CN2631651Y - Cleaning robot for high-building external wall - Google Patents
Cleaning robot for high-building external wall Download PDFInfo
- Publication number
- CN2631651Y CN2631651Y CN 03266972 CN03266972U CN2631651Y CN 2631651 Y CN2631651 Y CN 2631651Y CN 03266972 CN03266972 CN 03266972 CN 03266972 U CN03266972 U CN 03266972U CN 2631651 Y CN2631651 Y CN 2631651Y
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- sucker
- walking
- cleaning
- robot
- water tank
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Abstract
The utility model discloses a teaching high-rise outer wall washing machine which is used to wash the curtain wall and the outer wall. The robot is composed of a walking lifter, a washing robot and a teaching electronic control system. The walking lifter does not have the function of memorizing the lifting height and the walking distance. The washing robot is connected with the lifter walking on the roof through wire ropes, which is equipped with a tension inductor to assure a security lifting. The washing robot has a movable double functional sucker of thrust and suction forces. The sucker is able to cling to the wall and get across the low arc obstacles. The up and down of the wall surface that the robot is close to are equipped with two electric brush rolls and a waste water disposal tank and a diving pump etc. After teaching demonstration, the robot is able to wash automatically, which is very convenient and safe to operate.
Description
Technical field
The utility model relates to high building curtain wall and outside Wall Cleaning equipment, a kind of specifically high building exterior wall cleaning machine device people who is exclusively used in the teaching type that cleans high-rise glass curtain wall and exterior wall.
Background technology
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 formation dirt and speckle influence daylighting and look into the distance.At present, mainly be to adopt the workman to be suspended in high aerial to the cleaning of high building outer 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 content
In order to overcome the deficiencies in the prior art, the utility model provides 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, sewage can reclaim automatically, and is free from environmental pollution, in light weight, be convenient to high building exterior wall cleaning machine device people safe and reliable to operation is installed.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of novel high building curtain wall teaching type cleaning robot is characterized in that: lift cleaning robot and teaching electric-control system three major parts by walking are formed.The lift of walking is by support, the hoist engine of charged magnetic code dish is installed on the support, be wound with two steel wire ropes 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 cabinet 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 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 brush roll sub-component is arranged in the cleaning head, 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 immersible 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 lift 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 lift 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 parts such as shell and some switches.
The beneficial effects of the utility model are: the central rack at cleaning robot is provided with rectangular magnetic chuck, 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.
Description of drawings
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.
1 track among the figure, 2 supports, 3 symmetrical wheels, 4 symmetrical wheels, 5 hinge wheels, 6 cycloid speed reducers, 7 minor sprockets, 8 chains, 9 electromagnetism code-discs, 10 reels, 11 cycloid speed reducers, 12 bearing supports, 13 electromagnetism code-discs, 14 guiding principle ropes, 15 pulleys, 16 cantilever Beam, 17 pulleys, 18 pulling force sensors, 19 horizontal Beam, 20 frames, 21 adjusters, 22 Electric brush of bristles cylinders, 23 outer covers, 24 special-shaped rubber flaps, 25 water inlet pipes, 26 sewage return pipes, the compound water tank of 27 clean and dirt waters, 28 diaphragm of rubber, 29 miniature immersible pumps, 30 little foul water tank, 31 immersible pumps, 32 water level switches, 33 drain plugs, 34 water inlets, 35 rectangular magnetic chucks, 36 rubber seal bands, 37 vacuum air pumps, 38 strong thrust blower fans, 39 comprehensive wheels, 40 spokes, 41 drum-shaped rollers, 42 axles, 43U shape support.
The specific embodiment
Embodiment 1:
See also among Fig. 1～Fig. 5 by the lift of walking, cleaning robot and teaching electric-control system three most compositions, the lift of walking is mounted on the roofdeck track (1), organic block (2) on the lift of walking, in support (2) below two secondary 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 (3) and (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; Wherein regulate the distance of cleaning robot and metope with the adjusting support (43) on the lift that is installed in walking.Electric brush of bristles cylinder (22) 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 power-on and power-off electric brush cylinders (22) water 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 level, has immersible 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 drum-shaped rollers (41) in the last symmetry of spoke (40) among Fig. 4 and Fig. 5, the center of drum-shaped roller (41) has single mandrel (42) to support drum-shaped roller (41) freely to rotate, axle (42) is to be supported by U-shaped support (43), U-shaped support (43) is fixed on the spoke (40), and makes eight drum-shaped rollers (41) outer contour form a circle.
Claims (5)
1. a novel high building exterior wall cleaning machine device people is characterized in that: by the lift of walking.Cleaning robot and teaching electric-control system three most compositions: the lift of walking is by support, the hoist engine of charged magnetic code dish is installed on the support, be wound with two steel wire ropes 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 cabinet 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 cabinet composition by the two ends up and down of metope.
2. high building exterior wall cleaning machine device people 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 exterior wall cleaning machine device people according to claim 1 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 exterior wall cleaning machine device people 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 exterior wall cleaning machine device people 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03266972 CN2631651Y (en) | 2003-06-27 | 2003-06-27 | Cleaning robot for high-building external wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03266972 CN2631651Y (en) | 2003-06-27 | 2003-06-27 | Cleaning robot for high-building external wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2631651Y true CN2631651Y (en) | 2004-08-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03266972 Expired - Fee Related CN2631651Y (en) | 2003-06-27 | 2003-06-27 | Cleaning robot for high-building external wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2631651Y (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102908110A (en) * | 2012-11-12 | 2013-02-06 | 李子超 | High-rise exterior wall cleaning machine |
| CN103100543A (en) * | 2012-12-31 | 2013-05-15 | 青特集团有限公司 | Heat treatment cooling slot cleaning device |
| CN103110396A (en) * | 2013-03-12 | 2013-05-22 | 贵州大学 | Automatic cleaning machine for high-rise buildings |
| CN101589936B (en) * | 2009-05-29 | 2013-10-02 | 宋树建 | Full automatic glass curtain wall cleaning machine |
| CN103673748A (en) * | 2013-12-23 | 2014-03-26 | 广西大学 | Automatic cleaning device for evaporating pot heat exchange tube |
| CN105625738A (en) * | 2015-12-29 | 2016-06-01 | 江阴皇润车业有限公司 | External wall cleaning machine |
| CN105795995A (en) * | 2016-05-07 | 2016-07-27 | 安徽科技学院 | High-rise wall-cleaning robot |
| CN106175616A (en) * | 2016-08-31 | 2016-12-07 | 安徽省炜思煜智能科技有限公司 | A kind of metope automatic cleaning system |
| CN106214052A (en) * | 2016-07-28 | 2016-12-14 | 河北工程大学 | Curtain cleaning sky vehicle control |
| CN106672103A (en) * | 2016-11-29 | 2017-05-17 | 湖北第二师范学院 | Internet-of-Things spider robot for cleaning and maintaining outer walls of tall buildings |
| CN108100956A (en) * | 2018-01-30 | 2018-06-01 | 南安市荣华机械科技有限公司 | One kind climbs wall puller system |
| CN110237590A (en) * | 2019-06-26 | 2019-09-17 | 钟治飞 | A kind of outlet pipe screen surface sundries cleaning equipment |
| CN110393468A (en) * | 2019-07-31 | 2019-11-01 | 淮北市腾威机械设备有限公司 | A kind of high building glass curtain wall walking cleaning device |
| CN110757277A (en) * | 2019-10-22 | 2020-02-07 | 南京航空航天大学 | High-rise outer wall polishing equipment |
| CN113697732A (en) * | 2020-05-21 | 2021-11-26 | 广东博智林机器人有限公司 | Outer wall processing device |
-
2003
- 2003-06-27 CN CN 03266972 patent/CN2631651Y/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101589936B (en) * | 2009-05-29 | 2013-10-02 | 宋树建 | Full automatic glass curtain wall cleaning machine |
| CN102908110A (en) * | 2012-11-12 | 2013-02-06 | 李子超 | High-rise exterior wall cleaning machine |
| CN103100543A (en) * | 2012-12-31 | 2013-05-15 | 青特集团有限公司 | Heat treatment cooling slot cleaning device |
| CN103110396A (en) * | 2013-03-12 | 2013-05-22 | 贵州大学 | Automatic cleaning machine for high-rise buildings |
| CN103673748A (en) * | 2013-12-23 | 2014-03-26 | 广西大学 | Automatic cleaning device for evaporating pot heat exchange tube |
| CN103673748B (en) * | 2013-12-23 | 2016-02-03 | 广西大学 | Evaporator heat exchanger tube automatic flushing device |
| CN105625738A (en) * | 2015-12-29 | 2016-06-01 | 江阴皇润车业有限公司 | External wall cleaning machine |
| CN105795995A (en) * | 2016-05-07 | 2016-07-27 | 安徽科技学院 | High-rise wall-cleaning robot |
| CN105795995B (en) * | 2016-05-07 | 2019-08-02 | 安徽科技学院 | A kind of high level wall surface cleaning robot |
| CN106214052B (en) * | 2016-07-28 | 2018-11-16 | 河北工程大学 | Curtain cleaning day vehicle control |
| CN106214052A (en) * | 2016-07-28 | 2016-12-14 | 河北工程大学 | Curtain cleaning sky vehicle control |
| CN106175616A (en) * | 2016-08-31 | 2016-12-07 | 安徽省炜思煜智能科技有限公司 | A kind of metope automatic cleaning system |
| CN106672103A (en) * | 2016-11-29 | 2017-05-17 | 湖北第二师范学院 | Internet-of-Things spider robot for cleaning and maintaining outer walls of tall buildings |
| CN106672103B (en) * | 2016-11-29 | 2023-01-24 | 湖北第二师范学院 | Internet of things spider robot for cleaning and maintaining outer wall of high building |
| CN108100956A (en) * | 2018-01-30 | 2018-06-01 | 南安市荣华机械科技有限公司 | One kind climbs wall puller system |
| CN110237590A (en) * | 2019-06-26 | 2019-09-17 | 钟治飞 | A kind of outlet pipe screen surface sundries cleaning equipment |
| CN110237590B (en) * | 2019-06-26 | 2021-12-28 | 西藏瑞华资本管理有限公司 | Water outlet pipe filter screen surface sundries cleaning equipment |
| CN110393468A (en) * | 2019-07-31 | 2019-11-01 | 淮北市腾威机械设备有限公司 | A kind of high building glass curtain wall walking cleaning device |
| CN110757277A (en) * | 2019-10-22 | 2020-02-07 | 南京航空航天大学 | High-rise outer wall polishing equipment |
| CN113697732A (en) * | 2020-05-21 | 2021-11-26 | 广东博智林机器人有限公司 | Outer wall processing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |