CN210433392U

CN210433392U - Suspension adsorption type automatic glass/photovoltaic curtain wall cleaning machine

Info

Publication number: CN210433392U
Application number: CN201920874083.5U
Authority: CN
Inventors: 刘仙萍; 惠泽洁; 杨江洲; 洪佩玉; 匡静怡; 梁益桓; 魏佳琪; 胡沁儒; 王深济; 郝小礼
Original assignee: Hunan University of Science and Technology
Current assignee: Hunan University of Science and Technology
Priority date: 2019-06-12
Filing date: 2019-06-12
Publication date: 2020-05-01
Anticipated expiration: 2029-06-12

Abstract

The utility model discloses a suspension adsorption type automatic cleaning machine for glass/photovoltaic curtain walls, which comprises a roller brush cleaning system, a sucker walking system, a sling transmission system and a control system; the roller brush cleaning system comprises a roller, a silica gel scraper, a spraying device, a sewage collector and a transmission device; the roller is provided with a brush, and two ends of the roller are arranged on the roller bracket; the driving mechanism is arranged on the roller bracket and is connected with the roller brush through a transmission device; silica gel scrapers are respectively arranged above and below the roller; the sucking disc walking system can enable the utility model to cross obstacles; the sling transmission system can control the roller bracket to move up and down and has a remote control function. The utility model has simple and convenient installation, saves manpower, and ensures the high efficiency and safety of the curtain wall cleaning work; the utility model discloses reached liberation manual work, clean, safety, flexibility, practicality strong and cleaning performance real time monitoring's effect.

Description

Suspension adsorption type automatic glass/photovoltaic curtain wall cleaning machine

Technical Field

The utility model relates to a glass curtain wall belt cleaning device, concretely relates to hang absorption formula glass photovoltaic curtain wall surface automatic cleaning machine.

Background

In the building industry, glass has good lighting property, heat preservation and moisture resistance, and the glass is beautiful and transparent, so that a personalized building space is easy to construct, therefore, glass building components are favored by architects, more and more high-rise buildings adopt glass curtain wall structures, or glass shells are adopted for covering so as to increase the aesthetic feeling of the buildings; meanwhile, with the development and the promotion of solar photovoltaic and building integration technology, more and more building glass outer vertical surfaces adopt a solar photovoltaic and curtain wall integration structure, and photovoltaic curtain walls are more and more widely applied. In order to keep the appearance of the glass curtain wall neat and beautiful and to keep the power generation efficiency of the photovoltaic curtain wall, the surfaces of the glass and the photovoltaic curtain wall need to be cleaned.

In the currently published building curtain wall cleaning technology and related research results, as in related patent CN 106917514A: a spider man lifting rope device directly fixes outer wall cleaning personnel (spider man) on a safety rope by means of a hanging basket, a sliding plate and a pulley, belongs to high-altitude dangerous operation, and not only has low working efficiency, but also endangers the safety of the spider man and pedestrians; in addition, although the hanging basket suspension arm and the auxiliary supporting rod adopt stable triangular structures, corresponding debugging can not be carried out according to the change of the building structure, so that the hanging basket suspension arm and the auxiliary supporting rod have certain limitations. As in related patent CN 103536242A: a window cleaning machine directly fixes a main machine on the ground, water is conveyed to the top end of a suspension arm by high pressure, a cleaning brush is controlled by a rotary telescopic cylinder to move back and forth to clean stains on various positions of glass, and although the problem of personal safety of workers in the spider man lifting rope device is solved, the problems of high noise, unclean cleaning, high price, incapability of considering stains in curtain wall gaps and the like still exist. As in related patent CN 106725075A: the utility model provides a window machine with function of making a video recording, relies on turbine formula fan blade from the bottom air inlet, then from the back air-out for the bottom import forms the negative pressure environment, and absorption that can be tight can reach radiating effect simultaneously on the glass surface. Although the structure is compact and the window cleaning effect is good, the camera shooting function is not combined with the control system, only the camera shooting function can be provided, and the real-time monitoring of the cleaning effect cannot be realized. As in related patent CN 106245924B: the utility model provides a glass curtain wall surface cleaning device, through the extension and the shortening of pneumatic cylinder piston, the control brush up-and-down motion carries out curtain surface cleaning, adopts the hair-dryer to weather, but can't solve sewage recovery, can not guarantee that the glass surface leaves the spot that sewage was left after being weathered to the hair-dryer is power consumptive, consequently can not guarantee clean effect and uneconomic cost-effective. As in related patent CN 107773145A: the utility model provides a glass curtain wall cleaning robot, adopts hawser and sucking disc and brush to carry out curtain surface cleaning, can't solve surface drying and sewage treatment problem, especially can't ensure the sucking disc and do not take place unsettled breaking away from, consequently has belt cleaning device to meet the obstacle and can not continuous operation, thereby perhaps the sucking disc is unsettled breaks away from the danger that the curtain surface took place to crack glass.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine that the security is good, multiple functional, adaptability is good.

The utility model adopts the technical proposal that: a suspension adsorption type automatic glass/photovoltaic curtain wall cleaning machine comprises a roller brush cleaning system, a sucker traveling system, a sling transmission system and a control system; the method is characterized in that: the roller brush cleaning system comprises a roller, a silica gel scraper, a spraying device, a sewage collector and a transmission device; the side surface of the cylinder of the roller is sleeved with a brush, and two ends of the roller are arranged on the roller bracket; the driving mechanism is arranged on the roller bracket, is connected with the roller through a transmission device and can drive the roller to rotate; silica gel scrapers are respectively arranged above and below the roller, and the silica gel scrapers below the roller are connected with a sewage collector; the spraying device is arranged above the roller, and a spraying port of the spraying device can spray the brush;

the sucker walking system comprises a sucker walking system bracket, a mechanical arm and a vacuum sucker; the sucker traveling system support is fixedly connected with the roller support, a plurality of mechanical arms are respectively arranged on two sides of the sucker traveling system support, vacuum suckers are arranged at the end parts of the mechanical arms, and the mechanical arms can support the sucker traveling system;

the sling transmission system is connected with the roller bracket through a steel cable and can control the roller bracket to move up and down;

the control system is connected with a driving mechanism of the roller brush cleaning system, a mechanical arm of the sucker traveling system and a sling transmission system and has a remote control function.

In the automatic cleaning machine for the suspended adsorption type glass/photovoltaic curtain wall, the mechanical arm comprises a front arm, a middle arm, a large arm and a ball head, the ball head comprises a ball seat and a ball body, the ball body is arranged in the ball seat and is provided with a fixed rod, the diameter of a fixed rod hole on the ball seat is larger than that of the fixed rod, the fixed rod is fixedly arranged on the sucker traveling system support, the ball seat is connected with the large arm, a transverse pile and a longitudinal pile are arranged on the ball seat and are respectively connected with one end of two lead screw motors, the other end of the two lead screw motors is connected with the sucker traveling system support, the lead screw motor connected with the longitudinal pile controls the large arm to horizontally move along the surface of the curtain wall, and the lead screw motor connected with the transverse pile controls the large; the middle arm is hinged with the big arm, the middle arm is connected with the big arm through a penholder type motor, the front arm is hinged with the middle arm, a lead screw type motor is arranged in the front arm, the distance between glass and equipment can be adjusted, directional movement can be carried out within a certain range when the glass meets an obstacle, and a vacuum sucker is arranged at the front end of the front arm; and a screw rod motor connected with the ball head, a penholder type motor connected with the middle arm and a screw rod type motor in the front arm are respectively connected with a control system.

Among the foretell suspension adsorption type glass/photovoltaic curtain automatic cleaning machine, cylinder brush cleaning system includes two cylinders, and two cylinder parallel arrangement are located same vertical plane, and the brush is evenly tightly overlapped on the cylinder surface of cylinder densely, and the both ends of two cylinders are installed on roller bracket, actuating mechanism adopt be the motor, install on roller bracket, actuating mechanism adopt take transmission, be equipped with the driving pulley of double flute on actuating mechanism's the output shaft, be equipped with the driven pulleys of a single flute on two cylinders respectively, driving pulley passes through the belt and is connected with driven pulleys.

In the automatic cleaning machine for the suspended adsorption type glass/photovoltaic curtain wall, the spraying device comprises a clean water connecting pipe and a cleaning agent connecting pipe, and the cleaning agent connecting pipe is positioned above the upper roller; the clean water connecting pipe is positioned above the lower roller; the bottom parts of the side walls of the clean water connecting pipe and the cleaning agent connecting pipe are provided with a clean water spraying port and a cleaning agent spraying port.

In the automatic cleaning machine for the suspended adsorption type glass/photovoltaic curtain wall, a silica gel scraper is respectively arranged above the rollers, between the two rollers and below the rollers, and the section of the silica gel scraper above the rollers is arched; the bottom of the silica gel scraper blade below the roller is provided with a sewage tray and a sewage draining exit, and the sewage draining exit is connected through a sewage draining pipeline.

In the automatic cleaning machine for the suspended adsorption type glass/photovoltaic curtain wall, the sling transmission system comprises a steel structure frame, a variable speed motor, a gear set, a shaft wheel set, a steel cable and two groups of fixed pulley blocks; the variable-speed motor, the gear set, the fixed pulley set and the shaft pulley set are fixedly arranged on the steel structure frame, the gear set comprises a gear I and a gear II which are mutually meshed, a bevel gear I and a bevel gear II which are mutually meshed, and a bevel gear III and a bevel gear IV which are mutually meshed, the bevel gear I and the gear II are arranged on the same rotating shaft, the bevel gear III and the bevel gear II are arranged on the same rotating shaft, a driven belt pulley is arranged on the rotating shaft of the gear I, and the driven belt pulley is connected with a driving belt pulley on an output shaft of the variable-speed; three shaft wheels II are mounted on a rotating shaft of the bevel gear IV, shaft wheels I are mounted on rotating shafts of the gear I and the gear II respectively, one ends of the steel cables are connected to the shaft wheels I respectively, and the other ends of the steel cables are connected with sector-shaped lifting hooks of the roller bracket by bypassing corresponding fixed pulley blocks; the fan-shaped lifting hook is provided with a plurality of steel cable holes at equal intervals.

In the automatic cleaning machine for the suspended adsorption type glass/photovoltaic curtain wall, the steel structure frame is made of rectangular steel plates or channel steel in a welding or bolt connection mode, and the bottom of the steel structure frame is provided with a guide wheel; the top of the steel structure frame is provided with a cleaning liquid storage tank, the cleaning liquid storage tank is connected with one end of a cleaning agent liquid supply pipeline, and the other end of the cleaning agent liquid supply pipeline bypasses the corresponding shaft wheel II and the fixed pulley block and is connected with a cleaning agent connecting pipe of the spraying device; the cleaning agent liquid storage tank is made of transparent materials.

In the automatic cleaning machine for the suspended adsorption type glass/photovoltaic curtain wall, the top of the steel structure frame is provided with the cantilever, the bottom of the steel structure frame is provided with the gravity balance support, and the extending direction of the gravity balance support is opposite to the extending direction of the cantilever.

In the automatic cleaning machine for the suspended adsorption type glass/photovoltaic curtain wall, the guide wheels comprise four transverse guide wheels and four longitudinal guide wheels; the longitudinal guide wheel comprises a guide wheel and a screw rod, and is inserted into a guide wheel mounting hole of the steel structure frame through the screw rod; the screw is in threaded connection with the adjusting disc, and the steel structure frame is supported on the adjusting disc; the two coaxial transverse guide wheels positioned on the same side of the steel structure frame are connected through a rotating shaft, a belt pulley is fixedly connected to the rotating shaft, a motor is installed at the bottom of the steel structure frame, a driving belt pulley is arranged on an output shaft of the motor, the belt pulley is connected with the driving belt pulley through a belt, and the motor is connected with a control system.

In the above automatic cleaning machine for the suspended adsorption type glass/photovoltaic curtain wall, the control system comprises a real-time monitoring device, a radar device, a limit switch and a control module; the real-time monitoring device is provided with two cameras which are respectively arranged at the top end of the mounting bracket of the roller brush cleaning system and the bottom of the mounting bracket of the sucker travelling system and used for monitoring whether the surface of the curtain wall is cleaned up or not; the radar device comprises four groups of ultrasonic probes, wherein the four groups of ultrasonic probes are respectively arranged at the top end of the roller brush cleaning system mounting bracket, the bottom of the sucker traveling system mounting bracket and the left side and the right side of the sucker traveling system mounting bracket and are used for detecting whether obstacles or hanging on the upper, lower, left and right curtain wall surfaces of the roller cleaning system and the sucker traveling system exist or not; the limit switch comprises a control box, a lifting chain and a steel cable sleeve; the control box is connected with a steel plate attached with a fixed pulley block through a bolt, the control box is connected with a steel cable rope sleeve through a sling chain, and the steel cable rope sleeve is sleeved on a steel cable driven by the fixed pulley block; the real-time monitoring device, the radar device and the control box of the limit switch are respectively connected with the control module; the control module is installed on the steel structure frame, is respectively connected with a motor of the roller brush cleaning system, a motor on a mechanical arm of the sucker walking system, a variable speed motor of the sling transmission system, a driving motor of the steel structure frame, a radar device and a camera device, and has a remote control function.

The working principle of the utility model is as follows: the steel structure frame of the automatic cleaning machine is placed on a guide rail paved in advance, the horizontal distance between the cleaning machine and the curtain wall is adjusted, the cleaning agent is proportioned, the cleaning agent is added into a cleaning agent storage tank, and a tap water pipe is connected into a clean water feed pipe. Starting a variable speed motor of a sling transmission system to drive a gear set to rotate, and realizing up-and-down extension of a left steel cable and a right steel cable of a suspension roller cleaning system through a shaft wheel and a fixed pulley which are coaxial with the gear set; meanwhile, the gear set drives the other three shaft wheels to wind around the flexible power supply and signal line, the clear water feed pipe and the detergent feed pipe respectively, and the winding speed is synchronous with the up-and-down stretching speed of the steel cable. The power supply and the signal wire are connected with the power supply and the signal wire access end which are respectively connected to the roller brush cleaning system and the sucker sucking system. The cleaning agent liquid feeding pipe and the clear water feeding pipe are respectively connected to a cleaning agent spraying port and a clear water spraying port of the roller brush cleaning system, the cleaning agent spraying port sprays the cleaning agent firstly, after the upper hairbrush is soaked, the curtain wall surface is cleaned, meanwhile, the clear water spraying port sprays clear water, the lower hairbrush rinses the curtain wall surface, washing and rinsing of the curtain wall surface are achieved, the cleaning purpose is achieved, and sewage is collected to the ground through a sewage drainage pipeline to be subjected to centralized treatment. The control module of the automatic control system realizes the synchronization of the up-and-down traveling speed of the sucker traveling system and the up-and-down stretching speed of the steel cable by controlling the circuit control device of the sucker traveling system. The radar device senses the upper limit position, the lower limit position, the left limit position, the right limit position and the special obstacles on the surface of the curtain wall of the sucker walking system and feeds back the limit positions and the special obstacles to a control module of an automatic control system: when the sucker traveling system travels to the highest point or the lowest point, the control module respectively gives out control signals, the limit switch automatically stops the cleaning machine from traveling up and down, the steel structure frame is linked with the sucker traveling system, and the cleaning machine translates left and right; when the sucking disc walking system walks to the sucking disc of one side and the unsettled curtain wall is turned round the edge perpendicularly, the radar device reports to the police, stops the cleaning machine and walks about, and control module sends control signal to the circuit control device of sucking disc walking system, makes the middle arm bending of this side mechanical arm device withdraw to the guarantee cleaning machine safe operation. In addition, the control module is provided with a remote control program, and when the mechanical arm device of the sucker walking system encounters special surface obstacles and cannot continuously operate, the mechanical arm can be remotely and manually controlled to cross the obstacles, so that the cleaning machine can continuously operate.

Compared with the prior art, the beneficial effects of the utility model reside in that:

1) the cleaning machine of the utility model is integrally assembled on site according to the cleaning requirement, the installation is simple and convenient, the labor is saved in the cleaning process, and the curtain wall cleaning work is efficient and safe; the utility model discloses reached liberation manual work, clean, safety, flexibility, practicality strong and cleaning performance real time monitoring's effect, when carrying out glass/photovoltaic curtain surface cleaning work, used the device can improve work efficiency:

2) the utility model discloses a cylinder brush cleaning system, two cylinder brushes make wash and the rinsing goes on simultaneously, and confined brush cover prevents that sewage from splashing everywhere, and curtain surface is hugged closely to three silica gel scraper blades, scrapes and gets and collect sewage to scrape dry curtain surface through the friction, above multiple action makes curtain surface cleaning effect clean as new, and clean process and sewage collection handle go on simultaneously, work efficiency is high.

3) The utility model discloses be equipped with the camera and carry out real time monitoring and feedback to the cleaning performance, judge whether need the secondary to wash, ensured the cleaning performance of cleaning machine.

4) The utility model discloses a shape design of cylinder, cylinder brush and scraper blade is arc or linear type, can change according to the different geometric shapes on curtain surface, has strengthened the adaptability of cleaning machine to different building curtain geometric shapes.

5) The utility model discloses a cable wire and sucking disc traveling system link makes the cylinder brush go upward or down work, perhaps pauses, the utility model discloses be equipped with whether the sucking disc is unsettled at radar installations response special barrier or the curtain edge of turning perpendicularly, feed back to control system and withdraw the arm, the utility model discloses a cable wire, sucking disc traveling system and radar installation combined action have ensured the security of cleaning machine.

6) The utility model discloses a control system guarantee sucking disc traveling system can be at the nimble, safe walking of curtain surface to make cleaning machine coordinated operation.

7) The utility model discloses can remote control, realized the nimble control of cleaning machine to ensure the continuous, the safe operation of cleaning machine.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a perspective view of the roller brush cleaning system of the present invention.

Fig. 3 is a perspective view of the roller and the brush of the roller brush cleaning system of the present invention.

Fig. 4 is a perspective view of the suction cup traveling system of the present invention.

Fig. 5 is a structure view of a single mechanical arm of the suction cup traveling system of the present invention.

Fig. 6 is an internal structure view of the ball head of the present invention.

Fig. 7 is a distribution diagram of the motor in the mechanical arm of the present invention.

Fig. 8 is a perspective view of the hoist cable transmission system of the present invention.

Fig. 9 is a structural view of a motor and gear train of the hoist cable transmission system of the present invention.

Fig. 10 is a block diagram of an axle and pulley assembly of the hoist rope transmission system of the present invention.

Fig. 11 is a block diagram of a fixed pulley of the rope transmission system of the present invention.

Fig. 12 is a structural view of the longitudinal guide wheel of the present invention.

Fig. 13 is a structural view of the guide wheel of the steel structural frame of the present invention driven by a motor.

Fig. 14 is a structural diagram of an image pickup device and a radar device according to the present invention.

Fig. 15 is a structure view of the position of the limit switch of the present invention.

Detailed Description

The technical solution of the present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1-11, the utility model provides a three-dimensional view of a suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine is as shown in fig. 1, including cylinder brush cleaning system 1, sucking disc traveling system 2, control system 3 and hoist cable transmission system 4.

As shown in fig. 2 and 3, the roller brush cleaning system 1 includes two

rollers

801 and 802, a transmission system, three

silicone scrapers

1001, 1002 and 1003, a cleaning agent and a clean water spray device. The roller 801 and the roller 802 are vertically arranged in parallel, the roller 801 is positioned above the roller 802, the upper roller 801 and the lower roller 802 are respectively sleeved with the brush 701 and the brush 702, two ends of the roller 801 and two ends of the roller 802 are respectively arranged on the roller bracket 13, the roller 801 and the roller 802 are respectively arranged in the closed brush cover 12, and the brush cover 12 is fixedly arranged on the roller bracket 13. The glass/photovoltaic curtain wall cleaning machine is characterized in that a motor 14 is arranged on the roller support 13, a double-groove driving belt pulley 901 is arranged on an output shaft of the motor 14, a single-groove driven belt pulley 902 and a single-groove driven belt pulley 903 are respectively arranged on the roller 801 and the roller 802, the driving belt pulley 901 is connected with the driven

belt pulleys

902 and 903 through belts, the motor 14 rotates, the roller 801 and the roller 802 can be driven to rotate through a belt transmission device, and the glass/photovoltaic curtain wall is cleaned.

The upper portion of the roller 801, the lower portion of the roller 802 and the space between the two rollers are respectively provided with a silica gel scraper 1001, a silica gel scraper 1003 and a silica gel scraper 1002, the section of the silica gel scraper 1001 is arch-shaped, the roller 801 and the roller 802 are separated by the silica gel scraper 1002, two ends of the silica gel scraper 1002 are provided with sewage channels, sewage is guided to the silica gel scraper 1003 through the sewage channels at two ends of the middle silica gel scraper 1002, and the bottom of the silica gel scraper 1003 is connected with a sewage collector. The shapes of the silica gel scraper 1001, the silica gel scraper 1003, the silica gel scraper 1002, the roller 801 and the roller 802 can be designed according to the shape of the glass curtain wall, so that the cleaning equipment can be more attached to the surface of the curtain wall and can adapt to buildings with different geometric appearances.

The cleaning agent and clear water spray device comprises a clear water connecting pipe 1501, a cleaning agent connecting pipe 1502 and spray ports uniformly arranged on the connecting pipe. The cleaning agent connecting pipe 1502 and the clean water connecting pipe 1501 extend into the brush hood and are respectively positioned above the rotary drum 801 and the rotary drum 802, the cleaning agent connecting pipe 1502 and the clean water connecting pipe 1501 are arranged in parallel to the rotary drum 801 and the rotary drum 802, and the bottom of the side wall of the cleaning agent connecting pipe 1502 is uniformly provided with cleaning agent spraying ports 1101 which can spray cleaning agent to the rotary drum 801. The bottom of the clear water connecting pipe 1501 is uniformly provided with clear water spraying ports 1102 which can spray clear water to the roller 802. After the cleaning agent is sprayed out from the cleaning agent spraying port 1101, the upper roller 801 starts to work, and simultaneously, the clean water spraying port 1102 sprays clean water to rinse the roller 802. The bottom of the silica gel scraper 1003 below the roller 802 is provided with a sewage tray and a sewage drain, and the sewage drain is connected through a sewage discharge pipeline 28 and guides sewage to the ground.

As shown in fig. 4 to 7, the suction cup traveling system 2 includes a suction cup traveling system support 16, a robot arm 17, and a vacuum suction cup 18. The sucker traveling system support 16 is fixedly connected with the roller support 13, and two mechanical arms are respectively arranged on two sides of the sucker traveling system support 16. The robotic arm includes a front arm 1701, a middle arm 1702, a large arm 1703, and a ball nose 1704. The internal structure of the ball 1704 is shown in fig. 6, the ball comprises a ball seat 1704A and a ball 1704D, the ball 1704D is arranged in the ball seat 1704A, the ball 1704D is provided with a fixing rod 1704C, the diameter of a fixing rod hole in the ball seat 1704A is larger than that of the fixing rod 1704C, the fixing rod 1704C is fixedly mounted on the sucker walking system support 16, the ball seat 1704A is connected with a boom, the ball seat 1704A is provided with a transverse pile 1706 and a longitudinal pile 1705, the transverse pile 1706 and the longitudinal pile 1705 are respectively connected with one end of two

lead screw motors

1707 and 1708, the other end of the two

lead screw motors

1707 and 1708 is connected with the sucker walking system support 16, the lead screw motor 1708 connected with the longitudinal pile 1705 controls the boom to move horizontally along the surface of the curtain wall, and the lead screw motor 1707 connected with the transverse pile 1706 controls the boom. The middle arm 1702 is hinged to the large arm 1703, the middle arm 1702 is connected with the large arm 1703 through the pen rod type motor 1709, the mechanical arm can be supported through the extension and retraction of the pen rod type motor 1709, and the mechanical arm can be controlled to be straightened or bent inwards when encountering obstacles. The front arm 1701 is hinged with the middle arm 1702, a screw-type motor 1710 is arranged in the front arm 1701, the distance from the glass to the equipment can be adjusted within a certain range, the glass can be directionally moved within a certain range when meeting an obstacle, and the front end of the front arm is provided with a vacuum suction cup 18. Lead

screw type motors

1707 and 1708 connected with the ball head wiring pile, a pen rod type motor 1709 and a lead screw type motor 1710 in a front arm 1701 are respectively connected with a control system. The front arm 1701, the middle arm 1702, the large arm 1703 and the ball 1704 of the whole mechanical arm are matched together, and the mechanical arm flexibly walks on the glass/photovoltaic curtain wall continuously and coordinately like four limbs of a spider. The suction cup walking system is firmly fixed on the glass or the photovoltaic curtain wall through the attachment effect of the vacuum suction cup 18.

As shown in fig. 8-10, the sling transmission system includes a steel cable, three sets of fixed pulley blocks, a pulley block, a variable speed motor 22, a gear set and a steel structural frame; variable speed motor 22, the gear train, the crown block group, shaft wheel group fixed mounting on steel structural framework, the gear train include intermeshing gear I2301 and gear II 2302, intermeshing bevel gear I2303 and bevel gear II 2304 and intermeshing bevel gear III 2305 and bevel gear IV 2306, bevel gear I2303 and gear II 2302 are installed on same pivot, bevel gear III 2305 and bevel gear II 2304 are installed on same pivot 25, be equipped with driven pulley in gear I2301's the pivot, driven pulley passes through the belt and is connected with the epaxial driving pulley of variable speed motor 22 output, variable speed motor 22 can drive the gear train and rotate. And three shaft wheels II, namely a shaft wheel II 2101, a shaft wheel II 2102 and a shaft wheel II 2103 are mounted on a rotating shaft of the bevel gear IV 2306. The three groups of fixed pulley blocks comprise 9 fixed pulleys, namely a fixed pulley 2001, a fixed pulley 2002, a fixed pulley 2003, a fixed pulley 2004, a fixed pulley 2005, a fixed pulley 2006, a fixed pulley 2007, a fixed pulley 2008 and a fixed pulley 2009, wherein each group comprises three fixed pulleys; two groups of fixed pulley blocks are used for conveying two

steel cables

1901 and 1902, and one group of fixed pulley blocks is used for conveying a detergent liquid feeding pipeline 2602, a clear water feeding pipeline 27 and a power supply and signal line 29. The rotating shafts of the gear I2301 and the gear II 2302 are respectively provided with a shaft wheel I2104 and a shaft wheel II 2105, the shaft wheel I2104 and the shaft wheel I2105 are respectively connected with one end of a steel cable 1901 and one end of a steel cable 1902, and the other ends of the steel cable 1901 and the steel cable 1902 are connected with two sector-shaped hooks 1903 and 1904 of the roller bracket by bypassing corresponding fixed pulley blocks. The wire 1902 is extended and contracted by winding the sheave 2105, and the direction of the acting force is changed by three fixed

pulleys

2001, 2002, 2003 of a set of fixed pulleys; in the same mechanism as the wire 1902, the wire 1901 is wound around the pulley 2104, and then the direction of the applied force is changed by three fixed

pulleys

2004, 2005, 2006 of a set of fixed pulleys. The

wire ropes

1901 and 1902 are used to suspend the roller brush cleaning system, so that the roller brush cleaning system moves up and down with the extension and contraction of the wire ropes. The other ends of cable 1901 and cable 1902 are connected to the frame 13 of the roller cleaning system by fan hooks 1903, 1904, respectively, as shown in fig. 2. The fan-shaped hooks 1903 and 1904 are respectively provided with a set of equidistant holes for adjusting the installation deviation.

The other group of fixed pulleys comprises a fixed pulley 2007, a fixed pulley 2008 and a fixed pulley 2009, the fixed pulley 2007, the fixed pulley 2008 and the fixed pulley 2009 are coaxially arranged and respectively arranged corresponding to a shaft wheel II 2101, a shaft wheel II 2102 and a shaft wheel II 2103, the fixed pulley 2007, the fixed pulley 2008 and the fixed pulley 2009 are matched with the shaft wheel II 2101, the shaft wheel II 2102 and the shaft wheel II 2103 and are respectively used for conveying a power supply and a signal line 29, a clear water feeding pipeline 27 and a detergent feeding pipeline 2602, and the clear water feeding pipeline 27 is connected with a clear water connecting pipe 1501. One end of the detergent liquid supply pipe 2602 is connected to the detergent liquid storage tank 2601 through a variable speed pump, the detergent liquid storage tank 2601 is fixedly mounted on the top of the steel structural frame 3001, and the other end is connected to the detergent connection pipe 1502.

The cleanser liquid storage box 2601 is a transparent barrel-shaped container with a visible liquid level and is provided with a liquid level ball float valve. The cleaning agent is delivered from the reservoir 2601, the variable speed pump and the cleaning agent feed conduit 2602 to the cleaning agent connection pipe 1502 and the cleaning agent spray port 1101 of the upper roller 801 of the roller brush sweeping system. The clean water is delivered to the clean water connecting pipe 1501 and the clean water spraying port 1102 of the lower roller 802 of the roller brush cleaning system from the tap water pipe, the variable speed pump and the clean water feed pipe 27. The clean water supply pipeline 27 and the detergent supply pipe 2602 are both flexible pipelines, and are respectively wound on a shaft wheel II 2102 and a shaft wheel II 2103 of a shaft wheel group of a sling transmission system, the acting directions of the two are changed by a fixed pulley 2008 and a fixed pulley 2009, and the two pipelines are respectively connected to connecting

pipes

1501 and 1502 of the roller cleaning system. The power supply and signal wire 29 is wound on a shaft wheel II 2101 of the shaft wheel set, and the acting force direction is changed through a fixed pulley 2007, and the acting force direction is respectively connected to the power line and control wire terminals of the roller brush cleaning system and the sucker traveling system.

As shown in fig. 11 to 12, the steel-structured frame 3001 is assembled by welding or bolting a rectangular steel plate or channel steel made of stainless steel, and the top of the steel-structured frame 3001 is provided with a cantilever 3002 and a detergent reservoir 2601, and the detergent reservoir 2601 is made of a transparent material and can monitor a liquid level. The bottom of the steel structure frame 3001 is provided with a bracket 3003 for balancing gravity, four transverse guide wheels 3101 and four longitudinal guide wheels 3102. Lateral guide wheels 3101 and longitudinal guide wheels 3102 are mounted at the bottom four corners of said steel structural frame 3001, which wheels translate along the tracks laid by the roof. The transverse guide wheels 3101 are fixedly connected to the bottom of the steel structure frame 3001, and the transverse guide wheels 3101 are main working guide wheels. The longitudinal guide wheel 3102 comprises a guide wheel and a screw rod, and is inserted into the guide wheel mounting hole of the steel structure frame 3001 through the screw rod; the screw is screwed to the adjustment plate 32, and the steel structural frame 3001 is supported on the adjustment plate 32. The adjusting plate 32 can adjust the installation height of the longitudinal guide wheel 3102 up and down, so as to realize the conversion between the transverse guide wheel 3101 and the longitudinal guide wheel 3102. At the beginning of the cleaning work, when the cleaning machine is assembled and the horizontal distance between the cleaning machine and the curtain wall needs to be adjusted, the adjusting disc 32 enables the transverse guide wheel 3101 to be suspended, so that the longitudinal guide wheel 3102 is lowered to the longitudinal rail; when the transverse guide wheels 3101 are in the working track, the adjustment plate 32 lifts the longitudinal guide wheels 3102 into the air. The motor-driven structure of the lateral guide wheels 3101 of the steel structural frame 3001 is shown in fig. 13. The bottom of the steel structure frame 3001 is provided with a longitudinal plate 3101A, the longitudinal plate 3101A is provided with a motor 3101B, two coaxial transverse guide wheels 3101 positioned at the same side of the steel structure frame 3001 are connected through a rotating shaft 3101C, the rotating shaft 3101C is fixedly connected with a belt pulley 3101D, an output shaft of the motor 3101B is provided with a driving belt pulley, the belt pulley 3101D is connected with the driving belt pulley through a belt 3101E, and the motor 3101B is connected with a control system. The motor 3101B drives the connecting rod 3101C to rotate through a belt transmission device, so as to drive the transverse guide wheel to roll and advance.

As shown in fig. 14 and 15, the control system 3 includes a real-time monitoring device, a radar device 34, a control module 35 and a limit switch. Real-time monitoring device constitute by camera 3301 and camera 3302 and control scheme, set up respectively in cylinder brush cleaning system installing support top and sucking disc traveling system installing support bottom, whether the monitoring curtain surface sanitizes, camera 3301 and camera 3302 are connected with control module 35. The radar device comprises four groups of ultrasonic probes, namely an ultrasonic probe 3401 arranged at the top end of the roller brush cleaning system mounting bracket, an ultrasonic probe 3402 arranged at the bottom of the sucker walking system mounting bracket, and two

ultrasonic probes

3403 and 3404 respectively arranged at the left end and the right end of the sucker walking system mounting bracket, and the radar device is connected with the control module 35. The

ultrasonic probes

3401 and 3404 are used for detecting whether the surfaces of the upper, lower, left and right curtain walls of the roller cleaning system and the sucker traveling system are provided with obstacles or are suspended, and feeding the monitored conditions back to the control module 35. The limit switch comprises a control box 3601, a sling chain 3602 and a steel cable rope sleeve 3603; the control box 3601 is connected to a steel plate attached with a fixed pulley block through a bolt, the control box 3601 is connected with a steel rope sleeve 3603 through a hanging chain 3602, and the steel rope sleeve 3603 is sleeved on a steel rope driven by the fixed pulley 2006. The moving distance of the cleaning machine is set according to the vertical height of the curtain wall cleaning operation, when the cleaning machine moves upwards or downwards to the distance limit, the steel rope sleeve 3603 triggers the limit switch through the hanging chain 3602 to cut off the power supply of the variable speed motor 22, so that the cleaning machine stops running, and potential safety hazards are prevented. The control module 35 of the control system 3 is mounted on the steel structure frame 3001. The control module 35 comprises an integrated numerical control circuit, from which six lines are drawn: the first line is connected to a motor 14 of the roller brush cleaning system 1 and is used for controlling and driving the roller to rotate. The second strand of the line is connected with screw rod type

speed regulating motors

1707 and 1708, a penholder motor 1709 and a screw rod motor 1710 of the mechanical arm of the sucker walking system 2, and is used for driving the mechanical arm to move in a coordinated mode. The third line is connected with a variable speed motor 22 of a sling transmission system and a control box 3601 of a limit switch and is used for controlling the lifting of the roller brush cleaning system 1. The fourth line is connected to a driving motor 3101B of the transverse guide wheel, and is used for controlling the transverse movement of the steel structural frame 3001. The fifth strand pipeline is connected with an

ultrasonic probe

3401 and 3404 and used for detecting whether barriers exist on the surfaces of upper, lower, left and right curtain walls of the roller cleaning system and the sucker travelling system or not or detecting whether the barriers are suspended or not, so that the safe operation of the cleaning machine is guaranteed. The sixth strand accesses

cameras

3301 and 3302 for monitoring and feedback cleaning effect. The control program of the control system of the present invention is not described in detail herein, which is the prior art.

The utility model discloses during the use, place automatic cleaning machine's steel construction frame 3001 on laying the guide rail in advance, adjust the horizontal distance of cleaning machine apart from the curtain, when the cleaning machine adjusts the operating position of needs, fixed and steel construction frame 3001's leading wheel. The cleaning agent is proportioned and added into a cleaning agent storage tank 2601, and a tap water pipe is connected to a clean water supply pipe. The variable speed motor 22 of the sling transmission system 4 is started to drive the gear set to rotate, and the left and

right steel cables

1901 and 1902 suspending the roller cleaning system 1 are stretched up and down through the arbor wheel and the two groups of fixed pulleys which are coaxial with the gear set. Meanwhile, the gear set drives the other three shaft wheels to wind around the flexible power supply and signal line 29, the clean water supply pipeline 27 and the detergent liquid supply pipeline 2602 respectively, and the winding speed is synchronous with the up-and-down stretching speed of the steel cable. The power supply and signal line 29 is connected to the power supply and signal line access ends of the roller brush cleaning system and the suction cup suction system, respectively. The cleaning agent liquid supply pipe 2602 and the clear water supply pipe 27 are connected to a cleaning agent spraying port 1502 and a clear water spraying port 1501 of the roller brush cleaning system respectively, the cleaning agent spraying port sprays out the cleaning agent firstly, after the brush of the upper roller is soaked, the curtain wall surface is scrubbed, meanwhile, the clear water spraying port sprays out the clear water, the brush of the lower roller rinses the curtain wall surface, so that the curtain wall surface is washed and rinsed, the cleaning purpose is achieved, and the sewage is collected to the ground by a sewage drainage pipeline for centralized treatment.

When the variable speed motor 22 of the sling transmission system is started, the

steel cables

1901 and 1902 are driven to descend or ascend at a corresponding speed, and the up-and-down travelling speed of the suction cup travelling system 2 and the up-and-down travelling speed of the steel cable of the sling transmission system 4 are kept synchronous by one line of the control module 35 through a circuit control device for controlling the suction cup travelling system. When the sucker traveling system 2 travels to the highest point or the lowest point, the control module 35 respectively gives out control signals, the limit switch is linked with the variable speed motor 22 of the sling transmission system to stop the cleaning machine from traveling up and down, and meanwhile, the steel structure frame 3001 is linked with the sucker traveling system to realize the left-right translation of the cleaning machine. When the sucker walking system 2 walks to the sucker on one side to enable the suspended curtain wall to vertically turn around the edge, the radar device gives an alarm to stop the left and right walking of the cleaning machine, and the control module 35 sends a control signal to the circuit control device of the sucker walking system to enable the middle arm of the mechanical arm device on the side to be bent and retracted, so that the safe operation of the cleaning machine is guaranteed. In addition, the control module 35 has a remote control program, and when the mechanical arm device of the suction cup walking system encounters a special surface obstacle and cannot continuously run, the mechanical arm device can be remotely and manually controlled to cross the obstacle, so that the cleaning machine can continuously run.

Claims

1. A suspension adsorption type automatic glass/photovoltaic curtain wall cleaning machine comprises a roller brush cleaning system, a sucker traveling system, a sling transmission system and a control system; the method is characterized in that: the roller brush cleaning system comprises a roller, a silica gel scraper, a spraying device, a sewage collector and a transmission device; the side surface of the cylinder of the roller is sleeved with a brush, and two ends of the roller are arranged on the roller bracket; the driving mechanism is arranged on the roller bracket, is connected with the roller through a transmission device and can drive the roller to rotate; silica gel scrapers are respectively arranged above and below the roller, and the silica gel scrapers below the roller are connected with a sewage collector; the spraying device is arranged above the roller, and a spraying port of the spraying device can spray the brush;

2. The automatic cleaning machine for hanging adsorption type glass/photovoltaic curtain wall as claimed in claim 1, wherein: the mechanical arm comprises a front arm, a middle arm, a big arm and a ball head, wherein the ball head comprises a ball seat and a ball body, the ball body is arranged in the ball seat, the ball body is provided with a fixed rod, the diameter of a fixed rod hole in the ball seat is larger than that of the fixed rod, the fixed rod is fixedly arranged on the sucker traveling system support, the ball seat is connected with the big arm, the ball seat is provided with a transverse pile and a longitudinal pile, the transverse pile and the longitudinal pile are respectively connected with one end of each of two lead screw motors, the other end of each of the two lead screw motors is connected with the sucker traveling system support, the lead screw motor connected with the longitudinal pile controls the big arm to horizontally move along the surface of the curtain wall, and; the middle arm is hinged with the big arm, the middle arm is connected with the big arm through a penholder type motor, the front arm is hinged with the middle arm, a lead screw type motor is arranged in the front arm, the distance between glass and equipment can be adjusted, directional movement can be carried out within a certain range when the glass meets an obstacle, and a vacuum sucker is arranged at the front end of the front arm; and a screw rod motor connected with the ball head, a penholder type motor connected with the middle arm and a screw rod type motor in the front arm are respectively connected with a control system.

3. The automatic cleaning machine for hanging adsorption type glass/photovoltaic curtain wall as claimed in claim 1, wherein: the roller brush cleaning system comprises two rollers, the two rollers are arranged in parallel and located in the same vertical plane, a brush is uniformly and densely sleeved on the cylindrical surfaces of the rollers, the two ends of the two rollers are installed on a roller support, a motor is adopted by a driving mechanism and installed on the roller support, a belt transmission device is adopted by the transmission device, a driving belt wheel with double grooves is arranged on an output shaft of the driving mechanism, a driven belt wheel with a single groove is respectively arranged on the two rollers, and the driving belt wheel is connected with the driven belt wheel through a belt.

4. The automatic cleaning machine for the suspended absorption type glass/photovoltaic curtain wall as claimed in claim 1, wherein the spraying device comprises a clean water connecting pipe and a cleaning agent connecting pipe, and the cleaning agent connecting pipe is positioned above the upper roller; the clean water connecting pipe is positioned above the lower roller; the bottom parts of the side walls of the clean water connecting pipe and the cleaning agent connecting pipe are provided with a clean water spraying port and a cleaning agent spraying port.

5. The automatic cleaning machine for hanging adsorption type glass/photovoltaic curtain wall as claimed in claim 1, wherein: a silica gel scraper is respectively arranged above the rollers, between the two rollers and below the rollers, and the section of the silica gel scraper above the rollers is arched; the bottom of the silica gel scraper blade below the roller is provided with a sewage tray and a sewage draining exit, and the sewage draining exit is connected through a sewage draining pipeline.

6. The automatic cleaning machine for hanging adsorption type glass/photovoltaic curtain wall as claimed in claim 1, wherein: the sling transmission system comprises a steel structure frame, a variable speed motor, a gear set, a shaft wheel set, a steel cable and two groups of fixed pulley blocks; the variable-speed motor, the gear set, the fixed pulley set and the shaft pulley set are fixedly arranged on the steel structure frame, the gear set comprises a gear I and a gear II which are mutually meshed, a bevel gear I and a bevel gear II which are mutually meshed, and a bevel gear III and a bevel gear IV which are mutually meshed, the bevel gear I and the gear II are arranged on the same rotating shaft, the bevel gear III and the bevel gear II are arranged on the same rotating shaft, a driven belt pulley is arranged on the rotating shaft of the gear I, and the driven belt pulley is connected with a driving belt pulley on an output shaft of the variable-speed; three shaft wheels II are mounted on a rotating shaft of the bevel gear IV, shaft wheels I are mounted on rotating shafts of the gear I and the gear II respectively, one ends of the steel cables are connected to the shaft wheels I respectively, and the other ends of the steel cables are connected with sector-shaped lifting hooks of the roller bracket by bypassing corresponding fixed pulley blocks; the fan-shaped lifting hook is provided with a plurality of steel cable holes at equal intervals.

7. The automatic cleaning machine for hanging adsorption type glass/photovoltaic curtain wall as claimed in claim 6, wherein: the steel structure frame is made of rectangular steel plates or channel steel in a welding or bolt connection mode, and guide wheels are arranged at the bottom of the steel structure frame; the top of the steel structure frame is provided with a cleaning liquid storage tank, the cleaning liquid storage tank is connected with one end of a cleaning agent liquid supply pipeline, and the other end of the cleaning agent liquid supply pipeline bypasses the corresponding shaft wheel II and the fixed pulley block and is connected with a cleaning agent connecting pipe of the spraying device; the cleaning agent liquid storage tank is made of transparent materials.

8. The automatic cleaning machine for hanging adsorption type glass/photovoltaic curtain wall as claimed in claim 7, wherein: the top of the steel structure frame is provided with a cantilever, the bottom of the steel structure frame is provided with a gravity balance support, and the extending direction of the gravity balance support is opposite to the extending direction of the cantilever.

9. The automatic cleaning machine for hanging adsorption type glass/photovoltaic curtain wall as claimed in claim 8, wherein: the guide wheels comprise four transverse guide wheels and four longitudinal guide wheels; the longitudinal guide wheel comprises a guide wheel and a screw rod, and is inserted into a guide wheel mounting hole of the steel structure frame through the screw rod; the screw is in threaded connection with the adjusting disc, and the steel structure frame is supported on the adjusting disc; the two coaxial transverse guide wheels positioned on the same side of the steel structure frame are connected through a rotating shaft, a belt pulley is fixedly connected to the rotating shaft, a motor is installed at the bottom of the steel structure frame, a driving belt pulley is arranged on an output shaft of the motor, the belt pulley is connected with the driving belt pulley through a belt, and the motor is connected with a control system.

10. The automatic cleaning machine for hanging adsorption type glass/photovoltaic curtain wall as claimed in claim 1, wherein: the control system comprises a real-time monitoring device, a radar device, a limit switch and a control module; the real-time monitoring device is provided with two cameras which are respectively arranged at the top end of the mounting bracket of the roller brush cleaning system and the bottom of the mounting bracket of the sucker travelling system and used for monitoring whether the surface of the curtain wall is cleaned up or not; the radar device comprises four groups of ultrasonic probes, wherein the four groups of ultrasonic probes are respectively arranged at the top end of the roller brush cleaning system mounting bracket, the bottom of the sucker traveling system mounting bracket and the left side and the right side of the sucker traveling system mounting bracket and are used for detecting whether obstacles or hanging on the upper, lower, left and right curtain wall surfaces of the roller cleaning system and the sucker traveling system exist or not; the limit switch comprises a control box, a lifting chain and a steel cable sleeve; the control box is connected with a steel plate attached with a fixed pulley block through a bolt, the control box is connected with a steel cable rope sleeve through a sling chain, and the steel cable rope sleeve is sleeved on a steel cable driven by the fixed pulley block; the real-time monitoring device, the radar device and the control box of the limit switch are respectively connected with the control module; the control module is installed on the steel structure frame, is respectively connected with a motor of the roller brush cleaning system, a motor on a mechanical arm of the sucker walking system, a variable speed motor of the sling transmission system, a driving motor of the steel structure frame, a radar device and a camera device, and has a remote control function.