CN2527366Y

CN2527366Y - High building curtain wall teaching type cleaning robot

Info

Publication number: CN2527366Y
Application number: CN 02203238
Authority: CN
Inventors: 黄善鈞; 林辉
Original assignee: Individual
Current assignee: Individual
Priority date: 2002-01-29
Filing date: 2002-01-29
Publication date: 2002-12-25
Anticipated expiration: 2012-01-29

Abstract

The utility model discloses a teaching cleaning robot which is specially used for cleaning the panel wall and exterior wall. The utility model consists of a walking elevator, a cleaning robot and a teaching electronic controlling system. The walking elevator is provided with a device with the function of memorizing lifting height and walking distance. The cleaning robot is connected with the walking elevator on the roof by a steel wire and a tension sensor is arranged to ensure the safety of lifting. The cleaning robot is provided with a movable cupule with the function of thrust and suction. The robot can cling to the wall surface and cross a low arch obstacle. Two electric rolling brushes, a cleaning water tank matched with the rolling brushes and a submersible pump, etc. are arranged on the upper end and the lower end against the wall surface. After being taught, the cleaning robot can process cleaning work automatically and the utility model is convenient and safe to be used.

Description

High building curtain wall teaching type cleaning robot

The utility model relates to high building curtain wall and outside Wall Cleaning equipment, a kind of specifically teaching type cleaning robot that cleans high-rise building curtain wall and exterior wall that is exclusively used in.

Along with social progress and science and technology development, modern city middle-high building thing is more and more, and the curtain wall of building tends to be caught dirt after being exposed to wind and rain, and forms dirt and speckle, influences daylighting and jumps prestige.At present, mainly be to adopt the workman to be suspended in high aerial to the cleaning of high building external surface, hand-held cleaning device carries out washing and cleaning operation, and this is a kind of danger close and the work of working hard very much, and cleaning speed is very slow.Chinese patent: 99252601.9 " automatic cleaning machine for external wall ", and HZT-4 type terrace window cleaning equipment, the DEMAG2-710 type window cleaning equipment of Germany's production and the F250-DX type window machine that Japan produces etc. that Holland produces have all been reported relevant cleaning machine, but, all fail to be widely adopted because cleaning performance is bad.

The utility model purpose is to provide a kind of being used for to substitute artificial washing and cleaning operation, and cleaning quality is good, and cleaning speed is fast, the automaticity height, and sewage can reclaim automatically, and is free from environmental pollution, in light weight, is convenient to teaching type cleaning robot safe and reliable to operation is installed.

The purpose of this utility model is to realize like this; A kind of novel high building curtain wall teaching type cleaning robot is characterized in that: by the hoist of walking.Cleaning robot and teaching electric-control system three most compositions: the hoist of walking is by support, the hoist engine of charged magnetic code dish is installed on the support, be wound with two wire rope in the middle of the hoist engine, the lower end of hoist engine is provided with charged magnetic code dish electric walking dolly, also be provided with two cantilever Beam of band pulley on the support, cantilever Beam middle-end is provided with the pole of regulating cantilever Beam; Electric control box is arranged on the support upper end; Wherein two steel cables are through row's rope support top sheaves on hoist engine, and behind the pulley about walking around again on two cantilever Beam, tenesmus connects with cleaning robot through pulling force sensor; Cleaning robot is by frame, by the metope place sucker is installed in the middle of the frame, the sucker rear end is equipped with vacuum air pump and thrust blower fan and two comprehensive wheels, the frame lower end is provided with the compound water tank of clean and dirt water and water supply and sewerage pipeline and system thereof, and frame is provided with two cleaning heads and automatically controlled zero, parts composition by the two ends up and down of metope.The cleaning head that install the above and below of described frame, long tubular electricity Mao Shua Roll sub-component is arranged in the cleaning head, the outside is with outer cover, outer cover the place ahead at cleaning head all has the profiled seal rubber flap up and down, both sides also are provided with the sealing offset plate, sewage can not outflow when cleaning like this, also is provided with water inlet pipe and sewage return pipe on the cleaning head; The below of described frame is provided with the compound water tank of clean and dirt water, in the middle of water tank, there is one deck diaphragm of rubber that filtered water tank and foul water tank are kept apart, when clear water is filled, there is not sewage in the foul water tank, barrier film deflection foul water tank, clear water can be full of the most volume of compound water tank like this, the filtered water tank bottom has individual miniature immersible pump to supply with two cleaning head waters up and down, sewage on the cleaning head can flow to the little foul water tank of low level, in the little foul water tank of low level, there is submersible pump sewage to be sent back to the sewage chamber of the compound water tank of clean and dirt water, when sewage increased gradually, clear water reduced gradually, barrier film deflection filtered water tank, and sewage just has been full of compound water tank major part, when the clear water water level was reduced to the least restrictive water level, being provided with electric water level switch in the water tank can send warning signal, and stopped to send water; Described central rack is provided with rectangular magnetic chuck, and the oblique rubber seal band of lip shape is housed on the edge of sucker, on the sucker middle housing vacuum air pump is housed, and the strong thrust blower fan is housed on the frame above the sucker simultaneously.The hoist of walking during use is mounted on the platform on floor top, and cleaning robot is the lower end that is suspended on cantilever Beam by two steel cables.

Before cleaning the building curtain wall, need do debugging work, the debugging of the hoist by roof walking slings cleaning robot near metope, cleaning program is to clean to minimum point downwards from peak, cleaning robot leaves metope and moves a segment distance then, rise to peak again, robot is adsorbed on again automatically and carries out next process washing and cleaning operation on the metope.Before cleaning, need cleaning robot is carried out manual teaching, by automatically controlled programmable logic controller (PLC), whole washing and cleaning operation program is done memory, cleaning robot will have been remembered the entire job cleaning procedure that cleans and carry out washing and cleaning operation automatically, these all are to use prior art, be arranged in the teaching electric-control system, this system outside is made up of shell and some switches etc. zero, parts.

The utility model is provided with rectangular magnetic chuck because of the central rack at cleaning robot, the oblique rubber seal band of lip shape is housed on the edge of sucker, can make sucker inner chamber and atmospheric isolation like this, on the sucker middle housing, vacuum air pump is housed, can make the sucker inner chamber produce negative pressure like this, simultaneously, make robot can stably lean against metope work producing thrust the cleaning robot of suspention is pushed on the metope in that the strong thrust blower fan is housed on the frame above the sucker.In addition, two comprehensive wheels are housed, are supporting on the sucker rubber seal band and can not defeated partially, and sucker can be adsorbed on the metope and can also be to lower slider or teeter by atmospheric pressure in the monosymmetric position of sucker.Be arranged on robot two cleaning heads up and down simultaneously and guaranteed the cleaning of cleaning surface.So the utility model can reach the purpose of drafting.

Concrete structure of the present utility model is provided by following embodiment and accompanying drawing:

Fig. 1 is the structural representation of the utility model embodiment.

Fig. 2 is that schematic diagram is looked on the right side of Fig. 1.

Fig. 3 is the compound cisten mechanism schematic diagram of clean and dirt water.

Fig. 4 is a directional wheel minor structure view.

Fig. 5 is the left view of Fig. 4.

Among Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 by the walking hoist, cleaning robot and teaching electric-control system three most compositions, the hoist of walking is mounted on the roofdeck track (1), organic block (2) on the hoist of walking, in support (2) below two pairs of symmetrical wheels (3) and symmetrical wheel (4) are arranged, symmetry wheel (3) is a driven pulley, and symmetrical wheel (4) is a driving wheel, on the axle of symmetrical wheel (4) hinge wheel (5) is installed; Be provided with the cycloid speed reducer (6) of translator in support (2) top, on the output shaft of cycloid speed reducer (6), there is minor sprocket (7) to be connected with chain (8) and with hinge wheel (5), electromagnetism code-disc (9) is housed on the motor of cycloid speed reducer (6), and it can control the distance of symmetrical wheel (4) walking; In support (2) top rope drum (10) is arranged, the left end of reel (10) is by cycloid speed reducer (11) supporting drum (10) of translator, reel (10) right-hand member has bearing support (12) supporting drum (10), in the rear end of cycloid speed reducer (11) electromagnetism code-disc (13) is housed, it can control rope drum (10) lifting steel cable, and these have constituted hoist engine.About rope drum (10) is gone up, two steel cables (14) are arranged, single laminate roll is on reel (10), guiding principle rope (14) output is through left and right sides creel stand top sheave (15), behind the pulley (17) about walking around again on two cantilever Beam (16), steel cable (14) tenesmus is connected with the frame (20) of cleaning robot with horizontal Beam (19) through pulling force sensor (18).Can guarantee the operating safety of cleaning robot like this, between frame (20) and horizontal Beam (19), have four adjusters (21) to be used for regulating cleaning robot level and vertical direction; The distance of regulating cleaning robot and metope wherein with the adjusting pole (43) that is installed on the hoist of walking.The moving hair brush Roll tube (22) of electricity is housed respectively and outer cover (23) is equipped with special-shaped rubber flap (24) up and down in outer cover (23) the place ahead at frame (20) upper and lower, water inlet pipe (25) and sewage return pipe (26) also are housed on outer cover (23), the compound water tank of clean and dirt water (27) (see figure 3) are housed in frame (20) below; In the middle of the compound water tank of clean and dirt water (27), there is one deck diaphragm of rubber (28) that compound water tank (27) is divided into clean water chamber and sewage chamber, miniature immersible pump (29) supply Electric brush of bristles Roll tube (22) water up and down is equipped with at the clean water chamber place on the right, sewage after the cleaning all flows to the little foul water tank (30) of low water stage, has submersible pump (31) to send sewage back in the compound water tank of clean and dirt water (27) sewage chamber on little foul water tank; When the clear water water level was reduced to the qualification water level, water level switch (32) can send warning signal, and quits work, and at this moment need are opened drain plug (33) on the last sewage chamber of the compound water tank of clean and dirt water (27) and emitted sewage, and add rinse water from water inlet (34).Rectangular magnetic chuck (35) is installed at middle part in frame (20), periphery is equipped with the oblique rubber seal band of lip shape (36) around sucker (35), can stop atmosphere to enter in sucker (35) inner chamber, on sucker (35) shell, vacuum air pump (37) is housed, make sucker (35) can produce negative pressure; Strong thrust blower fan (38) also is housed on frame (20) can be produced thrust cleaning robot is pushed on the metope; Respectively load onto comprehensive wheel (39) on the medianly zygomorphic position of sucker (35), it can support the last rubber seal band of sucker (35) and can not flattened by atmospheric pressure.The structure of comprehensive wheel (39) (seeing Fig. 4 and Fig. 5), comprehensive wheel (39) is made up of the identical wheel carrier in the left and right sides, they interlaced 45 ℃ be connected together, see from axial view to have formed a complete circle.Every row's wheel carrier has spoke (40) to install four Yao Gu Xing Roll (41) in the last symmetry of spoke (40) among Fig. 4 and Fig. 5, there is single mandrel (42) at the center of Yao Gu Xing Roll (41), axle (42) is used for supporting Yao Gu Xing Roll (41) and freely rotates, axle (42) is to be supported by U-shaped support (43), U-shaped support (43) is fixed on the spoke (40), and makes eight Yao Gu Xing Roll (41) outer contour form a circle.

Claims

1. a novel high building curtain wall teaching type cleaning robot is characterized in that: by the hoist of walking.Cleaning robot and teaching electric-control system three most compositions: the hoist of walking is by support, the hoist engine of charged magnetic code dish is installed on the support, be wound with two wire rope in the middle of the hoist engine, the lower end of hoist engine is provided with charged magnetic code dish electric walking dolly, also be provided with two cantilever Beam of band pulley on the support, be provided with the pole of regulating cantilever Beam in the middle of the cantilever Beam, electric control box is arranged on the support upper end; Two steel cables are through row's rope support top sheaves on hoist engine, and behind the pulley about walking around again on two cantilever Beam, tenesmus is connected with cleaning robot through pulling force sensor; Cleaning robot is by frame, by the metope place sucker is installed in the middle of the frame, the sucker rear end is equipped with vacuum air pump and thrust blower fan and two comprehensive wheels, the frame lower end is provided with the compound water tank of clean and dirt water and water supply and sewerage pipeline and system thereof, and frame is provided with two cleaning heads and electric control box composition by the two ends up and down of metope.

2. high building curtain wall teaching humanoid robot according to claim 1, it is characterized in that: the cleaning head that install the above and below of described frame, long tubular electricity Mao Shua Roll sub-component is arranged in the cleaning head, the outside is with outer cover, outer cover the place ahead at cleaning head all has the profiled seal rubber flap up and down, both sides also are provided with the sealing offset plate, also are provided with water inlet pipe and sewage return pipe on the cleaning head;

3. high building curtain wall teaching humanoid robot according to claim 1, it is characterized in that: the below of described frame is provided with the compound water tank of clean and dirt water, has one deck diaphragm of rubber that it is divided into filtered water tank and foul water tank two parts in the middle of water tank;

4. high building curtain wall teaching humanoid robot according to claim 1, it is characterized in that: described central rack is provided with rectangular magnetic chuck, the oblique rubber seal band of lip shape is housed on the edge of sucker, on the sucker middle housing, vacuum air pump is housed, the strong thrust blower fan is housed on the frame above the sucker simultaneously.

5. high building curtain wall teaching humanoid robot according to claim 1, it is characterized in that: comprehensive wheel is made up of the identical wheel carrier in the left and right sides, they interlaced 45 ℃ be connected together, every row's wheel carrier has spoke, symmetry is installed four Yao Gu Xing Roll on spoke, and there is single mandrel at the center of Yao Gu Xing Roll, and axle is to be supported by the U-shaped support, the U-shaped support is fixed on the spoke, and makes eight Yao Gu Xing Roll outer contours form a circle.