CN212186350U - Cleaning robot capable of automatically crossing obstacle for glass curtain wall - Google Patents
Cleaning robot capable of automatically crossing obstacle for glass curtain wall Download PDFInfo
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- CN212186350U CN212186350U CN202020734852.4U CN202020734852U CN212186350U CN 212186350 U CN212186350 U CN 212186350U CN 202020734852 U CN202020734852 U CN 202020734852U CN 212186350 U CN212186350 U CN 212186350U
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Abstract
The utility model discloses a cleaning robot capable of automatically crossing obstacle for glass curtain wall, which comprises a window cleaner body, a motion system and a cleaning system; the motion system comprises 3 moving bodies and 3 sections of racks, wherein the racks are of a structure in a shape like a Chinese character 'ri', and consist of two parallel long rods and three short rods vertically connected with the long rods, the short rods are respectively arranged at two ends and the middle part of each long rod, the sizes of the 3 sections of racks can be the same or different, the 3 sections of racks are connected in series, the 3 sections of racks are divided into a first rack, a second rack and a third rack, the short rods at the tail ends of the first rack and the second rack are connected together through a rotating shaft, and a steering engine is arranged at one end of the shaft to form a rotating mechanism; the cross bar in the middle of the rack is connected with a moving body, and the moving body comprises an adsorption mechanism and a moving mechanism. The utility model discloses can realize automatic corner between the outer wall and the function of strideing across the obstacle, and stride across the obstacle process more intelligent, reduce in-process down time and manual operation, accomplish cleaning work high-efficiently reliably.
Description
Technical Field
The utility model relates to an automatic wipe window robot technical field, especially an equipment of cleaing away glass curtain wall surface dust and dirt, concretely relates to can hinder glass curtain wall cleaning robot more automatically.
Background
With the increasing development of modern building industry, high-rise buildings are more and more, and due to the considerations of daylighting and weight reduction, glass walls are often adopted as outer wall surfaces of the high-rise buildings, but the glass walls need to be maintained and cleaned frequently to maintain the optimal light transmittance. At present, two modes of manual cleaning and mechanical cleaning are mainly adopted in the market, the manual cleaning cost is relatively low, the cleaning is cleaner, potential safety hazards exist, and the privacy of owners can be possibly invaded. However, the automatic window cleaning machine on the market at present generally operates on a single plane, and the movement is realized by a sucker or a guide rail, so that the operation range is narrow, the operation surface of the automatic window cleaning machine needs to be continuously replaced manually, the large-range cleaning can be realized, and particularly, the automatic window cleaning machine has no method in the prior art for treating glass with a steel structure between glass walls and building corners. For these problems, chinese patent nos. 201810764483.0 and 201811330277.5 propose some solutions for crossing obstacles, but the crossing manner is not stable, and the problem of corner cannot be solved, the application range is limited, manual operation still cannot be left, and the prior art still has no better and better solution for the aforementioned problems.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, an object of the utility model is to provide a glass curtain wall cleaning machines people can hinder more automatically to satisfy the comprehensive cleaning work of high-rise building glass outer wall, not only can reach the cleaning performance of traditional glass wall cleaning machine, can also realize automatic corner between the outer wall and the function of strideing across the obstacle, and stride across the obstacle process more intelligent, reduce in-process downtime and manual operation, accomplish cleaning work high-efficiently reliably.
The technical scheme of the utility model is that:
a cleaning robot capable of automatically crossing obstacle for a glass curtain wall comprises a window cleaner body, a motion system and a cleaning system;
the motion system comprises 3 moving bodies and 3 sections of frames, wherein the frames are of a structure like a Chinese character 'ri', and are composed of two parallel long rods and three short rods vertically connected with the long rods, the short rods are respectively arranged at two ends and the middle part of each long rod, the thickness of each short rod is the same as that of each long rod, the width of each short rod is larger than that of each long rod, particularly, the width of each short rod at the middle part is larger than that of each short rod beside each long rod, the length and the width of each frame at the 3 sections are the same, the frames at the 3 sections are connected in series, the frames at the 3 sections are divided into a frame I, a frame II and a frame III, the short rods at the tail ends of the frame I and the frame II are connected together through rotating shafts, and steering engines are arranged at one ends of the shafts to form a rotating mechanism; a moving body is connected to the cross bar in the middle of the rack, and the moving body comprises an adsorption mechanism and a moving mechanism;
the cleaning system comprises 2 wiping devices which are respectively and symmetrically arranged at two ends of the translation track.
Further, the moving mechanism comprises a vacuum box body, a through groove sleeve and an air cylinder, the vacuum box body, the through groove sleeve and the air cylinder are all hollow structures, a sealing strip is arranged at the bottom of the vacuum box body, the top of the air cylinder is of a cap type structure with a connecting hole, a flange plate is arranged at the bottom of the air cylinder and is connected to an air hole formed in the top of the vacuum box body through the flange plate, and a sealing gasket is arranged at the connecting position; a hole perpendicular to the short rod and the long rod is formed in the short rod in the middle of the rack, the through groove sleeve is connected with the short rod hole in the position in an interference fit mode, a section of protruding positioning sleeve is arranged on the top of the through groove sleeve and is tightly fixed to the upper portion of the short rod, the air cylinder is fixedly connected with the inner wall of the through groove sleeve and extends out of the positioning sleeve, a return spring is sleeved outside the air cylinder, and the top and the bottom of the return spring respectively abut against the bottom of the through groove sleeve and the top of the flange plate; the moving mechanism is also provided with a negative pressure generator which is provided with an air pipe and is connected to the air cylinder through the air pipe;
a crawler traveling mechanism is also fixed in the vacuum box body and comprises a middle roller and an outer crawler belt, the middle roller is connected to the vacuum box body through a connecting rod, and a traveling motor is arranged on the connecting rod; the bottom of the crawler belt is flush with the sealing strip of the vacuum box body;
the crawler traveling mechanism comprises two crawlers, wherein rollers are arranged inside the two crawlers and connected to a variable-frequency speed-regulating motor arranged on the side face of the vacuum box body through the rollers, and a control device controlled independently is arranged on the variable-frequency speed-regulating motor. The crawler travelling mechanism can be controlled to turn by adjusting the two crawlers to generate different speeds.
Further, arc-shaped strips parallel to the long rods are arranged at the front end and the rear end of the bottom of the vacuum box body, the root parts of the arc-shaped strips are connected with the vacuum box body and are higher than the sealing strips, and the structure of the arc-shaped strips is similar to that of a ski board.
Furthermore, the wiping device is provided with a connecting frame which is connected to two ends of the first rack and the third rack through the connecting frame, the other end of the connecting frame is connected to a shell of the wiping device, the shell is a long plate with downward protruding parts on two sides, the front surface of the shell is a cleaning area, at least one rotating shaft is arranged in the cleaning area, the rotating shaft is a detachable shaft, and a cleaning element is arranged on the rotating shaft; the end part of the rotating shaft is provided with a waterproof variable frequency motor; the connecting part of the connecting frame and the first frame and the third frame is hinged, and a rotating spring is arranged at the connecting part, and the spring presses the wiping device to a position 1cm below the bottom of the vacuum cavity in a natural state; the connecting position of the connecting frame and the shell of the wiping device is fixedly connected.
Further, the cleaning element is any one of a brush, a cotton roller, a wiper and a steel wire ball.
Furthermore, a camera is arranged outside the wiping device. The camera is arranged at the front edge of the top of the wiping device. Built-in battery and wifi transceiver module.
Furthermore, a plurality of uniformly distributed water spraying holes are formed in the inner side of the front end of the shell of the wiping device, a cavity is formed in the shell of the wiping device and serves as a pipeline, the pipelines of the water spraying holes are gathered together and connected to the back of the shell of the wiping device, a valve and a water tank are arranged at the position, and the water tank is provided with a micro water pump.
Further, arc-shaped strips are arranged at two ends of the bottom of the protruding part of the shell of the wiping device.
Furthermore, induction devices are arranged at the root parts of the arc-shaped strips on the shell of the vacuum box body and the shell of the wiping device, and the induction devices are connected to a controller arranged on the negative pressure generator. When the curvature is sensed to exceed 5 degrees, the negative pressure of the vacuum box body is automatically cancelled, and the negative pressure of other vacuum box bodies is enhanced.
The utility model has the advantages that:
the window cleaning robot in the prior art can only work on a glass window with a single surface, still needs manual operation to complete surface changing and cleaning, needs manual timing surface changing when the working surface is changed, and is time-consuming and labor-consuming. And the window cleaning robot of the utility model can automatically cross over the obstacles on the glass and can realize the crossing between the adjacent wall surfaces.
(two) the utility model discloses the vacuum box that adopts, the device absorption that can be better is on the glass surface, and the sealing strip has certain thickness and elasticity, the adsorption affinity of assurance device that can be better, but does not influence crawler travel mechanism's walking ability simultaneously.
(III) the method can adapt to curved surface operation; at present glass curtain wall is various in style and have the part to adopt the cambered surface design more, should wipe window robot to be provided with to turn to multiple operating modes such as mechanisms such as turn-ups can adapt to interior curved surface, and vacuum adsorption device makes more strengthen powerfully with glass curtain wall's absorption, and application scope is wide.
And fourthly, the arc-shaped strip in the shape of a sled is provided with the sensing device, so that the arc-shaped strip can be automatically lifted after encountering an obstacle, and the passing speed is improved.
And (V) for the obstacles with the height exceeding the arc-shaped strip, the obstacles can also pass through the obstacles by actively using a rotating mechanism.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is an enlarged view of the gantry 1 of fig. 1;
FIG. 3 is a schematic structural view of a wiping device according to the present invention;
fig. 4 is a schematic structural view of the movable body of the present invention;
fig. 5 is a bottom view of the present invention;
FIG. 6 is a schematic view of the connecting frame and the rotating spring;
FIG. 7 is a schematic diagram of the obstacle surmounting step of the moving body of the present invention;
fig. 8 is a schematic view of the overall working surface changing step of the present invention.
In the figure:
1-a frame, 2-a moving body, 3-a wiping device, 4-a connecting frame,
101-short rod, 102-long rod, 103-protruding section, 104-protruding block, 105-steering engine,
201-a positioning sleeve, 202-an air pipe, 203-a negative pressure motor, 204-a negative pressure generator, 205-a vacuum box body, 206-a through groove sleeve, 207-an air cylinder, 208-a return spring, 209-a sealing strip, 210-a crawler travel mechanism, 211-a variable frequency speed regulating motor,
301-wiping device frame, 302-water spray hole, 303-water tank, 304-waterproof variable frequency motor, 305-rotating shaft, 306-cleaning element, 307 arc bar II, 308-camera,
401-connecting the frame, 402 rotating the shaft, 403-rotating the spring.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
As shown in FIG. 1, the robot for cleaning the glass curtain wall capable of automatically crossing obstacles comprises a window cleaner body, a moving system and a cleaning system; the motion system comprises 3 moving bodies 2 and 3 sections of frames 1 (the number can be not limited to 3 or more than 3 according to actual needs), the frames 1 are of a structure shaped like a Chinese character 'ri', and are composed of two parallel long rods 102 and three short rods 101 perpendicularly connected with the long rods 102, the short rods 101 are respectively arranged at two ends and the middle parts of the long rods 102, the 3 sections of frames 1 are connected in series, the 3 sections of frames 1 are divided into a first frame, a second frame and a third frame, the short rods 101 at the tail ends of the first frame and the second frame are connected together through rotating shafts, a steering engine 105 is arranged at one end of each shaft to form a rotating mechanism, the first frame and the third frame are identical in structure, the short rods 101 in contact with the second frame are provided with protruding sections 103, and the width of the protruding sections 103 is smaller than that. A cross bar in the middle of the rack 1 is connected with a moving body 2, and the moving body 2 comprises an adsorption mechanism and a moving mechanism; the moving mechanism comprises a vacuum box body 205, a through groove sleeve 206 and an air cylinder 207, the three are all hollow structures, a sealing strip 209 is arranged at the bottom of the vacuum box body 205, the top of the air cylinder 207 is of a cap type structure with a connecting hole, a flange plate is arranged at the bottom of the air cylinder 207 and is connected to a vent hole arranged at the top of the vacuum box body 205, and a sealing gasket is arranged at the connecting position; a hole perpendicular to the short rod 101 and the long rod 102 is formed in the short rod 101 in the middle of the frame 1, the through groove sleeve 206 is placed into the hole and is fixedly connected with the hole (for example, a side bolt can be fixed in a mode of penetrating through the short rod 101 and being connected to the through groove sleeve 206), a positioning sleeve 201 is arranged on the top of the through groove sleeve 206, the inner side of the positioning sleeve 201 is welded with the air cylinder 207, a negative pressure generator 204 is further arranged on the moving mechanism, and the negative pressure generator 204 is provided with an air pipe 202 and is connected to the air cylinder 207 through the air pipe 202; a crawler belt walking mechanism 210 is further fixed in the vacuum box 205, the crawler belt walking mechanism 210 comprises a middle roller and an outer crawler belt, the middle roller is connected to the vacuum box 205 through a connecting rod, and a walking motor is arranged on the connecting rod; the bottom of the track is flush with the seal 209 of the vacuum box 205. The air cylinder 207 is externally sleeved with a return spring 208, and the top and the bottom of the return spring 208 respectively abut against the bottom of the through groove sleeve 206 and the top of the flange. Arc-shaped strips parallel to the long rod 102 are arranged at the front end and the rear end of the bottom of the vacuum box body 205 and serve as first arc-shaped strips 212, the root portions of the first arc-shaped strips 212 are connected with the vacuum box body 205 and are higher than the sealing strips 209, the structure of the first arc-shaped strips is similar to that of a ski board, sensors are further arranged on the first arc-shaped strips 212, when the sensors sense that the external force exceeds 2N, signals can be sent to the negative pressure motor 203 with the signal collector, the negative pressure motor stops negative pressure, and the first arc-shaped strips 212 can be conveniently turned upwards along obstacles.
As shown in fig. 3 and 6, the cleaning system includes 2 wiping devices 3 respectively disposed at two ends of the translation rail; the wiping device 3 is provided with a connecting frame 401 which is connected to two ends of the first rack and the third rack through the connecting frame 401, the other end of the connecting frame 301 is connected to a shell of the wiping device 3, the shell is a long plate with downward protruding parts on two sides, the front surface of the shell is a cleaning area, at least one rotating shaft 305 is arranged in the cleaning area, the rotating shaft 305 is a detachable shaft, and a cleaning element 306 is arranged on the rotating shaft 305; a waterproof variable frequency motor 304 is arranged at the end part of the rotating shaft 305; the connecting frame 401 is hinged with the connecting part of the first frame and the third frame, the connecting frame is used as a rotating shaft 402, the rotating shaft 402 is provided with a rotating spring 403, the spring naturally presses the bottom of the wiping device 3 to a position 1cm below the bottom of the vacuum cavity, so that the cleaning mechanism can be ensured to contact and clean the glass surface, the spring can generate resilience after the wiping device 3 is lifted, and when the upward external force is lost, the spring returns to the original state and rotates downwards, so that the wiping device 3 can be attached to the glass surface again; the connection position of the connecting frame 301 and the shell of the wiping device 3 is fixedly connected. The cleaning element 306 is any one of a brush, a cotton roller (a cotton roller is used in the embodiment of fig. 3), a wiper, and a steel wire ball, and various materials can be used to remove contaminants according to the condition of the contaminants on the glass surface. Arc-shaped strips are arranged at two ends of the bottom of the protruding part of the shell and are used as second arc-shaped strips 307. The second arc bar 307 is also provided with a sensor which is controlled in a similar manner to the first arc bar 212.
The inner side of the front end of the shell of the wiping device 3 is provided with a plurality of uniformly distributed water spraying holes 302, a cavity is arranged in the shell of the wiping device 3 and serves as a pipeline, one end of the pipeline is connected with the water spraying hole 302, the other end of the pipeline is connected to the back of the shell of the wiping device 3, a valve and a water tank 303 are arranged at the position, the water tank 303 is provided with a micro water pump, the pipeline extends into the water tank 303 and is connected with the micro water pump, the water is sprayed on the surface of a glass curtain wall through the water spraying hole. The camera is arranged at the front edge of the top of the wiping device 3. Built-in battery and wifi transceiver module.
The vacuum box 205 and the arc strip root on the shell of the wiping device 3 are provided with sensing devices. When the curvature is sensed to exceed 5 degrees, the negative pressure of the vacuum box 205 is automatically cancelled, if the wiping device 3 senses the curvature, the negative pressure of the vacuum box 205 closest to the wiping device 3 is cancelled, and the negative pressure of the other vacuum box 205 is enhanced at the same time, so that the other vacuum box 205 can be stably adsorbed on the glass curtain wall.
A use method of a cleaning robot capable of automatically crossing obstacles for a glass curtain wall comprises the following steps:
s10, placing the automatic obstacle-surmounting glass curtain wall cleaning robot on a glass curtain wall, and generating negative pressure through a negative pressure generator 204 (according to the test experiment setting, the cleaning robot is 5kg in full load weight, the power source is not an internal power supply, but is transmitted through a cable, the negative pressure generator can adopt VAAU-VA3 series vacuum generators, has the characteristics of low gas consumption, high vacuum degree and large vacuum flow, the adsorption force is 150N when the cleaning robot moves linearly, and is 500N when the cleaning robot turns, certainly, other vacuum generators can be replaced under the condition of meeting the requirement), so that a vacuum box 205 is adsorbed on the glass surface, then the glass surface is sprayed through a water spraying hole 302, and is cleaned through a cleaning element 306, and at the moment, the crawler traveling mechanism 210 is synchronously moved to the preset direction;
s20, when an obstacle is met, the wiping device 3 and the frame 1 sequentially cross the obstacle (a rotating mechanism adopts FutabaS-9001, the torsion is 3.9kgf.cm at 4.8V, the speed is 0.22S/60 degrees, the torsion is 5.2kgf.cm at 6.0V, the speed is 0.18S/60 degrees, a power source provides stable and abundant current by a lithium battery), and the electric vehicle returns to the original position with the assistance of a spring and the rotating mechanism to continue to walk and clean;
s201, as shown in FIG. 7, when the height of the obstacle is smaller than that of the arc-shaped strip, the negative pressure of the vacuum box 205 close to the obstacle can be directly relieved, so that the obstacle can directly cross over the obstacle through the sled-shaped arc-shaped strip, if the wiping device 3 is used, the obstacle can directly return to the original position through the rotating spring, if the vacuum box 205 is compressed, the return spring 208 is compressed, the air cylinder 207 and the vacuum mechanism move upwards and cross over, then the air cylinder is driven to return to the horizontal position through the rotating mechanism and is adsorbed on the glass surface again to move forward, then the air cylinder passes through the rear rack 1 in sequence, and the rack 1 which newly passes through the obstacle is adsorbed on the glass surface again and then moves forward;
s202, when the height of the barrier is larger than that of the arc-shaped strip, after the barrier is in contact with the negative pressure of a vacuum box body close to the barrier, the rack 1 is required to be actively driven to lift through the rotating mechanism, so that the lifting height of the rack can span the barrier, then the rack 1 moves forwards through the crawler walking mechanism 210 where the rear rack 1 is located, the lifted rack 1 returns to the original position through the rotating mechanism after passing through the barrier, and is adsorbed on the glass surface again, and the rear rack 1 also passes through the barrier sequentially by the same principle;
s30, as shown in figure 8, when a corner of a glass surface of a building is met, the first rack or the third rack at the forefront in the moving direction is suspended, the second rack in the middle is kept to be close to the corner of the glass surface, then the steering engine 105 drives the connecting rotating shaft to rotate the suspended first rack or the third rack to be tightly attached to the glass surface and suck a new glass surface, then the adsorption force of the two vacuum boxes 205 staying at the original glass surface is relieved, the connecting rotating shaft which is rotated and bent before is returned to the original position through the steering engine 105, so that 3 racks 1 keep a straight line, then the crawler unit 210 below the first rack or the third rack moves forwards, and the second rack and the third rack or the rack behind are sucked tightly after moving to the new glass surface, and the operation on the new working surface is started.
When the vacuum box 205 walks on the arc-shaped glass surface, the sealing strip 209 has good compression resistance and deformation resistance, and also has the advantages of good elasticity, aging resistance and the like, and on the arc-shaped glass surface, the sealing strip 209 can adapt to the vacuum box 205 to be adsorbed on the arc-shaped glass surface through self extrusion, thereby playing a good role in sealing and shock absorption.
The utility model discloses a realize above-mentioned purpose, to the weight of equipment, adsorption affinity, motor model etc., targeted lectotype and adjustment have all been carried out to the realization can enough adsorb on the glass face, can be again in the purpose of walking under the absorbent state.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and although the present invention has been disclosed with the preferred embodiments, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent embodiments without departing from the scope of the present invention, but all the technical matters of the present invention are within the scope of the present invention.
Claims (9)
1. A cleaning robot capable of automatically crossing obstacle for a glass curtain wall comprises a window cleaner body, a motion system and a cleaning system;
the moving system is characterized by comprising 3 moving bodies and 3 sections of frames, wherein the frames are of a structure like a Chinese character 'ri', and are composed of two parallel long rods and three short rods vertically connected with the long rods, the short rods are respectively arranged at the two ends and the middle part of the long rods, the thickness of each short rod is the same as that of the long rods, the width of each short rod is larger than that of the long rod, particularly, the width of the short rod at the middle part is larger than that of the short rods beside the long rods, the length and the width of the 3 sections of frames are the same, the 3 sections of frames are connected in series, the 3 sections of frames are divided into a first frame, a second frame and a third frame, the short rods at the tail ends of the first frame and the second frame are connected together through rotating shafts, and one end of each shaft is provided with a steering engine to form a rotating mechanism, and the two steering; a moving body is connected to the cross bar in the middle of the rack, and the moving body comprises an adsorption mechanism and a moving mechanism;
the cleaning system comprises 2 wiping devices which are respectively and symmetrically arranged at two ends of the translation track.
2. The robot for cleaning glass curtain walls capable of automatically crossing obstacles according to claim 1, is characterized in that the moving mechanism comprises a vacuum box body, a through groove sleeve and an air cylinder, wherein the vacuum box body, the through groove sleeve and the air cylinder are all of hollow structures, a sealing strip is arranged at the bottom of the vacuum box body, the top of the air cylinder is of a cap type structure with a connecting hole, a flange plate is arranged at the bottom of the air cylinder and is connected to a vent hole arranged at the top of the vacuum box body through the flange plate, and a sealing gasket is arranged at; a hole perpendicular to the short rod and the long rod is formed in the short rod in the middle of the rack, the through groove sleeve is connected with the short rod hole in the position in an interference fit mode, a section of protruding positioning sleeve 201 is arranged on the top of the through groove sleeve and is tightly fixed to the upper portion of the short rod, the air cylinder is fixedly connected with the inner wall of the through groove sleeve and extends out of the positioning sleeve 201, a return spring is sleeved outside the air cylinder, and the top and the bottom of the return spring respectively abut against the bottom of the through groove sleeve and the top of the flange plate; the moving mechanism is also provided with a negative pressure generator which is provided with an air pipe and is connected to the air cylinder through the air pipe;
a crawler traveling mechanism is also fixed in the vacuum box body and comprises a middle roller and an outer crawler belt, the middle roller is connected to the vacuum box body through a connecting rod, and a traveling motor is arranged on the connecting rod; the bottom of the crawler belt is flush with the sealing strip of the vacuum box body;
the crawler traveling mechanism comprises two crawlers, wherein rollers are arranged inside the two crawlers and connected to a variable-frequency speed-regulating motor arranged on the side face of the vacuum box body through the rollers, and a control device controlled independently is arranged on the variable-frequency speed-regulating motor.
3. The robot for cleaning glass curtain wall capable of automatically crossing obstacle as claimed in claim 2, wherein arc-shaped strips parallel to the long rods are arranged at the front and rear ends of the bottom of the vacuum box body, the root parts of the arc-shaped strips are connected with the vacuum box body and are higher than the sealing strips, and the robot is similar to a ski board in structure.
4. The robot for cleaning glass curtain walls capable of automatically crossing obstacles according to claim 3, wherein the wiping device is provided with a connecting frame which is connected with two ends of the first frame and the third frame through the connecting frame, the other end of the connecting frame is connected with a housing of the wiping device, the housing is a long plate with downward protrusions on two sides, the front surface of the housing is a cleaning area, at least one rotating shaft is arranged in the cleaning area, the rotating shaft is a detachable shaft, and a cleaning element is arranged on the rotating shaft; the end part of the rotating shaft is provided with a waterproof variable frequency motor; the connecting part of the connecting frame and the first frame and the third frame is hinged, and a rotating spring is arranged at the connecting part, and the spring presses the wiping device to a position 1cm below the bottom of the vacuum cavity in a natural state; the connecting position of the connecting frame and the shell of the wiping device is fixedly connected.
5. The robot for cleaning glass curtain wall capable of automatically crossing obstacle as claimed in claim 4, wherein the cleaning element is any one of a brush, a cotton roller, a wiper and a steel wire ball.
6. A robot for cleaning glass curtain wall able to automatically cross obstacles as claimed in claim 5, wherein a camera is arranged outside the wiping unit.
7. A robot for cleaning glass curtain wall able to automatically cross obstacles as claimed in claim 6, wherein there are multiple water spraying holes uniformly distributed on the inner side of the front end of the casing of wiper, there are cavities as pipelines in the casing of wiper, the pipelines of water spraying holes are gathered together and connected to the back of the casing of wiper, there are valve and water tank with miniature water pump.
8. A robot for cleaning glass curtain wall as claimed in claim 7, wherein arc-shaped bars are arranged at two ends of the bottom of the projection of the casing of the wiping device.
9. A robot for cleaning glass curtain wall able to automatically cross obstacle is composed of a vacuum box, a wiper unit with arc strips, and a controller connected to negative pressure generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020734852.4U CN212186350U (en) | 2020-05-07 | 2020-05-07 | Cleaning robot capable of automatically crossing obstacle for glass curtain wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020734852.4U CN212186350U (en) | 2020-05-07 | 2020-05-07 | Cleaning robot capable of automatically crossing obstacle for glass curtain wall |
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| Publication Number | Publication Date |
|---|---|
| CN212186350U true CN212186350U (en) | 2020-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020734852.4U Expired - Fee Related CN212186350U (en) | 2020-05-07 | 2020-05-07 | Cleaning robot capable of automatically crossing obstacle for glass curtain wall |
Country Status (1)
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| CN (1) | CN212186350U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114891552A (en) * | 2022-05-06 | 2022-08-12 | 孚迪斯石油化工（葫芦岛）有限公司 | Antirust gear oil for wind power yaw variable pitch system, production device and preparation method |
-
2020
- 2020-05-07 CN CN202020734852.4U patent/CN212186350U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114891552A (en) * | 2022-05-06 | 2022-08-12 | 孚迪斯石油化工（葫芦岛）有限公司 | Antirust gear oil for wind power yaw variable pitch system, production device and preparation method |
| CN114891552B (en) * | 2022-05-06 | 2022-12-20 | 孚迪斯石油化工（葫芦岛）有限公司 | Antirust gear oil for wind power yaw variable pitch system, production device and preparation method |
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