CN214906361U - Intelligent controllable continuous cycle operation glass curtain wall cleaning robot device - Google Patents

Abstract

The utility model provides a controllable continuous cycle operation glass curtain wall cleaning robot device of intelligence, walk capable system, glass cleaning system, intelligent circulating water system, intelligence control system including the robot. The robot walking system comprises an I-shaped longitudinal walking frame, a servo longitudinal walking motor, a longitudinal walking screw rod, longitudinal walking foot supports, an I-shaped transverse walking frame, longitudinal and transverse lap joint nuts, a servo transverse walking motor, a transverse walking screw rod and transverse walking foot supports; the longitudinal walking frame is supported on the curtain wall glass to be cleaned by four groups of longitudinal walking legs; the I-shaped transverse traveling frame and the longitudinal traveling frame are crossed and connected with each other through longitudinal and transverse lapping nuts; the transverse walking frame is supported by four groups of transverse walking foot supports. The intelligent controllable continuous circulating operation cleaning of the glass curtain wall of the high-rise building and the glass of the window of the common building can be realized.

Description

Intelligent controllable continuous cycle operation glass curtain wall cleaning robot device

Technical Field

The utility model relates to a glass curtain wall cleaning equipment uses technical field, in particular to controllable continuous cycle operation glass curtain wall cleaning robot device of intelligence.

Background

Along with the development of economy, urbanization scale increases gradually, and the glass curtain wall of high building increases gradually, and glass curtain wall exposes outside for a long time, can inevitably hang dust or filth, influences its printing opacity effect. The glass window of the common building is also cleaned regularly to enhance the light transmission. At present, the cleaning operation of the glass curtain wall and the common building window glass mainly depends on manual operation, and the safety is poor. The manual operation mainly hangs the operation workman through the mode of hanging the rope from the roof and washs in mid-air, and the workman is easy tired, influences labor efficiency, and this operation danger coefficient is high, often appears the casualty accident. In addition, aerial work is limited by severe weather effects. Some cleaning devices appear in the market at present, but the cleaning devices are not effectively applied in a large area, and the reasons are mainly shown as follows: one type of equipment is to arrange two halves of split equipment on two sides of glass in a magnetic clamping mode, and move one side in a moving chamber manually, so that the purpose of cleaning is achieved. Another type of equipment, which was introduced mainly from germany, moves on the glass surface by driving a circular robot in a remote control manner, and sucks the equipment on the glass by suction, and a rag is arranged between the robot and the glass, so as to clean the glass. Although this device is remotely controlled, it is not possible to effectively replace the cleaning cloth, resulting in a gradual accumulation of dirt as the scrubbing proceeds, and eventually a loss of the cleaning effect.

The utility model is CN 111956138A's a curtain unmanned aerial vehicle system, drive the frame through unmanned aerial vehicle, be provided with propulsion module and cleaning module in the frame, wash the curtain through cleaning the roller, produce forward thrust through unmanned aerial vehicle, make to clean the roller and closely paste with the curtain all the time and lean on, and then accomplish and wash. This kind of operation mode cleaning performance depends on unmanned aerial vehicle, and unmanned aerial vehicle continuity of operation receives influence such as weather great, is unfavorable for the nimble cleaning operation of large tracts of land, and how to wash the operation problem in succession can not effectual solution moreover, blocks up because of the filth accumulation, will lead to the cleaning operation effectively to develop.

The glass curtain wall cleaning robot with the publication number of CN111466844A solves the problem that a barrier can span when the robot encounters a cleaning process, four corners of a main frame of the robot are fixedly connected with adjustable sucker assemblies through swing rods respectively, and the robot independently rotates and is driven to arrange, so that cleaning operation is realized. The problem of continuous cleaning operation decontamination is not solved to this design, realizes removing through the rotatory sucking disc in four corners simultaneously, and the mechanism action is not nimble enough, and the working area is narrow and small, influences the operating efficiency.

Therefore, at present, a robot device for cleaning the glass curtain wall needs to be designed urgently, the robot device can realize large-area automatic walking, and meanwhile, automatic cleaning operation can be carried out continuously and circularly so as to meet the cleaning requirement of large-area glass curtain walls or high-rise window body glass.

Disclosure of Invention

In order to solve the technical problem that the background art provided, the utility model provides a controllable continuous cycle operation glass curtain wall cleaning robot device of intelligence can realize carrying out the controllable continuous cycle operation of intelligence and washing high building glass curtain wall, ordinary building window glass.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an intelligent controllable continuous cycle operation glass curtain wall cleaning robot device comprises a robot walking system, a glass cleaning system, an intelligent circulating water system and an intelligent control system.

1) The robot walking system comprises an I-shaped longitudinal walking frame, a servo longitudinal walking motor, a longitudinal walking screw rod, longitudinal walking foot supports, an I-shaped transverse walking frame, longitudinal and transverse lap joint nuts, a servo transverse walking motor, transverse walking screw rods and transverse walking foot supports;

the servo longitudinal walking motor is fixed on the I-shaped longitudinal walking frame and drives a longitudinal walking screw, the longitudinal walking screw is fixedly connected to the longitudinal walking frame through a bearing support, and the longitudinal walking frame is supported on the curtain wall glass to be cleaned through four groups of longitudinal walking legs;

the I-shaped transverse traveling frame and the longitudinal traveling frame are crossed and connected with each other through longitudinal and transverse lapping nuts; the longitudinal and transverse lapping nuts are matched with the longitudinal running machine frame through a slideway type guide rail, and the longitudinal and transverse lapping nuts are also matched with the transverse running machine frame through the slideway type guide rail; the servo transverse walking motor is fixed on the I-shaped transverse walking frame and drives the transverse walking screw rod, the transverse walking screw rod is supported on the transverse walking frame through a bearing and can freely rotate under the driving of the servo transverse walking motor, meanwhile, the transverse walking screw rod is matched with the longitudinal and transverse lap joint screw nut in a spiral pair mode, and the transverse walking frame is supported by four groups of transverse walking foot supports.

Furthermore, the longitudinal walking foot support consists of a longitudinal walking sucker and a longitudinal sucker air pump, the longitudinal sucker air pump is connected with the longitudinal walking sucker, and pressure sensors are uniformly distributed in the longitudinal sucker.

Furthermore, the transverse walking foot support consists of a transverse walking sucker and a transverse sucker air pump, the transverse sucker air pump is connected with the transverse walking sucker, and pressure sensors are uniformly distributed in the transverse sucker.

2) The glass cleaning system comprises a cleaning motor, a cleaning mechanism crossbeam, a cleaning eccentric disc, a cleaning brush connecting rod, a curtain wall cleaning brush water inlet pipe, a curtain wall cleaning brush, curtain wall cleaning brush cloth, a cleaning guide chute, a pulley, a cleaning brush water inlet pipeline, a circulating water tank, a cleaning sewage collecting funnel and a sewage treatment barrel;

the cleaning motor is fixed on the beam of the cleaning mechanism, the cleaning motor drives the cleaning eccentric disc to rotate, and the cleaning brush connecting rod and the cleaning eccentric disc form a rotating hinge; the curtain wall cleaning brush is characterized in that a cleaning brush connecting rod is connected with a curtain wall cleaning brush water inlet pipe, a cleaning water inlet pipe is flexibly connected with the curtain wall cleaning brush, the interior of the curtain wall cleaning brush is of a cavity porous structure, and curtain wall cleaning brush cloth is embedded on the curtain wall cleaning brush; the cleaning guide chute is fixedly connected to the transverse traveling rack, and the curtain wall cleaning brush and a flexibly connected curtain wall cleaning brush water inlet pipe are embedded into the cleaning guide chute through a pulley and can freely slide up and down; one end of a water inlet pipeline of the cleaning brush is communicated with a water inlet pipe of the curtain wall cleaning brush, and the other end of the water inlet pipeline of the cleaning brush is inserted into the circulating water tank; the cleaning sewage collecting funnel is fixedly connected with the transverse walking rack, is always positioned under the curtain cleaning brush and is tightly attached to the cleaned curtain, the cleaning sewage is collected into the sewage treatment barrel positioned under the cleaning sewage collecting funnel, and the sewage treatment barrel and the cleaning sewage collecting funnel are connected through an intelligent clamping switch.

Furthermore, the sewage treatment barrel is provided with a sewage filter screen, a sewage baffle groove and a circulating water tank, the sewage filter screen filters out the cleaned solid sewage and retains the solid sewage in the sewage baffle groove, and the filtered water enters the circulating water tank at the lower part of the sewage treatment barrel.

3) The intelligent circulating water system comprises a water inlet pipe, a water level monitor, a circulating water pump and a cleaning water pipe;

the water inlet pipe is communicated with the sewage treatment barrel, the water pipe is fixed on the lateral surface of the transverse walking frame and the lateral surface of the cleaning sewage collecting funnel through the water pipe fixing clamp, the water level in the sewage treatment barrel is monitored and controlled through the water level monitor, and automatic alarm is given when the water level is too high or too low; and a circulating water pump is placed in the sewage treatment barrel, is communicated with the cleaning water pipe and supplies water to the curtain wall cleaning brush cloth through a cleaning brush water inlet pipeline to wash and clean the glass curtain wall with water.

4) The intelligent control system comprises a PLC controller and an external wire; the servo longitudinal walking motor, the servo transverse walking motor, the sucking disc air pump of the longitudinal walking leg and the transverse walking leg, the cleaning motor and the circulating water pump are electrically connected with the PLC through external wires; the walking process, the cleaning process and the sewage filtering circulation of the cleaning robot control the action of each motor through the PLC.

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

(1) through ingenious design, the intelligent controllable continuous cycle operation glass curtain wall cleaning robot device and the method are realized, and the equipment realizes the continuous cycle operation cleaning of the high-altitude glass curtain wall. The transverse and longitudinal continuous walking is realized through the mutual matching of the I-shaped transverse and longitudinal walking frames;

(2) in the walking process, the pressure in the sucker is sequentially adjusted through the sucker air pump, the transverse and longitudinal walking actions are matched, and meanwhile, the sucker can axially move, so that the crossing of a plane glass curtain wall with certain unevenness is realized;

(3) the crank slider mechanism is designed to drive the cleaning brush head to do reciprocating motion in a circulating way to clean the glass curtain wall, and the brushing cloth is washed under pressure by circulating water, so that the solid dirt deposition caused by long-time dirt removal of the cleaning brushing cloth is prevented, and the continuous cleaning operation is effectively solved and ensured;

(4) the sewage collecting system can filter and recycle the cleaning sewage;

(5) by an intelligent circulating water system, the long-term effective large-area cleaning operation is ensured;

(6) the whole cleaning process is intelligent and controllable, and continuous operation is coordinated.

Drawings

FIG. 1 is an assembly drawing I of the glass curtain wall cleaning robot of the present invention;

FIG. 2 is an overall assembly view II of the glass curtain wall cleaning robot of the present invention;

FIG. 3 is a diagram of a cleaning mechanism and a sewage collecting system of the glass curtain wall cleaning robot of the present invention;

FIG. 4 is a sectional view of the glass curtain wall cleaning robot sewage treatment barrel of the present invention;

FIG. 5 is a top view of a sewage tank of the glass curtain wall cleaning robot of the present invention;

FIG. 6 is a left side view of the glass curtain wall cleaning robot of the present invention;

fig. 7 is a wiring diagram of an electrical control system of the glass curtain wall cleaning robot of the present invention.

In the figure: 1-curtain wall glass 2-longitudinal traveling frame 3-transverse traveling frame 4-water inlet pipe 5-PLC control box 6-longitudinal traveling suction cup I7-longitudinal suction cup I air pump 8-longitudinal traveling motor 9-transverse suction cup I air pump 10-longitudinal traveling lead screw 11-longitudinal and transverse lapping screw 12-cleaning sewage collecting funnel 13-transverse suction cup II air pump 14-sewage treatment barrel 15-longitudinal traveling suction cup II 16-longitudinal suction cup II air pump 17-longitudinal suction cup III air pump 18-longitudinal traveling suction cup III 19-transverse suction cup III air pump 20-transverse traveling suction cup III 21-transverse traveling motor 22-transverse traveling lead screw 23-transverse traveling suction cup IV 24-transverse suction cup IV air pump 25-cleaning motor 26-curtain wall cleaning brush 27 Longitudinal walking suction cup IV 28, longitudinal suction cup IV air pump 29, transverse walking suction cup I30, cleaning brush connecting rod 31, cleaning mechanism beam 32, transverse walking suction cup II 33, pressure sensor 34, cleaning water pipe 35, cleaning eccentric disc 36, cleaning brush water inlet pipe 37, curtain wall cleaning brush 38, cleaning guide chute 39, pulley 40, curtain wall cleaning brush water inlet pipe 41, sewage filter screen 42, sewage baffle groove 43, circulating water tank 44, external electric wire 45, electric wire one 46, electric wire two 47, electric wire three 48, electric wire four 49, electric wire five 50, electric wire six 51, electric wire seven 52, electric wire eight 53, electric wire nine 54, electric wire ten 55, electric wire eleven 56, electric wire twelve 57-minute electric wire The line head 58-the line card 59-the water level monitor 60-the circulating water pump 61-the water pipe fixing clip.

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings.

As shown in fig. 1-7, an intelligent controllable continuous cycle operation glass curtain wall cleaning robot device comprises a robot walking system, a glass cleaning system, an intelligent circulating water system and an intelligent control system.

1) The robot walking system comprises an I-shaped longitudinal walking frame 2, a servo longitudinal walking motor 8, a longitudinal walking screw rod 10, longitudinal walking foot supports, an I-shaped transverse walking frame 3, a longitudinal and transverse lapping screw nut 11, a servo transverse walking motor 21, a transverse walking screw rod 22 and transverse walking foot supports.

The robot walking system is characterized in that a servo longitudinal walking motor 8 is fixed on an I-shaped longitudinal walking frame 2 to drive a longitudinal walking screw 10, the longitudinal walking screw 10 is fixedly connected to the longitudinal walking frame 2 through two bearing supports, the longitudinal walking frame 2 is supported on curtain wall glass 1 to be cleaned through four groups of longitudinal walking legs, each group of longitudinal walking legs consists of a longitudinal walking sucker and a longitudinal sucker air pump, four suckers forming the four legs are respectively a longitudinal walking sucker I6, a longitudinal walking sucker II 15, a longitudinal walking sucker III 18 and a longitudinal walking sucker IV 27, and longitudinal sucker air pumps forming the four legs are respectively a longitudinal sucker I air pump 7, a longitudinal sucker II air pump 16, a longitudinal sucker III air pump 17 and a longitudinal sucker IV air pump 28.

The I-shaped transverse traveling frame 3 and the longitudinal traveling frame 2 are crossed and connected with each other through a longitudinal and transverse overlapping nut 11. The longitudinal and transverse lapping nuts 11 are matched with the longitudinal walking frame 2 through slide rail type guide rails, and meanwhile, the longitudinal and transverse lapping nuts 11 are matched with the transverse walking frame 3 through slide rail type guide rails. The servo transverse traveling motor 21 is fixed on the I-shaped transverse traveling rack 3 to drive the transverse traveling lead screw 22, the transverse traveling lead screw 22 is supported on the transverse traveling rack 3 through a bearing and rotates under the driving of the servo transverse traveling motor 21, and meanwhile, the transverse traveling lead screw 22 is matched with the longitudinal and transverse lapping nuts 11 through a screw pair. The transverse walking frame 3 is supported by four groups of foot supports, each group of foot supports consists of a longitudinal walking sucker and a longitudinal sucker air pump, the four suckers forming the four foot supports are respectively 29 transverse walking suckers I, 32 transverse walking suckers II, 20 transverse walking suckers III and 23 transverse walking suckers IV, and the transverse sucker air pumps forming the four foot supports are respectively composed of a transverse sucker I air pump 9, a transverse sucker II air pump 13, a transverse sucker III air pump 19 and a transverse sucker IV air pump 24. Pressure sensors 33 are uniformly distributed in the longitudinal sucker and the transverse sucker.

2) The glass cleaning system comprises a cleaning motor 25, a cleaning mechanism beam 31, a cleaning eccentric disc 35, a cleaning brush connecting rod 30, a curtain wall cleaning brush water inlet pipe 40, a curtain wall cleaning brush 26, curtain wall cleaning brush cloth 37, a cleaning guide sliding groove 38, a pulley 39, a cleaning brush water inlet pipeline 40, a circulating water tank 43, a cleaning sewage collecting funnel 12 and a sewage treatment barrel 14.

The cleaning motor 25 is fixed on the cleaning mechanism cross beam 31, the cleaning motor 25 drives the cleaning eccentric disc 35 to rotate, the cleaning brush connecting rod 30 and the cleaning eccentric disc 35 form a rotating hinge, the cleaning brush connecting rod 30 is connected with the curtain wall cleaning brush water inlet pipe 40, the cleaning brush water inlet pipe 40 is flexibly connected with the curtain wall cleaning brush 26, the interior of the curtain wall cleaning brush 26 is of a cavity porous structure, the curtain wall cleaning brush cloth 37 is embedded on the curtain wall cleaning brush 26, the cleaning guide chute 38 is fixedly connected to the transverse traveling rack 3, and the cleaning curtain wall 26 and the flexibly connected curtain wall cleaning brush water inlet pipe 40 are embedded in the cleaning guide chute 38 through a pulley 39 and can freely slide up and down. One end of the washing brush water inlet pipeline 36 is communicated with the curtain wall washing brush water inlet pipe 40, and the other end is inserted into the circulating water tank 43. The cleaning sewage collecting funnel 12 is fixedly connected with the transverse walking rack 3 and is always positioned under the curtain wall cleaning brush 26, the cleaning sewage is guaranteed to be tightly attached to the cleaned curtain wall, the cleaning sewage is collected into the sewage treatment barrel 14 positioned under the cleaning sewage collecting funnel, the sewage treatment barrel 14 is connected with the cleaning sewage collecting funnel 12 through an intelligent clamping switch, the sewage treatment barrel is provided with a sewage filter screen 41, the cleaned solid sewage is filtered out and is remained in a sewage retaining groove 42, and the filtered water enters a circulating water tank 43 at the lower part of the sewage treatment barrel 14. The water inlet line 36 is inserted into the circulation water tank 43 and is circulated and sucked by the circulation pump 60.

3) The intelligent circulating water system comprises a water inlet pipe 4, a water level monitor 59, a circulating water pump 60 and a cleaning water pipe 34.

The water inlet pipe 4 is communicated with the sewage treatment barrel 14, a water pipe is fixed on the lateral sides of the transverse walking frame 3 and the cleaning sewage collecting funnel 12 through a water pipe fixing clamp 61, the water level in the sewage treatment barrel 14 is monitored and controlled through a water level monitor 59, and automatic alarm can be given when the water level is too high or too low. The sewage treatment barrel 14 is internally provided with a circulating water pump 60 which is communicated with the cleaning water pipe 34 and supplies water to the curtain wall cleaning brush cloth 37 through a cleaning brush water inlet pipeline 36 to wash and clean the glass curtain wall with water.

4) The intelligent control system comprises a PLC (programmable logic controller) controller (in a PLC control box 5) and an external electric wire 44, and an electric wiring diagram is shown in figure 7.

The walking process, the cleaning process and the sewage filtering circulation of the cleaning robot are all controlled by the PLC control box 5 to act by each servo motor, and the external electric wire 44 is connected with the PLC control box 5 to form an intelligent control system. The first wire 45 is output from the PLC control box 5 and used as a robot main route and is connected with the longitudinal sucker I air pump 7 through the second wire 46, the third wire 47 is connected with the longitudinal sucker IV air pump 28, the fourth wire 48 is connected with the transverse sucker IV air pump 24, the fifth wire 49 is connected with the transverse sucker I air pump 9, the sixth wire 50 is connected with the transverse walking motor 21, the seventh wire 51 is connected with the cleaning motor 25, the eighth wire 52 is connected with the transverse sucker III air pump 19, the ninth wire 53 is connected with the transverse sucker II air pump 13, the tenth wire is connected with the circulating water pump 60, the eleventh wire 55 is connected with the longitudinal sucker III air pump 17, the twelfth wire 56 is connected with the longitudinal sucker II air pump 16, ground personnel can send control signals to equipment through a remote controller, and coordination and orderly completion of the whole circulating process are realized.

The utility model discloses a continuous cycle operation glass curtain wall cleaning robot device's cleaning process as follows:

1) place the cleaning robot device with earlier and need abluent glass curtain wall position, supply water and electricity for cleaning robot through the water pipe and the electric wire that hang, make horizontal four sucking discs and four vertical sucking discs and glass curtain wall contact, give control signal by PLC control box 5, start the vertical sucking disc air pump that vertical four groups of feet were propped up respectively: the air pump 7 of the longitudinal sucker I, the air pump 16 of the longitudinal sucker II, the air pump 17 of the longitudinal sucker III and the air pump 28 of the longitudinal sucker IV adsorb four longitudinal groups of foot supporting suckers (6 longitudinal walking suckers I, 15 longitudinal walking suckers II, 18 longitudinal walking suckers III, 27 longitudinal walking suckers IV) on the curtain wall glass 1. Meanwhile, a PLC control box 5 gives control signals to transverse sucker air pumps (a transverse sucker I air pump 9, a transverse sucker II air pump 13, a transverse sucker III air pump 19 and a transverse sucker IV air pump 24) and adjusts transverse walking suckers (29 transverse walking suckers I, 32 transverse walking suckers II, 20 transverse walking suckers III and 23 transverse walking suckers IV) to be adsorbed on the curtain wall glass 1.

2) The cleaning operation of the glass curtain wall starts, the PLC control box 5 gives out control signals to the transverse sucker air pump (transverse sucker I air pump 9, transverse sucker II air pump 13, transverse sucker III air pump 19 and transverse sucker IV air pump 24), the transverse walking sucker (29 transverse walking sucker I, 32 transverse walking sucker II, 20 transverse walking sucker III and 23 transverse walking sucker IV) is adjusted to be separated from the adsorption force of the curtain wall glass 1, and the pressure sensor 33 arranged inside the transverse sucker detects pressure signals. At the moment, the whole robot system is mainly adsorbed on the glass curtain wall by four groups of foot supporting suction cups in the longitudinal direction. Meanwhile, the cleaning motor 25 on the cleaning mechanism beam 31 is started to drive the cleaning eccentric disc 35 to rotate, the cleaning brush connecting rod 30 is driven to move through the hinge, so that the curtain wall cleaning brush water inlet pipe 40 and the curtain wall cleaning brush 26 are driven to move, the curtain wall cleaning brush 26 is embedded into the cleaning guide sliding groove 38 through the pulley 39 and freely slides up and down, and the curtain wall cleaning brush 37 is driven to clean the glass. Meanwhile, one end of the water inlet pipeline 36 of the cleaning brush is communicated with the water inlet pipe 40 of the curtain wall cleaning brush, and the other end of the water inlet pipeline is inserted into the circulating water tank 43 and is circularly sucked and utilized by the circulating pump. The circulating water is ceaselessly sprayed into the cavity porous structure inside the curtain wall cleaning brush 26, the curtain wall cleaning brush cloth 37 is ceaselessly cleaned, the better cleaning of stains on the glass curtain wall is facilitated, the cleaning sewage collecting funnel 12 is fixedly connected to the transverse traveling rack 3 and is positioned under the curtain wall cleaning brush 26, the cleaning sewage is collected into the sewage treatment barrel 14 positioned under the cleaning sewage collecting funnel, the sewage treatment barrel 14 and the cleaning sewage collecting funnel 12 are connected through an intelligent clamping switch, the sewage treatment barrel is provided with a sewage filtering net 41, the cleaned solid sewage is filtered out and stored in the sewage retaining groove 42, and the filtered water enters the circulating water tank 43 at the lower part of the sewage treatment barrel 14.

A servo longitudinal traveling motor 8 fixed on an I-shaped longitudinal traveling rack 2 is started by a PLC control box 5 to drive a longitudinal traveling screw 10 to rotate, so that a longitudinal and transverse lapping nut 11 longitudinally moves along the fixed I-shaped longitudinal traveling rack 2, and the cleaning mechanism is guaranteed to finish the cleaning operation of the glass curtain wall with the longitudinal rectangular area. After the part is cleaned, the PLC control box 5 starts a servo transverse traveling motor 21 fixed on the I-shaped transverse traveling rack 3 to drive a transverse traveling screw 22, so that the longitudinal and transverse lapping screws 11 transversely move left and right, and the cleaning operation of the glass curtain wall with the transverse rectangular area is realized.

No matter horizontal cleaning or vertical cleaning operation, when stubborn stains are encountered, the PLC control box 5 can control the servo vertical walking motor 8 and the servo horizontal walking motor 21 to stop running, the servo vertical walking motor and the servo horizontal walking motor are fixed at a certain position needing cleaning, and the cleaning mechanism repeatedly performs cleaning operation on the position until the position is cleaned.

The longitudinal walking cleaning process comprises the following steps: the PLC control box 5 starts a servo longitudinal walking motor 8 to drive a longitudinal walking screw 10 to rotate, so that a longitudinal and transverse lapping nut 11 longitudinally moves along the fixed I-shaped longitudinal walking frame 2 until the longitudinal walking frame 2 moves to the uppermost end. The PLC control box 5 gives control signals to the transverse sucker air pumps (transverse sucker I air pump 9, transverse sucker II air pump 13, transverse sucker III air pump 19 and transverse sucker IV air pump 24), the transverse walking suckers (29 transverse walking suckers I, 32 transverse walking suckers II, 20 transverse walking suckers III and 23 transverse walking suckers IV) and the curtain wall glass 1 are adjusted to generate adsorption force, and pressure signals are detected through the pressure sensors 33 arranged inside the transverse suckers. The PLC control box 5 enables the four groups of the foot supporting suction cups in the longitudinal direction to be separated from the glass curtain wall, and the whole robot is mainly adsorbed on the glass curtain wall by the four groups of the foot supporting suction cups in the transverse direction. The PLC control box 5 controls a servo longitudinal walking motor 8 to drive a longitudinal walking screw rod 10 to rotate, so that the I-shaped longitudinal walking frame 2 longitudinally moves relative to a longitudinal and transverse lapping nut 11, the longitudinal walking process is finished, and the cleaning mechanism always finishes cleaning operation in the process. When the I-shaped longitudinal traveling frame 2 travels upwards and longitudinally to the maximum position, the PLC control box 5 enables the four longitudinal groups of foot supporting suction cups to adsorb the glass curtain wall, the four transverse groups of foot supporting suction cups are separated from the curtain wall, and the previous cleaning actions are repeated to complete the cleaning operation of the glass curtain wall in a certain rectangular area. And the transverse moving cleaning operation process can be realized in the same way.

The above embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation and specific operation processes are given, but the protection scope of the present invention is not limited to the above embodiments. The methods used in the above examples are conventional methods unless otherwise specified.

Claims (7)

1. An intelligent controllable continuous cycle operation glass curtain wall cleaning robot device is characterized by comprising a robot walking system, a glass cleaning system, an intelligent circulating water system and an intelligent control system;

the robot walking system comprises an I-shaped longitudinal walking frame, a servo longitudinal walking motor, a longitudinal walking screw rod, longitudinal walking foot supports, an I-shaped transverse walking frame, longitudinal and transverse lap joint nuts, a servo transverse walking motor, transverse walking screw rods and transverse walking foot supports;

the servo longitudinal walking motor is fixed on the I-shaped longitudinal walking frame and drives a longitudinal walking screw, the longitudinal walking screw is fixedly connected to the longitudinal walking frame through a bearing support, and the longitudinal walking frame is supported on the curtain wall glass to be cleaned through four groups of longitudinal walking legs;

the I-shaped transverse traveling frame and the longitudinal traveling frame are crossed and connected with each other through longitudinal and transverse lapping nuts; the longitudinal and transverse lapping nuts are matched with the longitudinal running machine frame through a slideway type guide rail, and the longitudinal and transverse lapping nuts are also matched with the transverse running machine frame through the slideway type guide rail; the servo transverse walking motor is fixed on the I-shaped transverse walking frame and drives the transverse walking lead screw, the transverse walking lead screw is supported on the transverse walking frame through a bearing and rotates under the driving of the servo transverse walking motor, meanwhile, the transverse walking lead screw is matched with the longitudinal and transverse lap joint screw nut in a spiral pair mode, and the transverse walking frame is supported by four groups of transverse walking foot supports.

2. The intelligent controllable continuous cycle operation glass curtain wall cleaning robot device according to claim 1, wherein the longitudinal walking foot support is composed of a longitudinal walking sucker and a longitudinal sucker air pump, the longitudinal sucker air pump is connected with the longitudinal walking sucker, and pressure sensors are uniformly distributed in the longitudinal sucker.

3. The intelligent controllable continuous cycle operation glass curtain wall cleaning robot device according to claim 1, characterized in that the transverse walking foot support is composed of a transverse walking sucker and a transverse sucker air pump, the transverse sucker air pump is connected with the transverse walking sucker, and pressure sensors are uniformly distributed in the transverse sucker.

4. The intelligent controllable continuous-cycle operation glass curtain wall cleaning robot device as claimed in claim 1, wherein the glass cleaning system comprises a cleaning motor, a cleaning mechanism beam, a cleaning eccentric disc, a cleaning brush connecting rod, a curtain wall cleaning brush water inlet pipe, a curtain wall cleaning brush, curtain wall cleaning brush cloth, a cleaning guide chute, a pulley, a cleaning brush water inlet pipeline, a circulating water tank, a cleaning sewage collecting funnel and a sewage treatment barrel;

the cleaning motor is fixed on the beam of the cleaning mechanism, the cleaning motor drives the cleaning eccentric disc to rotate, and the cleaning brush connecting rod and the cleaning eccentric disc form a rotating hinge; the curtain wall cleaning brush is characterized in that a cleaning brush connecting rod is connected with a curtain wall cleaning brush water inlet pipe, a cleaning water inlet pipe is flexibly connected with the curtain wall cleaning brush, the interior of the curtain wall cleaning brush is of a cavity porous structure, and curtain wall cleaning brush cloth is embedded on the curtain wall cleaning brush; the cleaning guide chute is fixedly connected to the transverse traveling rack, and the curtain wall cleaning brush and a flexibly connected curtain wall cleaning brush water inlet pipe are embedded into the cleaning guide chute through a pulley and can freely slide up and down; one end of a water inlet pipeline of the cleaning brush is communicated with a water inlet pipe of the curtain wall cleaning brush, and the other end of the water inlet pipeline of the cleaning brush is inserted into the circulating water tank; the cleaning sewage collecting funnel is fixedly connected with the transverse walking rack, is always positioned under the curtain cleaning brush and is tightly attached to the cleaned curtain, the cleaning sewage is collected into the sewage treatment barrel positioned under the cleaning sewage collecting funnel, and the sewage treatment barrel and the cleaning sewage collecting funnel are connected through an intelligent clamping switch.

5. The intelligent controllable continuous-cycle operation glass curtain wall cleaning robot device as claimed in claim 4, wherein the sewage treatment barrel is provided with a sewage filter screen, a dirt blocking groove and a circulating water tank, the sewage filter screen filters out the cleaned solid dirt and retains the solid dirt in the dirt blocking groove, and the filtered water enters the circulating water tank at the lower part of the sewage treatment barrel.

6. The intelligent controllable continuous cycle operation glass curtain wall cleaning robot device as claimed in claim 4, wherein the intelligent circulating water system comprises a water inlet pipe, a water level monitor, a circulating water pump and a cleaning water pipe;

the water inlet pipe is communicated with the sewage treatment barrel, the water pipe is fixed on the lateral surface of the transverse walking frame and the lateral surface of the cleaning sewage collecting funnel through the water pipe fixing clamp, the water level of the sewage treatment barrel is monitored and controlled through a water level monitor in the sewage treatment barrel, and automatic alarm is given when the water level is too high or too low; and a circulating water pump is placed in the sewage treatment barrel, is communicated with the cleaning water pipe and supplies water to the curtain wall cleaning brush cloth through a cleaning brush water inlet pipeline to wash and clean the glass curtain wall with water.

7. The intelligent controllable continuous cycle operation glass curtain wall cleaning robot device as claimed in any one of claims 1 to 6, wherein the intelligent control system comprises a PLC controller and an external wire; the servo longitudinal walking motor, the servo transverse walking motor, the sucking disc air pump of the longitudinal walking leg and the transverse walking leg, the cleaning motor and the circulating water pump are electrically connected with the PLC through external wires; the walking process, the cleaning process and the sewage filtering circulation of the cleaning robot control the action of each motor through the PLC.

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