wheel group in orbit as supporting point, to realize the transverse shifting of clean robot group, the change of robot group cleaning route convenient for cleaning, cleaning route is more flexible.

Description

A kind of base apparatus of the cleaner for glass curtain wall cleaning systems

Technical field

The utility model belongs to cleaning applications more particularly to a kind of chassis of the cleaner for glass curtain wall cleaning systems Device.

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 sucker is mounted in tire or robot, and sucker quantity is few, and adsorption area is small, if there are a large amount of stolen goods in somewhere on glass Object, just will affect the adsorption capacity of sucker, to influence the stress of entire robot, be easy to fall, dangerous；Existing cleaning machine People can only straight line walking, cannot turn, cleaning route is not flexible；Existing robot sucker is taken out in sucker by vacuum pump Air makes sucker keep vacuum suction on glass curtain wall, and vacuum pump will increase the self weight of whole equipment and vacuum pump is extracting When air in sucker, a large amount of power can be consumed, the cruising ability of whole equipment battery is influenced.

Utility model content

The goal of the invention of the utility model is:

1. the utility model mainly solves the problems, such as the traversing change cleaning route of robot group;

2. also to solve the traversing technical problem of wheel group on this basis.

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

A kind of base apparatus of the cleaner for glass curtain wall cleaning systems, it is characterised in that: it is characterized by comprising Chassis and transverse-moving mechanism two, transverse-moving mechanism two can drive chassis with respect to wheel group transverse shifting.

Transverse-moving mechanism two drives chassis transverse shifting to press wheel group in orbit as supporting point, what realizes cleaner from The transverse shifting of device people group, the change of robot group cleaning route convenient for cleaning, cleaning route are more flexible.

Further, three or more wheel groups are installed, each wheel group includes driving wheel and driven wheel, each column wheel group pair on chassis A track is answered, there is sucker on track, wheel group is embedded in track, and track both ends connect clean robot group, the cleaning machine People's group includes cleaner and distributor, and the two sides of the cleaner are respectively equipped with distributor, and the both ends of the track are separately connected In realizing the folding and unfolding to track on distributor, the cleaner is matched on track and freely walks；Wheel group can drive track one Traversing and vertical shift is played, when wheel group moves up vertically, wheel group drives corresponding track to move up together, and sucker is pulled up, and is being cleaned During robot group is advanced, sucker is constantly pulled up, and when the sucker of whole track is all pulled up, wheel group can be free It is traversing, wheel group it is traversing in place after, transverse-moving mechanism two act, mobile chassis.

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 several suckers are equably disposed on the length direction of track, and track is three or more and cloth arranged side by side It sets, wheel group corresponding with track is equipped in cleaner and distributor, wheel group is embedded in orbit, the corresponding column wheel of every track Group, one energy band driving wheel group vertical shift of telescoping mechanism, one energy band driving wheel group transverse shifting of transverse-moving mechanism, when robot group works, 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 the spacing in orbit center for arranging wheel 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, 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, sucker It is pulled up, during traveling, sucker is ceaselessly pulled up clean robot group, when the sucker of whole track is not all in inhaling When attached state, it can be inverted in the preceding distributor for being laid with track body, track body is inverted again and is crispaturaed on preceding distributor, with Meet next step track to continue to be laid with；Transverse-moving mechanism one can be horizontal with transverse shifting wheel group, after transverse-moving mechanism one completes traversing The transverse shifting of cleaner and distributor is realized on two transverse shifting chassis of telephone-moving structure.

Further, chassis is equipped with the guide pad cooperated with the guide groove of guide rail, and transverse-moving mechanism two can drive chassis to pass through Guide pad slides on guide rail, and guide pad and guide rail cannot be vertically separated.

The cooperation of the guide groove of guide pad and guide rail, facilitates chassis traversing with respect to wheel group, can be on guide groove or guide pad Ball is set, so as to the opposite sliding of guide pad and guide groove；Guide pad is embedded in the guide groove of guide rail, and is moved in guide rail During, guide rail and guide pad will not be vertically separated.

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 The other end at end, guide spiro rod two connects movable block two, and the interconnecting piece two of movable block two is mounted on chassis, and motor two can drive The rotation of guide spiro rod two is elongated or shortened when telescoping mechanism three can be traversing with wheel group 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, with the movement of match wheel group.

Further, chassis is equipped with telescoping mechanism four, and one end of telescoping mechanism four is mounted on the base, and one end is equipped with Motor one, the output end of motor one connect guide spiro rod one, the movable block one on the other end connection guide rail of guide spiro rod one.

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.

In conclusion the beneficial effects of the utility model are:

1. the guide pad matched with guide rail is arranged on chassis, facilitate the movement on chassis；

2. transverse-moving mechanism two using wheel group as supporting point, can allow chassis transverse shifting, to keep cleaner or distributor lateral It is mobile, change cleaning route, is that cleaning route planning is more flexible；

3. chassis is equipped with transverse-moving mechanism one, the traversing of wheel group and track is realized, to realize the traversing of entire robot group It is ready.

Detailed description of the invention

Fig. 1 is glass curtain wall cleaning systems overall schematic；

Fig. 2 is the schematic diagram of cleaner；

Fig. 3 is the schematic bottom view of cleaner；

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

Fig. 5 is the schematic diagram of swab；

Fig. 6 is the schematic diagram of track and adsorbing mechanism；

Fig. 7 is the traversing process schematic of 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- adsorbing mechanism, 17- motor four, 18- telescoping mechanism Four, 181- interconnecting piece one, 19- telescoping mechanism three, 28- propeller, 29- battery two, 30- wiper mechanism, 301- water tank, 302- Flusher, 303- swab, 3031- telescoping mechanism five, 3032- turnover device one, 3033 scrubbers, 3034- bracket one, 3035- motor seven, 31- control mechanism two.

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 base apparatus of cleaner for glass curtain wall cleaning systems, including chassis 3 With transverse-moving mechanism two, transverse-moving mechanism two can drive chassis 3 with respect to wheel group transverse shifting.Clean robot group includes a cleaner 2 and two distributors 1, a 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 adsorbing 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, the corresponding column wheel group of every track 4 and jack, one 12 energy band driving wheel group vertical shift of telescoping mechanism, cross sliding machine One energy band driving wheel group transverse shifting of structure, transverse-moving mechanism two can drive chassis mobile, when robot group works, at least guarantee two column wheels Group is pressed on track 4, it is preferred that the center line of the maximum two column wheel group of the spacing being pressed on track 4 and clean robot group Center of gravity line intersection, in case clean robot group is turned on one's side.

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 are 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, driving wheel 14 is connected with the output end of motor 4 17.

Transverse-moving mechanism two includes on the movable block 2 3003 set on chassis, guide spiro rod 2 10, motor 28 and installation road Telescoping mechanism 3 19, telescoping mechanism 3 19 are mounted in wheel mechanism, and motor 28 is mounted on telescoping mechanism 3 19, motor 28 Output end connects one end of guide spiro rod 2 10, and the other end of guide spiro rod 2 10 connects movable block 2 3003, movable block two 3003 interconnecting piece 2 30031 is mounted on chassis, and 2 10 turns of 28 energy band action-oriented screw rod of motor are moved by movable block 2 3003 Dynamic chassis elongates or shortens when telescoping mechanism 3 19 can be traversing with wheel group.

Guide part 3002 is located at chassis one end, and guide part 3002 is arc, and guide part includes guide part 1 and guiding Portion 2 30022.

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.

The wheel mechanism that clean robot group 100 has three column to be set side by side, the corresponding track 4 of each column wheel group, at work, At least two column wheel groups are pressed on glass curtain wall by track 4.The corresponding position of three tracks of clean robot group 4 be respectively A, B, C, when the corresponding track 4 of B location needs to crispatura, the expansion bend 1 of wheel group corresponding to the track 4 of B location and flexible Device 2 122 is synchronous to be shortened, because wheel group is built-in in track 4, track 4 is lifted together, 16 under tension of adsorbing mechanism, It is detached from from glass curtain wall D, during clean robot group 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 five of the radio and tape player of distributor 1 is inverted, and track 4 turns again to In the shaft 2 25 of the preceding distributor 1 for being laid with track 4, 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, absorption Mechanism under tension, is detached from from glass curtain wall, and during clean robot group is advanced, the adsorbing mechanism of track 4 is not by Disconnected pulls up, and when the adsorbing mechanism 16 of whole track 4 is all in unadsorbed state, control mechanism controls 4 institute of track of location A The output end connection guide spiro rod 1 of one 7 positive and negative rotation of motor of corresponding wheel group, motor 1 rotates, to pass through movable block one 52 control guide rails 5 move right, and telescoping mechanism 3 19 can elongate or shorten, to cooperate the movement of guide rail 5；When wheel, mechanism is traversing To after the position A1, telescoping mechanism 1, which can extend, makes wheel group pressure in orbit, and control mechanism controls motor 28 and rotates, thus Guide spiro rod 2 10 is driven to rotate, guide spiro rod drives chassis 3 mobile by movable block two, to realize cleaner 2 and folding and unfolding Device 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 Clean 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 (3)

1. a kind of base apparatus of the cleaner for glass curtain wall cleaning systems, it is characterised in that: including chassis (3) and traversing Mechanism two, transverse-moving mechanism two can drive chassis (3) with respect to wheel group transverse shifting；Three or more wheel groups are installed, often on the chassis A wheel group includes driving wheel and driven wheel, and each column wheel group corresponds to a track, there is sucker on track, and wheel group is embedded in track, rail Road both ends connect clean robot group, and the clean robot group includes cleaner (2) and distributor (1), the cleaner (2) Two sides be respectively equipped with distributor (1), the both ends of the track (4) be connected on distributor (1) realize to track (4) Folding and unfolding, the cleaner (2) are matched on track (4) and freely walk；Wheel group can drive track (4) traversing together and vertical shift, When wheel group moves up vertically, wheel group drives corresponding track (4) to move up together, and sucker is pulled up, in clean robot group row During, sucker is constantly pulled up, and when the sucker of whole track (4) is all pulled up, wheel group can be freely traversing, wheel Group it is traversing in place after, transverse-moving mechanism two act, mobile chassis (3)；The chassis (3) is equipped with the guide groove (51) with guide rail (5) The guide pad (3001) of cooperation, transverse-moving mechanism two can drive chassis (3) to slide on guide rail by guide pad (3001), guide pad (3001) it cannot be vertically separated with guide rail (5).

2. a kind of base apparatus of the cleaner for glass curtain wall cleaning systems as described in claim 1, which is characterized in that The transverse-moving mechanism two includes movable block two (3003), guide spiro rod two (10), motor two (8) and telescoping mechanism three (19), is stretched Contracting mechanism three (19) is mounted in wheel mechanism, and motor two (8) is mounted on telescoping mechanism three (19), the output end of motor two (8) One end of guide spiro rod two (10) is connected, the other end of guide spiro rod two (10) connects movable block two (3003), movable block two (3003) interconnecting piece two (30031) is mounted on chassis, and motor two (8) energy band action-oriented screw rod two (10) rotation passes through movement Block two (3003) mobile chassis elongates or shortens when telescoping mechanism three (19) can be traversing with wheel group.

3. a kind of base apparatus of the cleaner for glass curtain wall cleaning systems as claimed in claim 2, which is characterized in that The chassis is equipped with telescoping mechanism four (18), and one end of telescoping mechanism four (18) is mounted on the base, and one end is equipped with motor The output end of one (7), motor one (7) connects guide spiro rod one (6), in other end connection guide rail (5) of guide spiro rod one (6) Movable block one (52).