CN213787203U

CN213787203U - Intelligent curtain wall cleaning robot

Info

Publication number: CN213787203U
Application number: CN202022533642.1U
Authority: CN
Inventors: 李文; 孙雅倩; 谢艺; 赵希港; 李凯; 徐晶; 李文轩; 石澳; 王爽; 李婷; 黎恩余; 陈之鸿; 张稳刚; 李帅
Original assignee: Lanzhou University of Technology
Current assignee: Lanzhou University of Technology
Priority date: 2020-11-05
Filing date: 2020-11-05
Publication date: 2021-07-27
Anticipated expiration: 2030-11-05

Abstract

The utility model discloses an intelligent curtain wall cleaning robot, which comprises a cross bar and a frame, wherein the upper part of the frame is provided with the cross bar, one end of the cross bar is connected with a movable rotor, the other end of the cross bar is provided with a decelerating rotor corresponding to the position, the outer sides of the movable rotor and the decelerating rotor are both provided with an absorbing rotor, a brand new vacuum absorbing wall climbing driving mode of a rope suspension frame type is utilized, the outdoor glass wall is cleaned by utilizing the micro-processor technology, high automation is realized, meanwhile, the working efficiency and the labor cost are effectively improved by manual real-time monitoring, the intelligent household can be integrated, the expansion capability of a spring is fully utilized, the shock absorption effect is provided for the obstacle crossing of the machine, an atomizing spray head is installed, a water pipe is directly connected with a water source, the cleaning is realized, the integral design is energy-saving and environment-friendly, the structure is simple and high-efficiency, the cost is low, the water supply device is suitable for general popularization, and can save water for China to the best extent and develop ecological construction.

Description

Intelligent curtain wall cleaning robot

Technical Field

The utility model belongs to the technical field of the curtain washs is relevant, concretely relates to intelligence curtain cleaning robot.

Background

With the development of modern technology and urban construction, more and more high-rise building outer walls are more and more attractive, but the cleaning of the outer walls in the process of building completion and use has obvious difficulty. The core advantage of cleaning robot product lies in replacing the manual work to carry out some high-risk cleaning works, solves outdoor high wall cleaning worker's operation problem from essence, possesses more high-efficient safer simultaneously, the operation demand that the cost is lower to realize through automatic or artifical control that glass curtain wall washs, realize the more humanized cleaning work of city high building and building. Therefore, the development of new-generation glass curtain wall cleaning robots which are suitable for the current society, have distinctive features, good performance, safe and reliable operation and reasonable price is not slow, and due to the continuous development of basic construction and building level, the cleaning robots have very wide application prospects in China.

The existing cleaning robot technology has the following problems: the environmental protection performance is relatively poor, the operation is relatively complex, the operation is carried out by utilizing relatively large manpower and material resources, the operation is inconvenient, and the cost is relatively high.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligence curtain cleaning machines people to the environmental protection performance who proposes in solving above-mentioned background art is relatively poor, and operates comparatively complicatedly, needs to utilize great manpower and materials to operate, operates inconveniently, and the higher problem of cost.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides an intelligence curtain cleaning machines people, includes horizontal pole and frame, the top of frame is provided with the horizontal pole, the one end of horizontal pole is connected with the removal rotor, and the other end of horizontal pole corresponds position department and is provided with the speed reduction rotor, the outside of removing rotor and speed reduction rotor all is provided with adsorbs the rotor, the both ends downside of horizontal pole is provided with the steering wheel with the junction of adsorbing the rotor, the inside of frame is provided with atomizer, and the inside below position department that is close to atomizer of frame is provided with cleans the sucking disc, the outside of cleaning the sucking disc and the four corners position department that is located the frame are provided with the universal wheel, the both ends below of horizontal pole and the junction of adsorbing the rotor are provided with the steering wheel, the both ends of horizontal pole all are connected with the rope fixed orifices, adsorb the rotor, remove the rotor and all with power electric connection with the speed reduction rotor.

Preferably, the universal wheels are provided with four, and the four universal wheels are respectively installed at four corners below the frame.

Preferably, adsorb the rotor and be provided with four altogether, and four big small model homonymies that adsorb the rotor are the same.

Preferably, the power output direction of the moving rotor is opposite to that of the decelerating rotor.

Preferably, the scrubbing suction cup is of a disc-shaped structure, and the outer surface of the scrubbing suction cup is of a frosted structure.

Preferably, the universal wheel is connected with the frame through a universal shaft and can rotate relative to the frame.

Preferably, the atomizing nozzle is of a circular tubular structure and is connected with the atomizing pipeline.

Compared with the prior art, the utility model provides an intelligence curtain cleaning machines people possesses following beneficial effect:

1. a brand new driving mode: a rope suspension frame type vacuum adsorption wall climbing driving mode;

2. the working mode of the system is as follows: the method has the advantages that the micro-processor technology is utilized to clean the outdoor glass wall, high automation is realized, meanwhile, manual real-time monitoring is realized, the working efficiency and the labor cost are effectively improved, and the method can be integrated with intelligent home;

3. remarkable obstacle crossing capability: the telescopic capacity of the spring is fully utilized, and a damping effect is provided for the obstacle crossing of the machine;

4. clean water supply installation: the atomizing nozzle is arranged, and the tap water pipe is directly connected with a water source, so that the cleaning is better;

the overall design is energy-concerving and environment-protective, and simple structure is high-efficient, and low cost is fit for generally promoting, and water supply installation wherein can be for china's water conservation best effort, development ecological construction.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

fig. 1 is a schematic structural view of an intelligent curtain wall cleaning robot provided by the present invention;

fig. 2 is a schematic view of the internal structure of the present invention;

fig. 3 is a partial schematic view of the universal wheel provided by the present invention;

in the figure: 1. adsorbing the rotor wing; 2. moving the rotor; 3. a cross bar; 4. a steering engine; 5. a decelerating rotor wing; 6. an atomizing spray head; 7. a frame; 8. a universal wheel; 9. a rope fixing hole; 10. and (5) scrubbing the sucker.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-3, the present invention provides a technical solution:

an intelligent curtain wall cleaning robot comprises a cross bar 3 and a frame 7, the cross bar 3 is arranged above the frame 7, one end of the cross bar 3 is connected with a movable rotor 2, a decelerating rotor wing 5 is arranged at the position corresponding to the other end of the cross bar 3, the outer sides of the movable rotor wing 2 and the decelerating rotor wing 5 are both provided with an absorbing rotor wing 1, the joint of the lower sides of the two ends of the cross bar 3 and the absorbing rotor wing 1 is provided with a steering engine 4, the inside of the frame 7 is provided with an atomizing nozzle 6, and the inside of frame 7 is close to atomizer 6's below position department and is provided with cleans sucking disc 10, cleans sucking disc 10's outside and is located frame 7's four corners position department and is provided with universal wheel 8, and the both ends below of horizontal pole 3 and the junction of adsorbing rotor 1 are provided with steering wheel 4, and the both ends of horizontal pole 3 all are connected with rope fixed orifices 9, adsorb rotor 1, remove rotor 2 and speed reduction rotor 5 all with power electric connection.

The utility model provides an intelligence curtain cleaning machines people, universal wheel 8 is provided with four altogether, and four corners in frame 7 below are installed respectively to four universal wheels 8, utilize universal wheel 8 to make equipment can high-efficient quick removal, can cross the barrier in the place ahead as required and remove, it is provided with four altogether to adsorb rotor 1, and four big or small models homoenergetic that adsorb rotor 1, it is opposite with the power take off direction that slows down rotor 5 to remove rotor 2, it is discoid structure to clean sucking disc 10, and the outside surface that cleans sucking disc 10 is dull polish column structure, universal wheel 8 is connected with frame 7 through the universal shaft, and can take place to rotate frame 7 relatively, atomizer 6 is the pipe column structure, and be connected with the spray pipe.

The utility model discloses a theory of operation and use flow: after the utility model is installed, the device is firstly fixed with the external rope through the rope fixing hole 9, then 4 adsorption rotor wings 1 started by a motor behind the machine body provide strong adsorption force to enable the machine to be adsorbed on the surface of the glass, meanwhile, the universal wheel 8 and the spring provide powerful obstacle crossing capability for the machine, the atomizing nozzle 7 sprays, the scrubbing sucker 10 scrubs, the omnibearing automatic camera provides visual field, meanwhile, a sensor arranged on the machine is used for data monitoring, finally, a rope is fixed at the top end of the machine by a fixed pulley to enable the machine to stably run at high altitude, and the robot can be continuously and reliably attached to the surface of the glass by an adsorption mode of an adsorption rotor wing 1 driven by a brushless motor and driven by an electric regulation and a suction system, so as to overcome the interference of high altitude wind power and provide necessary scrubbing force, and the brushless motor controlled by the side steering engine 4 is used for adjusting detail adsorption and motion adjustment; the scrubbing sucker 10 adopts a structure of a rotary brush and a rubber strip brush for composite cleaning, and a damping system is arranged in the cleaning device, so that the cleaning device is not influenced by a window frame; the cleaning efficiency and the quality are improved, in order to improve the utilization efficiency of water, a cleaning liquid system adopts a water-vapor mixing technology, so that the purification is carried out simultaneously, the weight of water is reduced, the continuous work of a fan is avoided, the service life of the system is prolonged, a body frame is mainly used as a carrier of 3 subsystems of the robot body, and meanwhile, an anti-collision wheel, a control cabinet, a sealing device and the like are also fixed on the body frame. The user can be through wireless mode and robot communication, and then control robot system, and the picture that the picture biography device returned also can show on APP, supplementary user's operation. The curtain wall cleaning robot is an intelligent machine integrating machinery, control, sensing and the like, wherein a control system plays a key role, can automatically detect environmental information and position information around the robot, carries out trajectory planning according to the information and coordinates all systems of the robot to jointly complete scrubbing operation, and a rotor adsorption mode driven by a brushless motor driven by an electric regulation drive adopted by an adsorption system can ensure that the robot is continuously and reliably attached to the surface of glass so as to overcome high-altitude wind interference and provide necessary scrubbing force, and a brushless motor controlled by a side steering engine is used for adjusting adsorption details and motion adjustment; the cleaning system adopts a rotary brush and a rubber strip brush for composite cleaning, and the cleaning device is internally provided with a damping system, which can not be influenced by a window frame, improves the cleaning efficiency and quality, and in order to improve the utilization efficiency of water, the cleaning system adopts a water-vapor mixing technology, not only can the cleaning be carried out simultaneously, the weight of water is reduced, but also the continuous work of a fan is avoided, the service life of the system is prolonged, a frame 7 is mainly used as a carrier of 3 subsystems of a robot body, and simultaneously, an anti-collision wheel, a control cabinet, a sealing device and the like are also fixed on the frame 7 of the body, a user can communicate with the robot in a wireless mode to further control the robot system, a graph returned by a graph transmission device can be displayed on an APP to assist the operation of the user, the curtain wall cleaning robot is an intelligent machine integrating machinery, control, sensing and the like, wherein the control system plays a key role and can automatically detect the environmental information and the pose around the curtain wall cleaning robot, and carrying out the orbit planning according to these information, coordinate each system of robot and accomplish jointly and clean the operation, 360 all-round no dead angle's camera has been installed to the bottom of machine, the rotation through certain angle is with the clear transmission of the operational environment of machine for the operator makes the adjustment in time according to the circumstances, 360 all-round no dead angle's camera has been installed to the bottom of machine, the rotation through certain angle is with the clear transmission of the operational environment of machine for the operator, so that the operator makes the adjustment in time according to the circumstances.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an intelligence curtain cleaning robot, includes horizontal pole (3) and frame (7), its characterized in that: a cross bar (3) is arranged above the frame (7), one end of the cross bar (3) is connected with a movable rotor wing (2), a deceleration rotor wing (5) is arranged at the position corresponding to the other end of the cross bar (3), the outer sides of the movable rotor wing (2) and the deceleration rotor wing (5) are respectively provided with an adsorption rotor wing (1), a steering engine (4) is arranged at the joint of the lower sides of the two ends of the cross bar (3) and the adsorption rotor wing (1), an atomization spray head (6) is arranged inside the frame (7), a scrubbing sucker (10) is arranged at the position, close to the lower part of the atomization spray head (6), of the inside of the frame (7), universal wheels (8) are arranged at the positions, located at the four corners of the frame (7), of the lower parts of the two ends of the cross bar (3) and the joint of the adsorption rotor wing (1), rope fixing holes (9) are respectively connected with the two ends of the cross bar (3), adsorb rotor (1), remove rotor (2) and speed reduction rotor (5) and all with power electric connection.

2. The intelligent curtain wall cleaning robot as claimed in claim 1, wherein: the universal wheels (8) are provided with four, and the four universal wheels (8) are respectively arranged at four corners below the frame (7).

3. The intelligent curtain wall cleaning robot as claimed in claim 1, wherein: adsorb rotor (1) and be provided with four altogether, and four big small model homologies that adsorb rotor (1).

4. The intelligent curtain wall cleaning robot as claimed in claim 1, wherein: the power output directions of the movable rotor (2) and the decelerating rotor (5) are opposite.

5. The intelligent curtain wall cleaning robot as claimed in claim 1, wherein: the scrubbing sucker (10) is of a disc-shaped structure, and the outer surface of the scrubbing sucker (10) is of a frosted structure.

6. The intelligent curtain wall cleaning robot as claimed in claim 1, wherein: the universal wheels (8) are connected with the frame (7) through universal shafts and can rotate relative to the frame (7).

7. The intelligent curtain wall cleaning robot as claimed in claim 1, wherein: the atomizing nozzle (6) is of a circular tubular structure and is connected with the atomizing pipeline.