CN208808338U - A kind of clean robot that can be traversing for glass curtain wall cleaning systems - Google Patents

A kind of clean robot that can be traversing for glass curtain wall cleaning systems Download PDF

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Publication number
CN208808338U
CN208808338U CN201721262184.4U CN201721262184U CN208808338U CN 208808338 U CN208808338 U CN 208808338U CN 201721262184 U CN201721262184 U CN 201721262184U CN 208808338 U CN208808338 U CN 208808338U
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China
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clean robot
curtain wall
track
glass curtain
motor
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CN201721262184.4U
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Chinese (zh)
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陈文键
丁伟
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Individual
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Abstract

The utility model relates to a kind of clean robots that can be traversing for glass curtain wall cleaning systems, including transversely movable base apparatus, jack, wheel mechanism, battery one, control mechanism one, cleaning mechanism and the propeller being mounted on base apparatus, taking turns mechanism includes 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 shifting of transverse-moving mechanism;Base apparatus includes chassis and transverse-moving mechanism two, and transverse-moving mechanism two can drive the opposite wheel mechanism transverse shifting in chassis;The jack includes support device and rotating device one, and the folding and unfolding of track is realized in one energy positive and negative rotation of rotating device.Clean robot group 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, and then reversed walking, convenient and efficient, greatly improve cleaning efficiency.

Description

A kind of clean robot that can be traversing for glass curtain wall cleaning systems
Technical field
The utility model belongs to cleaning applications more particularly to a kind of cleaning that can be traversing for glass curtain wall cleaning systems Robot.
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. the utility model mainly figures out how the problem of being laid with track on smooth glass curtain wall;
2. also to figure out how to allow on this basis and be laid with track length and do not limited by glass curtain wall height, cleaner is allowed Device people group can be used flexibly;
3. also to figure out how to realize the traversing of clean robot group on this basis.
The technical solution adopted in the utility model is as follows:
A kind of clean robot that can be traversing for glass curtain wall cleaning systems, it is characterised in that: including can laterally move Dynamic base apparatus, jack, wheel mechanism, battery one, control mechanism one, cleaning mechanism and the spiral shell being mounted on base apparatus Paddle is revolved, jack can carry out folding and unfolding to track, and wheel mechanism can be traversing with respect to base apparatus, and propeller can increase clean robot To the normal pressure of track, cleaning mechanism can clean glass curtain wall.
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 to track There is normal pressure, on the one hand can increase the frictional force of wheel group and track, conducive to the walking of clean robot, on the other hand increases clear Clean robot is conducive to adsorbing mechanism and is preferably adsorbed on to the pressure of track to increase track to the pressure of adsorbing mechanism On glass curtain wall.
Further, clean robot former and later two arrangements on track length direction, form clean robot group, front and back The jack of two clean robots is separately connected the both ends of track, realizes the folding and unfolding to track;There are adsorbing mechanism, energy on track Track is adsorbed on glass curtain wall, clean robot group is walked in orbit, is cleaned to glass curtain wall, and mechanism and receipts are taken turns Device is put to be mounted on base apparatus for three or more.
Clean robot group includes two clean robots, and a clean robot is in preceding laying track and cleans, one Clean robot is cleaned again in after-contraction track and in the place that preceding clean robot does not clean up, the length of track Equably be disposed with several adsorbing mechanisms on direction, track is three or more and is arranged in juxtaposition, be equipped in clean robot and The corresponding wheel mechanism of track, wheel group are embedded in orbit, the corresponding Lie Lun mechanism of every track, one energy band driving wheel group of telescoping mechanism Vertical shift, one energy band driving wheel group transverse shifting of mobile mechanism at least guarantee that two column wheel groups are pressed in track when robot group works On body, it is preferred that the center line of the maximum two column wheel group of spacing in orbit and the center of gravity line intersection of clean robot group are pressed, In order to avoid clean robot group is turned on one's side, when certain track needs are crispaturaed or shifted, wheel group corresponding to track passes through telescoping mechanism One Xiang Shangyi, because wheel group is embedded in track, track is taken up together, and adsorbing mechanism is pulled up, and clean robot group is expert at During, adsorbing mechanism is ceaselessly pulled up, when the adsorbing mechanism of whole track is all in unadsorbed state, in Qian Pu If the clean robot of track body can invert, track body is inverted again and is crispaturaed on preceding clean robot, under meeting One 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, transverse-moving mechanism Clean robot transverse shifting is realized on two transverse shifting chassis.When needing to be switched to idle trackwork, leave unused track pair The wheel group answered is by telescoping mechanism one to moving down, and track is under pressure, and adsorbing mechanism is adsorbed on glass curtain wall.
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.
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.
Further, transverse-moving mechanism one includes guide rail and moving portion, and guide rail is mounted on base apparatus, and moving portion can drive Guide rail is traversing on base apparatus;Moving portion includes the movable block one being located on guide rail, guide spiro rod one, motor one and telescopic machine The interconnecting piece one of structure four, telescoping mechanism four is mounted on base apparatus, and motor one is mounted on telescoping mechanism four, guide spiro rod one One end connection motor one output end, the other end connects movable block one, and when motor one drives guide spiro rod one to rotate, guide rail exists It is moved on chassis;Wheel group includes driving wheel and driven wheel, and telescoping mechanism one includes expansion bend one and expansion bend two, one energy of expansion bend Driving wheel vertical shift is driven, expansion bend two can drive driven wheel vertical shift, and the output end connection of motor four connects shaft one, Shaft one drives driving wheel rotation under the driving of motor four.
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, 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, the slave jack of Satellite Orbit Smoothing can be allowed to be transitioned into wheel mechanism.
The track that clean robot jack is laid with is by the guide part on chassis, the smooth slave jack transition of energy To wheel group, it is possible to reduce the abrasion of track and track firm adsorbing mechanism can also allow track to be more smoothly laid with;Transverse-moving mechanism Two to press wheel group in orbit as supporting point, drives chassis transverse shifting, what is realized the transverse shifting of clean robot group from, The change of robot group cleaning route convenient for cleaning, cleaning route are more flexible.
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, jack includes support device and rotating device one, and rotating device one is mounted in support device, One energy positive and negative rotation of rotating device, realizes the folding and unfolding of track.
For rotating device one by forward or reverse, realizing the laying to track or crispaturaing, realization recycles track, The use of clean robot group is allowed not limited by glass curtain wall height.
Further, rotating device one includes the output connection rotating shaft for driving motor five and shaft two, motor five;The branch Support arrangement includes left support and right support, and shaft is mounted on left support and right support, and left support and right support, which are equipped with, makes rail Road is crispaturaed neat baffle, and shaft two is equipped with detection shaft two and gets on the right track how many sensors.
For track during folding and unfolding, control mechanism needs to know the amount that shaft two gets on the right track, when sensor detects paving If the track in the shaft two of the clean robot of track will be laid with, wheel group corresponding to track is moved up, and drives track It moves up together, adsorbing mechanism is pulled up, and during clean robot group carries out, track adsorbing mechanism is constantly pulled out It rises, when the adsorbing mechanism of whole track is all in unadsorbed state, motor five is inverted, and track, which turns again to, is laid with the clear of track In clean robot, used for continuing to be laid with.The sensor can be pressure sensing.Track Shang You adsorbing mechanism mechanism, track Be not easy it is neat crispatura, baffle can allow track more neatly smoothly to be crispaturaed in shaft.
Further, cleaning mechanism includes the flusher and swab of water tank, connection water tank, water tank and swab It is mounted on base apparatus, swab is fitted with 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.
Cleaning agent is housed in water tank, flusher and water tank connection, flusher are sprayed onto detergent on glass curtain wall, Then swab is cleaned;Swab is fitted with before and after flusher, the direction walked with clean robot group To be preceding, the swab after flusher works, and the swab before flusher is idle;When one route of clean robot group It has been cleaned that, when needing reversed, now became in the preceding clean robot for being laid with track in after-contraction track, existed originally originally The clean robot of folding and unfolding track now becomes in preceding laying track afterwards, and the swab after flusher became spraying originally Before spilling device, leave unused;Originally now becoming after flusher before flusher, operation;All pacify the front and back of flusher Equipped with swab, before being with the direction that clean robot group is walked, the swab after flusher works, before flusher Swab it is idle, after can guarantee that clean robot group is reversed, cleaning mechanism is operated normally;It is equipped with and takes the photograph on clean robot As head, whether inspection is clean in preceding clean robot, if can carry out again without clean in rear clean robot Cleaning, to reach clean, in preceding cleaning, posterior clean robot is worked as to be checked in preceding cleaning machine preceding clean robot It when the cleaning of people somewhere is not clean, is cleaned again for sordid place, is not had to clean back and forth in preceding clean robot, significantly Improve cleaning efficiency.
Further, swab includes bracket one, telescoping mechanism five, turnover device one and scrubber, one one end of bracket It is mounted on base apparatus, one end connects telescoping mechanism five, and turnover device one is mounted on telescoping mechanism five, in clean process In, telescoping mechanism five ceaselessly extends shortening, drives scrubber back to move by turnover device one, comes to glass curtain wall Cleaning is returned, turnover device one includes expansion bend three and motor six, and expansion bend three is hinged on telescopic machine by the output shaft of motor six On structure five;During clean, control mechanism for a moment according to the length of the gradient automatic regulation telescopic unit three of glass curtain wall with And angle of the expansion bend three with respect to glass curtain wall is controlled by motor six.
During clean robot walking, scrubber ceaselessly extends shortening, cleans to glass curtain wall, can be with It makes cleaning area wider, and cleans cleaner;Control mechanism one can be according to the gradient of glass curtain wall, automatic regulation telescopic unit three Length and expansion bend three with respect to the angle of glass curtain wall, realize cleaning to acclive glass curtain wall.
In conclusion the beneficial effects of the utility model are:
1. the utility model can be laid with track travel on smooth glass curtain wall;
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. clean robot group can arbitrarily be walked in former and later two directions, after a cleaning route has cleaned, do not have to turn Curved to turn around, clean robot group is directly traversing, and then reversed walking, convenient and efficient, greatly improves cleaning efficiency;
4. cleaning mechanism can automatically adjust length and angle, acclive glass curtain wall can be cleaned.
Detailed description of the invention
Fig. 1 is glass curtain wall 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 jack;
Fig. 6 is the traversing process schematic of robot group;
Fig. 7 is the schematic diagram of rail set;
Fig. 8 is that driving wheel and track turn the schematic diagram matched.
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- 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, 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, 53034- Bracket one, 3035- motor seven.
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 clean robots that can be traversing for glass curtain wall cleaning systems, including can be horizontal To mobile base apparatus, the jack, wheel mechanism, battery 1, the control mechanism 1, cleaning that are mounted on base apparatus Mechanism 30 and propeller 28, jack can carry out folding and unfolding to track, and wheel 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 can clean glass curtain wall.
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.
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 3003 of guide spiro rod 2 10 are mobile The interconnecting piece 2 30031 of block 2 3003 is mounted on chassis, and the rotation of 28 energy band action-oriented screw rod 2 10 of motor passes through movable block two 3003 mobile chassis elongate or shorten 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, because wheel group is built-in in track, driving wheel is in whirler Adjustment is put to track can also follow adjustment direction together, to realize that clean robot group commutates under the action of structure.
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 chassis 3;The front and back of flusher 302 is fitted with swab 303, with 100 row of clean robot group Before the direction walked is, the swab 303 after flusher 302 works, and the swab 303 before flusher 302 is idle;Water Case 301 is divided into cleaning agent case and Sewage treatment case, and cleaning agent case is connected with flusher 302, Sewage treatment case and scouring dress It sets 303 to be connected, waste water recovery pipe is equipped in swab 303, the pump in Sewage treatment case can be by useless in swab 303 Water recovery tube is the Sewage treatment on swab 303 into waste water tank;Swab 303 includes bracket 1, telescopic machine Structure 5 3031, turnover device 1 and scrubber 3033, one 3034 one end of bracket are mounted on chassis 3, and one end connection is flexible Mechanism 5 3031, turnover device 1 is mounted on telescoping mechanism 5 3031, during clean, telescoping mechanism 5 3031 Ceaselessly elongation is shortened, and drives scrubber 3033 back to move by turnover device 1, carries out to glass curtain wall clear back and forth Reason;Turnover device 1 includes expansion bend 3 30321 and motor 6 30322, and expansion bend 3 30321 passes through motor 6 30322 Output shaft be hinged on telescoping mechanism 5 3031;During clean, control mechanism is for a moment according to the gradient of glass curtain wall The length of automatic regulation telescopic unit three and the angle that the opposite glass curtain wall of expansion bend 3 30321 is controlled by motor 6 30322; Expansion bend 3 30321 connects motor 7 3035 far from one end of telescoping mechanism 5 3031, and the output axis connection of motor 7 3035 is wiped Device 3033 is washed, 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 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 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 Forward or reverse, the output end connection guide spiro rod 1 of motor 1 rotates the motor 1 for the wheel group answered, 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 horizontal After moving on to the position A1, telescoping mechanism 1, which can extend, makes wheel group pressure in orbit, and control mechanism controls motor 28 and rotates, from And guide spiro rod 2 10 is driven to rotate, guide spiro rod drives chassis 3 mobile by movable block two, to the right from clean robot group Traversing, during this period, telescoping mechanism 4 18 elongates or shortens, to cooperate the movement on chassis 3, to realize entire clean robot That organizes 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. a kind of clean robot that can be traversing for glass curtain wall cleaning systems, it is characterised in that: including can transverse shifting Base apparatus, be mounted on jack on base apparatus, wheel mechanism, battery one (20), control mechanism one (21), cleaner Structure (30) and propeller (28), jack can carry out folding and unfolding to track, and wheel mechanism can be traversing with respect to base apparatus, propeller (28) clean robot can be increased to the normal pressure of track, cleaning mechanism (30) can clean glass curtain wall.
2. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as described in claim 1, feature exist In the clean robot (1) former and later two arrangements on track (4) length direction form clean robot group (100), preceding The jack of two clean robots (1) is separately connected the both ends of track (4) afterwards, realizes the folding and unfolding to track;There is suction on track Track can be adsorbed on glass curtain wall by random structure, and clean robot group is walked in orbit, be cleaned to glass curtain wall, Wheel mechanism and draw off gear are three or more and are mounted on base apparatus.
3. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as described in claim 1, feature exist In the wheel mechanism includes wheel group, telescoping mechanism one (12) and transverse-moving mechanism one, and telescoping mechanism one (12) energy band driving wheel group is vertical It is mobile, one energy band driving wheel group transverse shifting of transverse-moving mechanism.
4. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 3, feature exist In the transverse-moving mechanism one includes guide rail (5) and moving portion, and guide rail (5) is mounted on base apparatus, and moving portion can drive guide rail (5) traversing on base apparatus;Moving portion includes movable block one (52), the guide spiro rod one (6), motor being located on guide rail (5) The interconnecting piece one (181) of one (7) and telescoping mechanism four (18), telescoping mechanism four (18) is mounted on base apparatus, motor one (7) It is mounted on telescoping mechanism four (18), the output end of one end connection motor one (7) of guide spiro rod one (6), other end connection moves Motion block one (52), when motor one (7) drives guide spiro rod one (6) rotation, guide rail (5) moves on chassis;Wheel group includes actively It takes turns (14) and driven wheel (13), telescoping mechanism one (12) includes expansion bend one (121) and expansion bend two (122), expansion bend one (121) driving wheel vertical shift can be driven, expansion bend two (122) can drive driven wheel vertical shift, the output of motor four (17) End connection connection shaft one (9), shaft one (9) drive driving wheel rotation under the driving of motor four (17).
5. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as described in claim 1, feature exist In the base apparatus includes chassis (3) and transverse-moving mechanism two, and transverse-moving mechanism two can drive chassis (3) opposite wheel mechanism lateral Mobile, chassis (3) are equipped with guide part (3002), and the slave jack of Satellite Orbit Smoothing can be allowed to be transitioned into wheel mechanism.
6. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 5, feature exist In, the transverse-moving mechanism two includes movable block two (3003), guide spiro rod two (10), motor two (8) and telescoping mechanism three (19), Telescoping mechanism three (19) is mounted in wheel mechanism, and motor two (8) is mounted on telescoping mechanism three (19), the output of motor two (8) One end of end connection guide spiro rod two (10), the other end of guide spiro rod two (10) connect mobile 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.
7. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as described in claim 1, feature exist In the 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.
8. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 7, feature exist In the rotating device one includes the output connection rotating shaft for driving motor five (26) and shaft two (25), motor five (26);It is described Support device (24) includes left support (242) and right support (241), and shaft is mounted on left support (242) and right support (241) On, equipped with making track (5) crispatura neat baffle (27), shaft two (25) is equipped with for left support (242) and right support (241) Detect the how many sensor of shaft two (25) upper rail.
9. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as described in claim 1, feature exist In the cleaning mechanism includes water tank (301), the flusher (302) and swab (303) for connecting water tank, water tank (301) It is mounted on base apparatus with swab (303), swab (303) is fitted with before and after flusher (302), with clear Before the direction of clean robot group (100) walking is, the swab (303) after flusher (302) works, flusher (302) swab (303) before is idle.
10. a kind of clean robot that can be traversing for glass curtain wall cleaning systems as claimed in claim 9, feature exist In the swab (303) includes bracket one (3034), telescoping mechanism five (3031), turnover device one (3032) and cleans Device (3033), bracket one (3034) one end are mounted on base apparatus, and one end connects telescoping mechanism five (3031), turnover device one (3032) it being mounted on telescoping mechanism five (3031), during clean, telescoping mechanism five (3031) ceaselessly extends shortening, It drives scrubber (3033) back to move by turnover device one (3032), glass curtain wall is cleared up back and forth, turnover device One (3032) include expansion bend three (30321) and motor six (30322), and expansion bend three (30321) passes through motor six (30322) Output shaft is hinged on telescoping mechanism five (3031);During clean, control mechanism is for a moment according to the gradient of glass curtain wall The length of automatic regulation telescopic unit three and by motor six (30322) control expansion bend three (30321) with respect to glass curtain wall Angle.
CN201721262184.4U 2017-09-29 2017-09-29 A kind of clean robot that can be traversing for glass curtain wall cleaning systems Expired - Fee Related CN208808338U (en)

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CN201721262184.4U CN208808338U (en) 2017-09-29 2017-09-29 A kind of clean robot that can be traversing for glass curtain wall cleaning systems

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721262184.4U CN208808338U (en) 2017-09-29 2017-09-29 A kind of clean robot that can be traversing for glass curtain wall cleaning systems

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112956942A (en) * 2021-01-21 2021-06-15 郑州科技学院 Automatic cleaning machine for high-rise glass curtain wall

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112956942A (en) * 2021-01-21 2021-06-15 郑州科技学院 Automatic cleaning machine for high-rise glass curtain wall
CN112956942B (en) * 2021-01-21 2021-12-10 郑州科技学院 Automatic cleaning machine for high-rise glass curtain wall

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