CN208784618U - A kind of base apparatus of the distributor for glass curtain wall cleaning systems - Google Patents

Abstract

The utility model relates to a kind of base apparatus of distributor for glass curtain wall cleaning systems, including chassis (3) and transverse-moving mechanism two, transverse-moving mechanism two can drive chassis with respect to wheel group transverse shifting, chassis (3) is equipped with guide part (3002), and the slave jack of Satellite Orbit Smoothing can be allowed to be transitioned into wheel group.Track from jack through guide part it is smooth be transitioned into wheel group, be conducive to the smooth of track and be laid with and advancing the track uses the time.

Description

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

Technical field

The utility model belongs to cleaning applications more particularly to a kind of chassis of the distributor 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 figures out how the problem of allowing the slave jack of Satellite Orbit Smoothing to be transitioned into the technology of wheel group;

2. also to solve the problems, such as the traversing change cleaning route of robot group on this basis；

3. 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 distributor for glass curtain wall cleaning systems, it is characterised in that: including chassis and traversing Mechanism two, transverse-moving mechanism two can drive chassis with respect to wheel group transverse shifting, and chassis is equipped with guide part, can allow Satellite Orbit Smoothing from Jack is transitioned into wheel group.

The track that distributor jack is laid with is transitioned into wheel by the guide part on chassis, slave jack that can be smooth Group, it is possible to reduce the abrasion of track and track firm sucker can also allow track to be more smoothly laid with；Transverse-moving mechanism two is to be pressed in Wheel group on track is supporting point, drives chassis transverse shifting, what is realized the transverse shifting of clean robot group from, convenient for cleaning The change of robot group cleaning route, cleaning route are more flexible.

Further, there are three the above wheel groups for installation on chassis, and each wheel group includes driving wheel and driven wheel, each wheel group A track is corresponded to, there is sucker on track, wheel group is embedded in track, and track both ends connect clean robot group, the cleaner Device people group includes cleaner and distributor, and the two sides of the cleaner are respectively equipped with distributor, and the both ends of the track connect respectively It is connected to the folding and unfolding realized on distributor to track, the cleaner is matched on track and freely walks；Wheel group can drive track Traversing together and vertical shift, when wheel group moves up vertically, wheel group drives corresponding track to move up together, and sucker is pulled up, clear During clean robot group is advanced, sucker is constantly pulled up, and when the sucker of whole track is all pulled up, wheel group can be certainly By 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 center line of the maximum two column wheel of spacing in orbit and clear The center of gravity line of clean robot group intersects, in case clean robot group is turned on one's side, when certain track needs are crispaturaed or are shifted, track institute Corresponding wheel group is by one Xiang Shangyi of telescoping mechanism, because wheel group is embedded in track, track is taken up together, and sucker is pulled out It rises, during traveling, sucker is ceaselessly pulled up clean robot group, when the sucker of whole track is all in unadsorbed shape When state, it can be inverted in the preceding distributor for being laid with track body, track body invert again and is crispaturaed on preceding distributor, with satisfaction Next step track continues to be laid with；Transverse-moving mechanism one can be with transverse shifting wheel group, after transverse-moving mechanism one completes traversing, cross sliding machine The transverse shifting of cleaner and distributor is realized on two transverse shifting chassis of structure.

Further, chassis is equipped with the guide pad cooperated with guide rail, and transverse-moving mechanism two can drive chassis to exist by guide pad It is slided on guide rail, 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 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, 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.

Further, guide part is located at chassis one end, and guide part is arc, and guide part includes guide part one and guide part Two.

Guide part is set as arc, is not easy scratch sucker, is also more conducive to guide rail from jack to the smoothed of wheel group Degree.

Further, guide part one is not higher than minimum point of the track on retractable frame, and the minimum point of guide part two is not less than Wheel group moves up the minimum point of rear wheels vertically.

Guide part one is not higher than minimum point of the track on retractable frame, be conducive to guide rail it is smooth slave jack to guiding Portion one, if guide part one is higher than minimum point of the track on retractable frame, track will be in the guide part one close to jack One end is first bent downward, and can just be transitioned into jack, when jack reversion, meeting scratch sucker, similarly, guiding The minimum point in portion two moves up the minimum point of rear wheels not less than wheel group vertically.

In conclusion the beneficial effects of the utility model are:

1. the track wheel group smooth through guide part from jack is conducive to the smooth laying of track and making for advancing the track Use the time；

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

3. 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；

4. 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 distributor；

Fig. 3 is the schematic bottom view of distributor；

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

Fig. 5 is the schematic diagram of jack；

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, 3002- Guide part, 30021- guide part one, 30022- guide part two, 3003- movable block two, 30031- interconnecting piece two, 4 tracks, 5- are led 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, 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.

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 distributor for glass curtain wall cleaning systems, including chassis 3 With transverse-moving mechanism two, transverse-moving mechanism two can drive chassis with respect to wheel group transverse shifting, and chassis 3 is equipped with guide part 3002, can allow The slave jack 22 of Satellite Orbit Smoothing is transitioned into wheel group.Clean robot group 100 includes a cleaner 2 and two distributors 1, One distributor 1 is in preceding laying track 4, and a distributor 1 is in after-contraction track 4, and cleaner 2 is in centre walking to glass curtain wall D is cleaned on surface, is equably disposed with several adsorbing mechanisms 16 on the length direction of track 4, and track 4 is three or more and simultaneously Column are arranged, are equipped with wheel group corresponding with track 4 in cleaner 2 and distributor 1, wheel group is embedded in track 4, every track 4 A corresponding column wheel group and jack, one 12 energy band driving wheel group vertical shift of telescoping mechanism, one energy band driving wheel group of transverse-moving mechanism are horizontal To movement, transverse-moving mechanism two can drive chassis mobile, when robot group works, at least guarantee that two column wheel groups are pressed on track 4, excellent Choosing, the center line of the maximum two column wheel group of the spacing being pressed on track 4 and the center of gravity line intersection of clean robot group, Yi Mianqing Clean robot group 100 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 movable block 2 3003, guide spiro rod 2 10, motor 28 and the telescoping mechanism three set on chassis 19, telescoping mechanism 3 19 is mounted on guide rail, and motor 28 is mounted on telescoping mechanism 3 19, and the output end connection of motor 28 is led To one end of screw rod 2 10, the other end of guide spiro rod 2 10 connects movable block 2 3003, the interconnecting piece two of movable block 2 3003 30031 are mounted on chassis, and 2 10 turns of 28 energy band action-oriented screw rod of motor pass through 2 3003 mobile chassis of movable block, telescopic machine When structure 3 19 can be traversing with wheel group, elongate or shorten.

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.

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.

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 is advanced, the adsorbing mechanism 16 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, when the adsorbing 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 base apparatus of the distributor 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 with respect to wheel group transverse shifting, and chassis (3) are equipped with guide part (3002), can allow rail The smooth slave jack in road is transitioned into wheel group.

2. a kind of base apparatus of the distributor for glass curtain wall cleaning systems as described in claim 1, which is characterized in that There are three the above wheel group, each wheel group includes driving wheel and driven wheel, the corresponding rail of each wheel group for installation on the chassis (3) Road has sucker on track, and wheel group is embedded in track, and track both ends connect clean robot group, and the clean robot group includes The two sides of cleaner (2) and distributor (1), the cleaner (2) are respectively equipped with distributor (1), the both ends point of the track (4) It is not connected to the folding and unfolding realized on distributor (1) to track (4), the cleaner (2) is matched on track (4) and freely walks； Wheel group can drive track (4) traversing together and vertical shift, when wheel group moves up vertically, wheel group drive corresponding track together on Move, sucker is pulled up, and during clean robot group is advanced, sucker is constantly pulled up, when whole track sucker all When being pulled up, wheel group can freely it is traversing, wheel group it is traversing in place after, transverse-moving mechanism two act, mobile chassis.

3. a kind of base apparatus of the distributor for glass curtain wall cleaning systems as described in claim 1, which is characterized in that The chassis is equipped with the guide pad (3001) cooperated with guide rail, and transverse-moving mechanism two can drive chassis leading by guide pad (3001) It is slided on rail, guide pad (3001) and guide rail (5) cannot be vertically separated.

4. a kind of base apparatus of the distributor 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.

5. a kind of base apparatus of the distributor for glass curtain wall cleaning systems as described in claim 1, 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).

6. a kind of base apparatus of the distributor for glass curtain wall cleaning systems as described in claim 1, which is characterized in that The guide part (3002) is located at chassis one end, and guide part (3002) is arc, and guide part includes guide part one (30021) and leads To portion two (30022).

7. a kind of base apparatus of the distributor for glass curtain wall cleaning systems as claimed in claim 6, which is characterized in that The guide part one (30021) is not higher than minimum point of the track on retractable frame, and the minimum point of guide part two (30022) is not less than Wheel group moves up the minimum point of rear wheels vertically.