CN210446884U

CN210446884U - Window cleaning robot system

Info

Publication number: CN210446884U
Application number: CN201920697418.0U
Authority: CN
Inventors: 邢桢怡; 俞成涛; 吉用秋; 宋威; 谢超祥; 孙月梅
Original assignee: Jiangsu University of Technology
Current assignee: Jiangsu University of Technology
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2020-05-05
Anticipated expiration: 2029-05-15

Abstract

The utility model relates to a robotechnology field, concretely relates to window-cleaning robot system. A window-cleaning robot system comprises at least two window-cleaning robots which are connected in series through flexible connecting pieces to form a closed structure capable of being sleeved outside a building. The window cleaning robot has the advantages that the at least two window cleaning robots are connected in series to form a closed structure and are sleeved outside a building to clean the building, the window cleaning robot is fixed outside the building through the tensioning force of the flexible connecting piece, an adsorption device is not needed, the structure of the window cleaning robot is simplified, safety performance is high, and the utilization rate of energy is improved. The problem of wipe window robot among the prior art exist security performance low, the structure is complicated is solved.

Description

Window cleaning robot system

Technical Field

The utility model relates to a robotechnology field, concretely relates to window-cleaning robot system.

Background

With the rapid, stable and healthy development of national economy in China, more and more high-rise and super high-rise buildings are drawn from cities, in order to increase the lighting and light transmission, the heat preservation and heat insulation of the interior of the building and the beauty of the outer wall, the modern super high-rise building outer wall usually adopts a heat preservation and heat insulation double-layer glass curtain wall structure, and in order to keep the long-term cleanness and the beauty of the building outer wall, the glass curtain of the building outer wall needs to be regularly cleaned, so that the popularization and the application of high-rise window cleaning equipment in China are accelerated.

With the rapid development of modern society science and technology, the necessity of using the window cleaning robot for high-rise and super high-rise glass curtain buildings is generally accepted, and the window cleaning robot is the safest and practical special equipment for high-altitude operation. However, the existing window cleaning robot has the following problems: the safety performance is low, the structure is complex, and the energy utilization rate and the working efficiency are low; the convex-concave part of the wall surface can not pass through, and the obstacle crossing capability is low.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that the window cleaning robot in the prior art has low safety performance and a complex structure, the utility model provides a window cleaning robot system solves the technical problem. The technical scheme of the utility model as follows:

a window-cleaning robot system comprises at least two window-cleaning robots which are connected in series through flexible connecting pieces to form a closed structure capable of being sleeved outside a building.

Further, the window cleaning robot comprises a crawler traveling unit, a vehicle body and a cleaning unit, the crawler traveling unit drives the vehicle body to move, the crawler traveling unit can rotate relative to the vehicle body, and the cleaning unit is installed on the vehicle body.

Further, the crawler belt walking unit comprises two walking crawlers which are arranged in parallel, the crawler belt walking unit is connected through an axle, and the axle supports the vehicle body through the turret unit.

Furthermore, a bidirectional hoisting unit is arranged on the vehicle body and used for retracting the flexible connecting pieces on two sides of the window cleaning robot where the bidirectional hoisting unit is located.

Furthermore, the bidirectional captive breeding unit comprises a driving device and two winding drums, wherein the driving device drives one winding drum through a worm gear, the two winding drums are in gear transmission, and the two winding drums respectively receive and release the flexible connecting pieces on two sides of the window cleaning robot.

Further, the cleaning unit is arranged on the vehicle body through a folding arm, one end of the folding arm is connected with the vehicle body, the other end of the folding arm is connected with the cleaning unit, and the folding arm drives the cleaning unit to contact or separate from the outer surface of the building under the pushing action of the push rod assembly.

Based on the technical scheme, the utility model discloses the technological effect that can realize does:

1. the window cleaning robot system of the utility model has the advantages that the building is cleaned by connecting at least two window cleaning robots in series to form a closed structure and sleeving the closed structure outside the building, the window cleaning robot is fixed outside the building through the tensile force of the flexible connecting piece, an adsorption device is not needed, the structure of the window cleaning robot is simplified, the safety performance is high, and the utilization rate of energy is improved;

2. the window cleaning robot system of the utility model has the advantages that the window cleaning robot is arranged as the track walking unit, so that the contact area between the window cleaning robot and the glass curtain wall on the building can be increased, the pressure on the glass curtain wall is reduced, the friction between the track and the glass curtain wall can be increased by further arranging the track made of rubber and the like, and the safety performance is improved; in addition, the obstacle crossing capability of the crawler belt walking unit can easily cross the concave-convex structure on the outer surface of the building;

3. the window cleaning robot system of the utility model supports the vehicle body through the turret unit, can realize the mutual rotation between the vehicle body and the crawler traveling unit, and the vehicle body can be driven to rotate independently; the turret unit realizes steering by utilizing differential motion of the traveling crawler belts on two sides of the crawler belt traveling unit, and is convenient to control;

4. the window-cleaning robot system of the utility model tensions the flexible connecting pieces at the two sides of the window-cleaning robot by arranging the bidirectional hoisting unit, provides a certain pretightening force, and improves the safety performance of the window-cleaning robot;

5. the window cleaning robot system of the utility model realizes the cleaning in the horizontal direction through the horizontal movement of the window cleaning robot, and then realizes the integral lifting of the window cleaning robot system through the vertical movement of the window cleaning robot, and can realize the automatic and complete cleaning of the window cleaning robot to the building until the cleaning is finished; in addition, the steering between the horizontal movement and the vertical movement of the window cleaning robot is realized through the differential movement of the two walking tracks, the adjustment is convenient, the cleaning of the building can be realized without deflection of the cleaning unit in the whole process, and the window cleaning robot is very convenient and efficient;

6. the utility model discloses a window cleaning robot system, under the clear condition of window cleaning robot level, the track walking unit and the cooperation operation of two-way hoist unit of window cleaning robot guarantee to clean the clean in-process flexonics spare of window cleaning robot level and keep the pretightning force, make window cleaning robot paste tight building, improve the security performance.

Drawings

Fig. 1 is a state diagram of the window-cleaning robot system of the present invention during operation;

fig. 2 is a front view of the window cleaning robot with the crawler traveling unit parallel to the flexible connecting member;

fig. 3 is a top view of the window cleaning robot with the crawler traveling unit parallel to the flexible connecting member;

fig. 4 is a top view of the window cleaning robot with the crawler traveling unit perpendicular to the flexible connecting member;

fig. 5 is a schematic structural view of the window cleaning robot of the present invention;

FIG. 6 is a schematic view of a window wiping robot with a cleaning element in an alternative configuration;

in the figure: 1-a window cleaning robot; 11-crawler travel unit; 111-a walking track; 12-a vehicle body; 13-a cleaning unit; 131-a cleaning member; 14-a turret unit; 15-a bidirectional hoisting unit; 151-reel; 152-a drive device; 153-gear; 154-a baffle; 16-a folding arm; 161-a first connecting arm; 162-a second connecting arm; 163-a pushrod assembly; 17-vehicle axle; 18-a support base; 2-a flexible connection; and 3, building.

Detailed Description

The invention will be further described with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the terms "radial", "axial", "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplification of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in fig. 1 to 6, the present embodiment provides a window-cleaning robot system, which includes at least two window-cleaning robots 1, wherein the at least two window-cleaning robots 1 are connected in series by flexible connectors 2 to form a closed structure capable of being sleeved outside a building 3, and the outside of the building 3 is cleaned by the overall movement of the window-cleaning robots 1. The flexible connecting piece 2 has a certain tensioning force, so that the window cleaning robot 1 is ensured to be tightly attached to the outer surface of the building 3, and the window cleaning robot 1 can be tightly attached to the outer surface of the building 3 without an adsorption structure.

When cleaning, the window cleaning robots 1 are distributed on the to-be-cleaned planes outside the building 3, at least one window cleaning robot 1 is distributed on each to-be-cleaned plane, and the window cleaning robot 1 only needs to clean the to-be-cleaned plane where the window cleaning robot is located. The window cleaning robot 1 comprises a crawler traveling unit 11, a vehicle body 12, a cleaning unit 13 and a bidirectional winding unit 15, wherein the crawler traveling unit 11 drives the vehicle body 12 to move, the crawler traveling unit 11 can rotate relative to the vehicle body 12, and the cleaning unit 13 and the bidirectional winding unit 15 are supported on the vehicle body 12.

Specifically, the crawler belt unit 11 includes two walking tracks 111 arranged in parallel and symmetrically, and the two walking tracks 111 are connected by an axle 17, and the axle 17 supports the vehicle body 12. Further, the two walking crawlers 111 are respectively driven by two driving motors, the two driving motors respectively drive driving chain wheels of the two walking crawlers 111, the driving chain wheels drive driven wheels to rotate, and when the two walking crawlers move linearly normally, the two driving motors drive the two walking crawlers 111 to have the same advancing speed, so that the linear motion is realized; when steering is needed, the two walking tracks 111 are driven by the two driving motors to do differential motion so as to achieve steering. Preferably, rubber is used as the crawler belt material, so that unit pressure on the glass curtain can be reduced, friction can be increased, and safety performance can be improved.

The axle 17 is connected to the vehicle body 12 via the turret unit 14, and by providing the turret unit 14, the crawler belt units 11 can be steered with respect to the vehicle body 12, and the steering of the vehicle body 12 can be controlled individually. The turret unit 14 is formed by combining an inner gear and an outer gear, the inner gear is larger than the outer gear, screw holes distributed circumferentially are arranged on the inner gear, the inner gear is connected with an axle 17 through screws, a bearing is arranged in the center of the outer gear and connected with the vehicle body 12 through a shaft, axial positioning is achieved by fixing the gears through a shaft shoulder and the screws, the inner gear and the outer gear are provided with concave-convex grooves, meshing of the inner gear and the outer gear is reliable, when the crawler traveling unit 11 runs at a different speed, relative rotation is achieved between the inner gear and the outer gear, and steering of the crawler.

The vehicle body 12 is provided with a cleaning unit 13, and the cleaning unit 13 is used for cleaning a plane to be cleaned of the building 3. The cleaning unit 13 includes at least one cleaning member 131, and the cleaning member 131 includes, but is not limited to, a cleaning brush, a cleaning roller. The cleaning piece 131 is connected to the vehicle body 12 through the folding arm 16, one end of the folding arm 16 is connected to the vehicle body 12, the other end of the folding arm 16 is connected to the cleaning piece 131, and the folding arm 16 drives the cleaning piece 131 to swing relative to the vehicle body 12, so that the cleaning piece can be in contact with the building 3 or separated from the building 3. Specifically, the folding arm 16 comprises at least one connecting arm, when the folding arm 16 comprises one connecting arm, one end of the connecting arm is hinged with the vehicle body 12, the other end of the connecting arm is connected with the cleaning piece 131, and the cleaning piece 131 is driven to swing up and down through the push rod assembly. In this embodiment, the folding arm 16 includes a first connecting arm 161 and a second connecting arm 162, one end of the first connecting arm 161 is hinged to the pillar of the vehicle body 12, the other end of the first connecting arm 161 is hinged to the second connecting arm 162, and the free end of the second connecting arm 162 is connected to the cleaning member 131. The fixed end of the push rod component 163 is hinged to the vehicle body 12, and the telescopic end of the push rod component 163 is hinged to the second connecting arm 162 and used for pushing the second connecting arm 162 to swing up and down relative to the first connecting arm 161, so that the second connecting arm is contacted with and separated from the building 3. The pushrod assembly 163 may be, but is not limited to, an electric pushrod.

Further, as shown in fig. 2 to 5, the cleaning member 131 employs a cleaning roller, which is driven to rotate by a driving motor. Specifically, the driving motor is installed on a central shaft of the cleaning roller, a pinion is installed on an output shaft of the driving motor, an internal gear is installed on the inner wall of the barrel body of the cleaning roller, a planetary gear is installed between the pinion and the internal gear and supported by a planetary carrier, the rotation of the external roller is realized by the meshed planetary gear, and two ends of the cleaning roller are supported by bearings so as to ensure the rotation operation of the cleaning roller. Fig. 6 shows a schematic structure of the cleaning member 131 as a cleaning brush.

The vehicle body 12 is further provided with a bidirectional winding unit 15, and the bidirectional winding unit 15 is used for winding and unwinding the flexible connecting pieces 2 on two sides of the window cleaning robot 1 where the bidirectional winding unit 15 is located. The bidirectional winding unit 15 includes two winding drums 151 and a driving device 152, the flexible connecting members 2 at both sides of the window-wiping robot 1 are wound on the two winding drums 151, and the winding and unwinding of the flexible connecting members 2 are realized by rotating the winding drums 151 clockwise or counterclockwise. The driving device drives one of the winding drums 151 to rotate, the other ends, far away from the driving device 152, of the two winding drums 151 are provided with two gears 153 which are meshed with each other, the two winding drums 151 are connected through gear transmission, simultaneous working is achieved, and the flexible connecting pieces 2 on the two sides of the window cleaning robot 1 are retracted. Preferably, the bidirectional winding unit 15 is mounted on the body 12 by means of a bearing block 18, the bearing block 18 being selected from, but not limited to, a channel, the bearing block 18 being fastened to the body 12 by means of screws. The driving device 152 can be selected from but not limited to a motor, and the motor can realize bidirectional operation to realize the retraction of the flexible connecting piece 2. The two ends of the winding drum 151 are rotatably mounted on the supporting seats through bearings, which can be selected from but not limited to angular contact ball bearings, to reduce axial force and keep the bidirectional winding unit stable. Preferably, the drum 151 is provided at both ends thereof with stoppers 154 to prevent the flexible coupling from escaping from the drum 151.

The speed reduction module is further matched and comprises a worm gear structure and a helical gear structure, a driving shaft of the driving device is connected with the worm through a coupling, and the worm gear and the worm are arranged at 90 degrees to realize primary speed reduction and self locking; the worm wheel and the smaller helical gear in the secondary helical gear speed reducing mechanism are arranged on the connecting shaft together, and the larger helical gear is meshed with the smaller helical gear and arranged in parallel with the connecting shaft to realize secondary speed reduction; the shaft where the larger bevel gear is located is an output shaft, and the inclination direction of each gear is based on the reduction of the axial force borne by the shaft; both ends of each shaft are rotatably arranged on the supporting seat through bearings, and the bearings can be selected from but not limited to angular contact ball bearings, so that the axial acting force is reduced, and the speed reducing module is kept stable.

The vehicle body 12 is further provided with an energy module, a control module and a water storage module. The energy module provides power for the whole vehicle; the control module controls the whole vehicle to realize climbing, descending and cleaning operations of the whole system; the water storage module provides a sufficient water source for cleaning operation, and water in the water storage module is conveyed to the cleaning member 131 through a water pipe for cleaning.

The flexible connecting piece 2 connects at least two window-cleaning robots 1 in series to form a closed structure which can be sleeved outside the building 3, and in the working process, the flexible connecting piece 2 keeps a certain tension force, so that the window-cleaning robots 1 can be close to the outside of the building 3. The flexible connector 2 may be selected from, but not limited to, a flexible band.

The embodiment also provides a cleaning method of the window-cleaning robot system, and the window-cleaning robot system comprises the following steps:

s1, sleeving the window cleaning robot system outside the building;

s2, the cleaning units 13 on the window cleaning robot 1 are in contact with the outer surface of the building 3, and all the window cleaning robots 1 move horizontally to clean the outer surface of the building 3;

s3, the cleaning units 13 on the window cleaning robot 1 are separated from the outer surface of the building 3, and all the window cleaning robots 1 synchronously move vertically to drive the window cleaning robot system to lift integrally;

s4, repeating the steps S2 and S3 until the cleaning is finished;

the order of step S2 and step S3 is adjustable.

In step S1, the window cleaning robot system is sleeved outside the building 3, and at least one window cleaning robot 1 is distributed on the plane to be cleaned of the building 3.

In step S2, the cleaning units 13 on the window cleaning robots 1 are in contact with the outer surface of the building under the action of the folding arms 16, and at least two window cleaning robots 1 move horizontally to clean the plane on which the window cleaning robots are located. Preferably, the crawler travel unit 11 of the window wiping robot 1 is parallel to the flexible link 2 while the window wiping robot 1 moves horizontally. Further preferably, when the single window cleaning robot 1 moves horizontally, the crawler traveling unit 11 of the window cleaning robot 1 and the bidirectional winding unit 15 operate simultaneously; when all the window-cleaning robots 1 horizontally move synchronously, the crawler travel units 11 of all the window-cleaning robots 1 operate synchronously, and the bidirectional winding unit 15 may not need to work. In addition, other situations exist, and the window cleaning robot 1 is ensured to be tightly attached to the outside of the building 3 through the matching of the window cleaning robot 1 and the bidirectional winding unit 15.

After the window-wiping robot 1 moves horizontally to complete cleaning in the horizontal direction, it moves vertically to another cleaning height. In step S3, all the window-cleaning robots 1 move vertically and synchronously to drive the window-cleaning robot system to lift, and in the lifting process, the cleaning unit 13 is separated from the outer surface of the building 3 under the action of the folding arm 16. Preferably, the crawler travel unit 11 of the window wiping robot 1 is perpendicular to the flexible link 2 when the window wiping robot 1 moves vertically. By controlling the relative positions of the crawler travel unit 11 and the vehicle body 12, the operation of the window cleaning robot 1 can be ensured, and the surface to be cleaned outside the building 3 can be completely cleaned without omitting the cleaning area.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. A window-cleaning robot system is characterized by comprising at least two window-cleaning robots (1), wherein the at least two window-cleaning robots (1) are connected in series through flexible connecting pieces (2) to form a closed structure which can be sleeved outside a building (3);

the window cleaning robot (1) is distributed on a to-be-cleaned plane outside the building (3), and at least one window cleaning robot (1) is distributed on each to-be-cleaned plane.

2. A window-cleaning robot system according to claim 1, characterized in that the window-cleaning robot (1) comprises a crawler unit (11), a vehicle body (12), and a cleaning unit (13), the crawler unit (11) moving the vehicle body (12), the crawler unit (11) being rotatable relative to the vehicle body (12), the cleaning unit (13) being mounted on the vehicle body (12).

3. A window-wiping robot system according to claim 2, characterized in that the crawler-track units (11) comprise two parallel arranged track-runners (111), the crawler-track units (11) being connected by an axle (17), the axle (17) supporting the vehicle body (12) by means of a turret unit (14).

4. A window-cleaning robot system according to claim 2, characterized in that a bidirectional winding unit (15) is arranged on the body (12), and the bidirectional winding unit (15) is used for winding and unwinding the flexible connecting members (2) at two sides of the window-cleaning robot (1) where the bidirectional winding unit is arranged.

5. A window-wiping robot system according to claim 2, characterized in that the cleaning unit (13) is arranged on the vehicle body (12) by means of a folding arm (16), one end of the folding arm (16) is connected with the vehicle body (12), the other end of the folding arm (16) is connected with the cleaning unit (13), and the folding arm (16) drives the cleaning unit (13) to contact with or separate from the outer surface of the building (3) under the pushing action of a push rod assembly (163).