WO2018028707A1 - 墙面清洗机 - Google Patents

墙面清洗机 Download PDF

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Publication number
WO2018028707A1
WO2018028707A1 PCT/CN2017/097280 CN2017097280W WO2018028707A1 WO 2018028707 A1 WO2018028707 A1 WO 2018028707A1 CN 2017097280 W CN2017097280 W CN 2017097280W WO 2018028707 A1 WO2018028707 A1 WO 2018028707A1
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WO
WIPO (PCT)
Prior art keywords
wall
frame
cleaning
suction cup
motor
Prior art date
Application number
PCT/CN2017/097280
Other languages
English (en)
French (fr)
Inventor
柯干兴
Original Assignee
柯干兴
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 柯干兴 filed Critical 柯干兴
Publication of WO2018028707A1 publication Critical patent/WO2018028707A1/zh

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L3/00Safety devices for use in window-cleaning
    • A47L3/02Cages; Platforms
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00Cleaning windows
    • A47L1/02Power-driven machines or devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036Parts or details of the surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/4041Roll shaped surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072Arrangement of castors or wheels
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408Means for supplying cleaning or surface treating agents
    • A47L11/4088Supply pumps; Spraying devices; Supply conduits
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00Working measures on existing buildings
    • E04G23/002Arrangements for cleaning building facades

Definitions

  • the present invention belongs to B08, and relates to a building wall cleaning device, and particularly to a wall cleaning machine for high-rise buildings and for indoor wall cleaning.
  • the wall cleaning machine In order to solve the problem of passing obstacles (beams), the wall cleaning machine is designed to have a 3D function. In order to solve the problem of cleaning the gap between the wall panel blocks, we use a fixed column to fix the cleaning strip. And the cleaning strip is inserted into the gap between the plates, and a plate (platen frame) is pressed thereon to prevent the cleaning bar from falling off and being cleaned by the wall cleaning machine. [0014]
  • a wall cleaning machine (high altitude) of the present invention is characterized in that a crane hoists one or two frames, and at least one set of wall cleaning device with a cleaning head and a wiper mechanism is mounted on the frame. According to the need, the wall is cleaned by rollers, and the wiper is freely converted; and a track is installed with the adsorption device on the top and bottom, the track is lifted and lowered by a motor, and the adsorption device and the nozzle are mounted on the frame.
  • a wall cleaning machine (indoor) of the present invention characterized in that it comprises one or two frames, a frame having a suction device mounted thereon and a cleaning device with a cleaning roller and a wiper mechanism, which can be walled as needed Roller cleaning is performed on the surface, and the wiper is freely converted, and the nozzle is installed under the wiper mechanism.
  • the direction of rotation is driven by a motor.
  • the adsorption device comprises a suction cup, and a pressure sensor is mounted inside the suction cup.
  • the nozzle is mounted below the wiper mechanism.
  • the adsorption device comprises an electric push rod.
  • the frame has two, two frame sleeves, one of which has a suction cup device installed, and the other has a socket cleaning work piece, and the connection between the two frames is a small car, and the two frames can Realize the linkage of XY, the cleaning work piece can move along the Z direction, and the whole can realize the XYZ three-dimensional linkage.
  • the position is divided into an upper frame and a lower frame, and the upper and lower frames have casters and a bottom plate, and the height of the bottom plate from the ground is equivalent to that of the indoor wall beams.
  • the motor is operated to achieve a two-dimensional or three-dimensional state.
  • the wall cleaning machine of the invention is very efficient and very safe, and can be used for cleaning different wall cleanings, which can be suitable for cleaning high-altitude exterior walls, and can be suitable for wall cleaning such as subway stations, and can also be adapted. It has a certain arc surface cleaning, has strong adaptability, and is very industrially practical.
  • FIG. 1 is a schematic view showing the structure of a cleaning machine for cleaning a high-altitude external wall according to the present invention
  • FIG. 2 is a schematic view showing the structure of a washing machine for cleaning a high-altitude outer wall according to the present invention (will turn)
  • FIG. 3 is a schematic view showing the working principle of a cleaning machine for cleaning a high-altitude external wall according to the present invention
  • FIG. 4 is a schematic view showing the working principle of a cleaning machine for cleaning a high-altitude external wall according to the present invention
  • FIG. 5 is a schematic view showing the structure of a moving track of a washing machine for cleaning a high-altitude outer wall according to the present invention
  • FIG. 6 is a schematic structural view of a moving rail adsorption system of a cleaning machine for cleaning a high-altitude external wall according to the present invention
  • FIG. 7 is a schematic structural view of an electric push rod adsorption device according to the present invention.
  • FIG. 8 is a schematic view showing the structure of a moving track slider of a washing machine for cleaning a high-altitude outer wall according to the present invention
  • FIG. 9 is a schematic view showing the structure of a moving rail slider of a washing machine for cleaning a high-altitude outer wall according to the present invention (will turn
  • FIG. 10 is a schematic view showing the structure of a steerable slider of a washing machine for cleaning a high-altitude outer wall according to the present invention
  • FIG. 11 is a schematic view showing the structure of a moving rail slider car of a washing machine for cleaning a high-altitude outer wall according to the present invention
  • FIG. 12 is a partially enlarged schematic view showing a cleaning machine for cleaning a high-altitude external wall according to the present invention.
  • FIG. 13 is a schematic structural view of a cleaning work piece of the present invention.
  • FIG. 14 is a working principle diagram of the cleaning working piece of the present invention
  • FIG. 15 is a working principle diagram of the cleaning working piece of the present invention
  • 16 is a schematic structural view of a high-altitude wall cleaning machine of the present invention.
  • 17 is a schematic view showing the structure of a high-altitude wall cleaning machine of the present invention.
  • FIG. 18 is an enlarged schematic view showing a middle structure of a high-altitude wall cleaning machine of the present invention.
  • 19 is a schematic structural view of a small frame of a high-altitude wall cleaning machine of the present invention.
  • 20 is a schematic structural view of a small frame of a high-altitude wall cleaning machine of the present invention.
  • 21 is a schematic structural view of a cleaning work piece for a high-altitude wall cleaning machine of the present invention.
  • FIG. 22 is a schematic structural view of a cleaning work piece for a high-altitude wall cleaning machine of the present invention
  • FIG. 23 is a schematic structural view of a wall cleaning machine lifting system of the present invention.
  • FIG. 24 is a schematic structural view of a cleaning machine for a high-altitude wall cleaning machine of the present invention
  • FIG. 25 is a schematic structural view of a cleaning machine for a high-altitude wall cleaning machine of the present invention
  • FIG. 26 is a schematic structural view of a cleaning machine for a high-altitude wall cleaning machine of the present invention
  • FIG. 27 is a schematic structural view of the cleaning of the wall cleaning machine of the present invention.
  • FIG. 28 is a schematic view of cleaning a whole machine of the wall cleaning machine of the present invention (indoor subway station)
  • 29 is a schematic view of cleaning a complete machine of the wall cleaning machine of the present invention (indoor subway station)
  • FIG. 30 is a working principle diagram of the wall cleaning machine of the present invention (indoor subway station)
  • FIG. 31 Working principle diagram of the wall cleaning machine of the present invention (indoor subway station)
  • FIG. 32 is a schematic view of the large frame structure of the wall cleaning machine of the present invention (indoor subway station)
  • FIG 33 is a schematic view showing the structure of a small frame of the wall cleaning machine of the present invention (indoor subway station)
  • FIG. 34 is a schematic structural view of a wall cleaning machine pressure plate of the present invention (indoor subway station)
  • FIG. 35 Schematic diagram of the central lifting structure of the wall cleaning machine of the present invention (indoor subway station)
  • FIG. 36 is a schematic diagram of the central lifting work of the wall cleaning machine of the present invention (indoor subway station)
  • FIG. 37 is a schematic diagram of the central sliding operation of the wall cleaning machine of the present invention (indoor subway station)
  • FIG. 38 is a diagram showing the force analysis of the suction cup of the wall cleaning machine of the present invention in the presence of water.
  • a wall cleaning platform 2 a suction cup device 201, a lift motor 202, a cleaning work piece 203, a diverting pulley 204, and a distance sensor 205,
  • moving track system 3 track 301, shrink system 302, lifting member 304, track slider 305, space 306, suspension hole 307, mounting side plate 308, motor shaft 3021, linear reciprocating motor 3022, distance sensor 3023 , air pressure sensor 3024, suction cup 3025, vacuum pump 3026, wire rope 3027, limit pulley 3051, steering pulley 3052, frame 3053, track mounting hole 3054,
  • an extension arm 3021 a suction cup 3025, a distance sensor 3023, a vacuum pump 3026, an air pressure sensor 3024, a suction cup 3025,
  • column 700 small suspension column 701, round tube 702, square tube 703, beam 704,
  • moving rail car 8 drive motor 80, wheel (gear) 82, frame 83,
  • a wall cleaning machine integrally comprises three parts, and the wall cleaning platform 2, the wall of the crane 1 is lifted and lowered by the wire rope 101.
  • the suction cup device 201 and a rail slider 305 (not visible, 302 below) which is fixed to the middle (preferably upper and lower ends) of the wall cleaning platform 2, and a moving rail system 3.
  • Wall cleaning platform 2 In order to reduce the weight, a number of hollow columns are built and welded.
  • the feature of this structure is that the lifting of the wall cleaning platform 2 depends on the power of the crane 1 instead of the shearing force of the suction cup as the supporting force, that is, the pipe is rainy, and the influence on the wall cleaning platform 2 is also very high. small.
  • FIG. 1 Referring to FIG. 1, FIG. 3, FIG. 4, FIG. 5, FIG. 6, FIG.
  • the moving track system 3, FIG. 2, FIG. 3, FIG. 4, FIG. 5, FIG. 6, FIG. 7, includes: a track 301, and a shrinking system 302 mounted at both ends of the track, a track lifting motor 304 and a cleaning platform 2 Track slider 305 on.
  • the system starts up, the crane 1 lowers the wall cleaning platform 2 through the wire rope 101 to a suitable position, FIG. 3 and FIG. 6, the suction cup device 201 on the wall cleaning machine platform 2 is activated, FIG. 3, FIG. 4, linear reciprocating
  • the motor 3022 is started, the motor shaft 3021 is forward, a suction cup 3025 is fixed at the front end of the motor shaft, and the distance sensor 3023 is inside the suction cup.
  • the suction cup is continuously close to the wall to reach the set position, the distance sensor 3023 sends a signal, the suction cup stops forward, the vacuum pump 3026 (can be air compressor) Inhale the suction cup, the check valve is closed, the same air pressure sensor 3024 will continuously detect the air pressure inside the suction cup 3025, when the air pressure inside the suction cup 3025
  • Figure 8 is used to start the lifting and moving rail motor 304, and the moving rail system 3 is lowered. , the wall cleaning platform 2 started working.
  • the same air pressure sensor 3024 continuously detects the air pressure inside the suction cup 3025, and detects whether the air pressure inside the suction cup 3025 reaches the set value. If the set value cannot be reached within a certain time, the system will start to be used for Raise the track motor and change the position of the suction cup system until the air pressure inside the suction cup reaches the set value or an alarm is issued. The safety of the wall washer can be guaranteed throughout the working process.
  • the suction cup system 201 installed on the cleaning platform 2 is activated, and first the vacuum pump 3026 stops the suction.
  • the check valve is slammed, the suction cup 3025 is inflated, the suction cup is released, the linear reciprocating motor 3022 is reversed, and the signal is returned to the set position, and the signal is sent, the crane 1 is started, and the wall cleaning platform 2 is lowered along the moving rail 301.
  • the lower end of the wall cleaning platform 2 is close to the distance sensor 3023 below, a signal is sent and the crane 1 stops rotating.
  • the suction device 201 on the wall cleaning platform 2 can be similar to the suction system 302 of the moving rail, and the operation is not repeated here; in fact, the movement mode of the moving rail system 3 and the wall cleaning platform 2 can be as needed. Through the program or the sensor, it can ensure that the entire working system has at least 2 suction cups to hold the glass in any day.
  • the mobile track system 3 includes: a lift system 202, a track system 3, and a suction cup extension system 302.
  • the adsorption system of FIG. 5 includes a linear reciprocating motor (electric push rod) 3022, an extended shaft 3021 on the linear reciprocating motor, a 3021-side mounted suction cup 3025 on the motor shaft, a distance sensor 3023 and air mounted on the suction cup. Pressure sensor 3024, vacuum pump 3026 and check valve (not shown). 6, the track slider 305, the middle portion is a frame 3053, the inner frame of the frame 3053 is limited to the pulley 305 1, the middle of the limit pulley is a frame 3053 through which the track 301 passes, and the wire rope 3027 is provided.
  • the pulley 3052 of the timing belt steering, and the rail mounting hole 3054 through which the rail motor 304 passes, the rail slider 305 can be installed in the washing machine platform 2 1 or 2, in order to run more smoothly, it is better to install 2, the track 301 is preferably It is a lightweight long tube, and aluminum alloy is an option.
  • the moving rail system 3 is accessed by the mounting side plate 308, passes through the space 306 surrounded by the limit pulley 3051 of the track slider 305 of the frame structure, and has a solder mounting plate (not marked) on both sides of the bracket, There are hanging holes 307 on the plate, and there are also a hanging small holes 307 on both sides of the track slider 305.
  • the bearing can be formed into a suspension installation
  • the steerable track slider 305 the moving track trolley 8 is a frame 83 structure
  • the track The slider 305 corresponds to the limited position pulley 3051 inside the frame 83, the surrounding space 306, and the four sides of the frame structure have four wheels (gears) 82, at least one of which has a driving motor 80 (which can also be mounted on the track slider 305).
  • the gears are some racks, the racks are fixedly mounted on the brackets, and the moving rail system 3 is accessed by the mounting side panels 308 (not shown)
  • the moving rail system 3 is formed at a certain angle by the moving rail car 8 and the rail slider 305, so that the falling of the wall cleaning platform 2 also forms a certain angle.
  • FIG. 2 Referring to FIG. 2, FIG. 9, FIG. 10, FIG. 11
  • a track lift motor 304 is fixed on the upper suspension rail slider 305 of the bracket, a timing pulley 406 is fixed on the motor, and a timing pulley 406 is also fixed at the lower end of the bracket, and a timing belt passes through the two timing belts.
  • the wheel 406, and the middle of the track of the moving track system 3 is fixed on the timing belt, so that the moving track system 3 can be driven up or down.
  • the electric scraper 302 is used to pull the water scraper 2032 to wipe the water, wherein the nozzle 2033 is below the water scraper 2032, and a part of the sprayed water can reach below the water scraper 2032, thereby solving the problem of the wiper cleaning.
  • Lifting system installation can take many forms:
  • the wire rope 3027 is connected to the upper end of the moving rail 301, one end is connected to the lower end of the moving rail 301, and is connected to the lifting motor 304 through the diverting pulley 204, and a rack rail is laid on the working platform, and the lifting motor 3 is lifted. 04 Fixing a gear, the gear moves back and forth on the rack (not visible) to drive the moving rail to ascend or descend, Figure 7, the rope 3027 for lifting the moving rail.
  • a motor 304 is fixed on the upper end of the wall cleaning platform 2 (assumed upper end), a timing belt gear is mounted on the motor 304, and another timing belt gear is fixed on the lower end of the wall cleaning machine platform 2, two synchronized Between the pulleys is a timing belt, and the moving rail 301 is fixed on the timing belt, and the motor 304 rotates to drive the timing belt to move, thereby driving the lifting and lowering of the moving rail 301.
  • FIG. 2 and FIG. 3 this is a schematic diagram of the moving rail mounting structure of the wall cleaning machine.
  • the cleaning working piece 203 is raised or lowered by the lifting motor 202 to implement the wall surface.
  • Another lifting motor 304 motor passes the wire rope 3027, the diverting pulley 204, etc. to achieve the purpose of lifting the moving rail 3.
  • two lightweight columns are welded to form two frames.
  • the large frame 4 and the small frame 5 respectively.
  • the middle of the large frame is a channel 408, and the small frame 5 is sleeved in Outside the large frame 4, the junction of the small frame 5 and the large frame 4 is a small car 6, and the trolley 6 can drive the small frame 5 to slide over the channel 408 to realize the movement in the X-axis direction;
  • the motor 603, the motor 603 can move the small frame 5 in the Y direction through the motor shaft 604 (the trolley 6 can be installed with the track slider 60 7, the corresponding frame of the small frame 5 is installed with the track pillar 2033), and the four corners of the large frame 4 are mounted and adsorbed.
  • the device 20 1 has a cleaning work piece 203 mounted on the small frame 5, and the cleaning work piece 203 realizes the movement in the Z direction under the action of the lifting member 304 (this design has the function of the weight), so that the wall cleaning machine will With XYZ three-direction 3D function.
  • a nozzle can be placed on the cleaning work piece 203, even a high pressure spray gun;
  • the adsorption system can be installed on the same, which can be exactly the same as the adsorption systems 201 and 302. It is not discussed here.
  • the wall washing machine is lowered in the hoisting of the crane 1 and stops at the area to be operated.
  • the trolley 6 drives the suction device to stop in the middle of the large frame 4 (or as the origin of the machine movement). ), the linear reciprocating motor on the adsorption device of the trolley 6 is activated, the suction cup 3025 on the extension arm 3021 is continuously approaching the wall surface, the distance sensor 3023 sends a signal, the linear reciprocating motor stops rotating, and the vacuum pump is evacuated (not shown, the vacuum pump 3026 -
  • the air pressure sensor 3024 detects the air pressure in the suction cup 3025.
  • the linear reciprocating motor reverses and returns to the set position to stop (if the air pressure of the suction cup is detected during the predetermined time) If the set value is not reached, the linear motor will be reversed back to the origin, and the trolley will change position to restart the adsorption device.
  • the adsorption device 201 at the four corners of the large frame is activated. (Because the program is the same as the adsorption device on the trolley 6, it is not used here. Review);
  • the suction cup pressure of the adsorption device of the four corners of the large frame reaches the preset ⁇ , the suction pump of the adsorption device on the trolley 6 is closed, the check valve is released, the linear reciprocating motor is reversed, and the original point is returned, and the cleaning work piece 203 starts to follow the pre-preparation.
  • the program is used to clean the wall surface.
  • the adsorption device 201 is the same as the adsorption device of the above-mentioned trolley 6 (not discussed again), and the crane is lowered or raised by the wall cleaning machine.
  • the moving rail system is fixed at one end of the small frame 5 near the working surface, so that the trolley 6 here will no longer be equipped with the adsorption system, because the installation method can be the same as the first embodiment, and will not be discussed here. .
  • the trolley 6 drives the moving rail system to the middle of the large frame 4 to stop, and starts the operation, because the flow method can be exactly the same as the first embodiment, and will not be further discussed here.
  • the small frame 5 has a cleaning work piece 203, a track column 301, and a track slider 2033.
  • the cleaning work piece 203 is lifted and raised by the lift motor 202 to complete the cleaning work on the wall surface.
  • the cleaning work piece 203 is In the middle of the small frame 5, a track slider 2033 is fixed at the upper end of the small frame 5 by a track slider 2033 fixed thereon, and a track frame 306 has a track frame 306 at both ends and a small frame.
  • the columns on the 5 are connected to cooperate with the linear reciprocating motor 603 on the cart 6 of Fig. 33 to effect the movement of the small frame in the ⁇ direction;
  • Fig. 18 is a counterweight 505, and the lift motor is 202.
  • the roller 2031, the hanging member 2030, and the wiper member 2032 of the cleaning work piece are installed in different structures, and a common twisting function can be realized in different ways.
  • the rotating motor drives the timing belt through the synchronous wheel to drive the other A synchronous wheel rotates, and the synchronous pulley drives the screw to rotate.
  • the thread on the motor shaft and the threaded engagement on the screw are the state in which the drum and the wiper member of the cleaning work piece are twisted.
  • the middle part of the cleaning work piece is designed in the form of a small frame.
  • the cleaning roller and wiper unit can be moved farther apart during the boring process, which reduces the effect between the screw and the drum.
  • Mode 3 the structure uses two motors, which can be used because of the small stroke.
  • the motor connected to the small frame 6 is a motor with two different motors, one linear motor and one step motor.
  • FIG. 16, FIG. 17, FIG. 18 are different ways in which the carriage 6 is moved in the X direction (large frame passage 408), the first method: the rack and pinion, the second method: the screw and the nut, the third way Yes: Synchronous wheel timing belt
  • FIG. 28 is a simple wall cleaning machine for indoor wall cleaning, comprising a bracket with several columns welded, a caster under the bracket, and an adsorption device 201 installed at the top and bottom.
  • the adsorption device is relatively simple, and only the distance sensor is included in the suction cup, and includes a lifting motor 20311.
  • FIG. 35 which is a wall cleaning with two frames Machine, large frame 4, small frame 5, the bottom plate of the large frame 4 has three holes corresponding to the casters 501 of the small frame 5, and the wall surface is cleaned by a wall machine, and the small frame 5 is manually moved to the upper frame 4, through Obstruction (beam) ⁇ , the caster 501 of the small frame 5 is placed in the caster cover 5011 corresponding to the large frame 4 to pass.
  • FIG. 34 has a post 700 on the side of the large frame 4, and the platen frame 7 of FIG. 34 is hung by two small hanging studs 701, and the crucible is used, and only one side of the cleaning strip which is slightly larger than the slit is fixed on the inner tube. Insert the long strip of cleaning into the seam, turn the platen frame 7 and press the cleaning strip (not shown) into the seam to prevent it from falling out. Move the cleaning strip with the same wall cleaning machine to clean the seam.
  • FIG. 30, FIG. 31 is a view showing two different states in which the wall washing machine cleans the wall surface and passes the obstacle.
  • Caster 409, caster 501, caster cover 5011, 20311 are the highest point of the wall cleaning machine, suction cup 201, cleaning work piece 203.
  • Wall surface 100 It is obvious that the highest point of the wall cleaning machine 20311 is much larger than the wall surface 100, this is The state of the wall washing machine through the obstacle (beam).
  • the trolley 6 guide rail 411 on the large frame 4, the pressure plate frame 7 suspends the upright column 701, the pulley 409, the lifting beam 511 on the small frame 5, and the caster column 501 and the pulley 5011 of the small frame 5;
  • the platen frame 7 is composed of A plurality of round tubes 702 and two square tubes 703 are formed at a right angle with a suspension beam 704, and a rotating small column 701 and an anti-slip rubber sleeve (not shown).
  • FIG. 43 is a small frame upper structure, and it is noted that in order to reduce the area that cannot be cleaned, the motor 20311, the synchronous wheel 502, and the timing belt 503 can be placed below the current position.
  • [0139] is a schematic structural view of the trolley 6 and the installation.
  • One motor drives the rotation of the other synchronous wheel through the synchronous belt of the synchronous gear 402.
  • One end of the synchronous belt is fixed on the lifting beam 511 of the small frame 5, and the other end is fixed on a gear, and the small frame 5 is raised by the rotation of the gear.
  • the motor shaft rotates to drive the nut fixed on the small frame lifting beam 511, so that the small frame 5 is raised or lowered to realize the movement in the Y direction (similar to the structure discussed above).
  • the motor 20311 lifting cleaning work piece 203 is a wall cleaning machine that realizes the Z-direction movement.
  • the rotation of the caster 409 of the large frame can bring about the movement in the X direction, so that the wall washing machine realizes the linkage of X-YZ.
  • 27 is an orbital column widely used in the present invention.

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Abstract

一种墙面清洗机,包括一个或两个框架(4,5),大框架(4)上固定有2~4个吸盘,小框架(5)上固定有自由升降的清洁工作件(203),大框架(4)和小框架(5)之间由小车(6)连接,小车(6)带动小框架(5)在通道(408)上滑动实现X轴方向运动;小车(6)上安装有至少有一个电机(603)带动小框架(5)沿Y方向运动,清洁工作件(203)在提升部件(304)的作用下实现Z方向的运动,从而实现三维清洁。

Description

发明名称:墙面清洗机
技术领域
[0001] 本发明属于 B08, 涉及一种建筑墙面清洗设备, 具体涉及一种用于高层建筑和 用于室内墙面清洗的墙面清洗机。
[0002]
背景技术
[0003] 室外高空墙面清洗, 洗外墙是一种高危的工作, 经常发生事故。 (1) 我们研 究发现, 洗外墙是最怕 "悬空", 在作业的吋候没办法用到吸盘的吋候, 例如, 在 擦窗机, 吊篮下降的吋候, 必须解幵吸盘然后才能下降, 也就在解幵吸盘的那 段吋间, 突然来了一阵风, 擦窗机或吊篮出现摇晃, 再加上作业者心慌, 晃动 会越来越大, 最后造成事故; 在墙面清洁机洗外墙的过程中怎样才能让吸盘保 持对墙面持续保持吸附, 这是增加墙面清洁机安全性关键所在, 这也是一个经 过我们研究发现的重大问题; 同吋这也是降低吸附装置难度的一种方法。 (2) 现在很多高楼, 是下面大, 上面小, 要机械清洗这样的高楼是很难的。 (3) 洗 外墙的吋候用到水刮, 但是水刮刮墙面会脏的, 脏了以后刮墙面效果就很不好 (4) 本人申请的 201580002915.9发明, 是一个很好的发明, 完全模仿人工清洗 玻璃的方法, 是清洗玻璃的最佳方式, 经过我们研究发现, 我们这个解决方案 同样具有巨大的安全隐患, 那就是在下降的过程中的不稳定, 碰到大风很容易 出事故等问题。
[0004] (5) 光滑的墙面上经常会有不平的墙面, 吸盘吸附墙面的吋, 吸盘上的距离 传感器会为距离到达设定范围而发出信号, 但事实上吸盘会因为墙面的不平而 漏气, 吸盘并没有吸住墙面, 例如, 吸盘落在玻璃和玻璃之间的连接处, 造成 生产不能继续进行甚至带来事故发生。
[0005] (6) 我们也发现, 当吸盘吸附有水玻璃的吋, 吸盘的横向的剪切力会大幅度 减少, 很容易出现打滑现象, 垂直方向的力影响有限; 很多科学家在研究玻璃 幕墙机器人, 都用到吸盘的横向剪切力来做爬行机器人支撑力, 这种机器人最 大的缺点, 那就是不能用水, 究其根本的原因是因为吸盘有水以后, 其横向剪 切力会急剧下降打滑而不能工作, 但对于垂直的拉力却影响有限, 但我们都知 道, 洗外墙是少不了用水, 这就是爬行机器人失败的根本原因。
[0006] (7) 要清洗的外墙有很多种, 201580002915.9比较适用一大块玻璃, 我发现, 有很多玻璃是一大块玻璃有若干小块玻璃组成, 玻璃之间有横条隔幵, 类似这 样的玻璃就很难洗了。
[0007] (8) 我们知道, 因为作用力和反作用力的问题, 在空中同吋用四个吸盘吸附 墙面会很困难, 降低吸盘吸附的难度是我们研究的课题。
[0008] 室内墙面清洗
[0009] (9) 目前我们还没有发现用于例如: 地铁站墙面的清洗机装置, 20158000291
5.9可以用于清洗墙面, 并且公幵了回收废水的方案, 但是, 当我们用墙面清洗 机清洗墙面的吋候我们会发现, 室内有很多横梁, 而且通过横梁的设计必然要 使一部分墙面机器会洗不了, 我们设计的自动化的机器必须能能通过这横梁的 功能, 怎样通过横梁, 怎样减少不能清洗的面积是我们要考虑的事情。
[0010] (10) 现在很多墙面是由塑料板拼合而成, 为了减少热胀冷缩变形等, 中间留 一条缝, 在我们清洗墙面的过程中, 这些缝就成了清洁的死角, 很多污水会流 到缝那个地方, 这个地方会很难清洗。
技术问题
[0011] 室外: 为了防止使用吸盘的剪切力, 我们提供一种有吊车的墙面清洗机, 为了 增加在升降的过程中的安全性 (特别是下降的过程中) , 我们为墙面清洗机升 降的过程铺设轨道, 同吋也为轨道的升降铺设轨道, 为了增加吸附的可靠性, 我们在吸盘里面增加检测吸盘里面空气压力的传感器, 为了应付多样性墙面的 问题, 我把墙面机设计成具有 3D功能。
[0012]
[0013] 室内: 同样为了解决通过障碍物 (横梁) 的问题, 将墙面清洁机设计成具有 3D 功能, 为了坚解决墙面板块之间缝隙的清洁问题, 我们采用在一立柱固定清洁 条, 并且将清洁条塞入板块之间的缝隙, 在其上面压上一块板 (压板框架) , 防止清洁条掉下来, 在墙面清洁机的拖动下清洁。 [0014]
问题的解决方案
技术解决方案
[0015] 本发明的一种墙面清洗机 (高空) 其特征包括一个吊车吊动一个或两个框架, 一个框架上至少装有一套带有清洗头和刮水机构的墙面清洗装置, 可以根据需 要对墙面进行辊筒清洗, 和刮水自由转换; 和一条上下安装有吸附装置的轨道 , 轨道在一电机的带动下升降, 框架上安装吸附装置和喷嘴。
[0016] 本发明的一种墙面清洗机 (室内) , 其特征包括一个或两个框架, 有个框架上 有安装吸附装置和带有清洗滚筒和刮水机构清洗装置, 可以根据需要对墙面进 行辊筒清洗, 和刮水自由转换, 在刮水机构下面安装喷嘴。
[0017] 优选地在一电机的带动下会转动方向。
[0018] 优选地吸附装置包括吸盘, 吸盘里面安装有压力传感器。
[0019] 优选地喷嘴安装在刮水机构下面。
[0020] 优选地吸附装置包含有电动推杆。
[0021] 优选地框架有两个, 两个框架套接, 其中一个有安装吸盘装置, 另外一个有套 接清洁工作件, 两个框架之间的连接物是一小车, 两个框架之间能实现 X-Y的联 动, 清洁工作件可以沿着 Z方向运动, 整体能实现 X-Y-Z三维联动。
[0022] 优选地框架有两个, 位置分为上框架和下框架, 上下框架都有脚轮和一底板, 底板距离地面的高度和室内墙面横梁相当。
[0023] 优选地框架上还有可以转向的压板。
[0024] 优选地是由电机运转实现二维或三维状态。
[0025]
发明的有益效果
有益效果
[0026] 首先, 本发明墙面清洗机非常高效, 而且非常安全, 能实现清洗不同的墙面清 洗, 既能适合高空外墙的清洗, 又能适合地铁站等墙面的清洗, 还能适合有一 定弧面墙面的清洗, 有很强的适应性, 非常具有工业实用性。
[0027] 。 对附图的简要说明
附图说明
[0028] 高空墙面:
[0029] 图 1 本发明一种清洗高空外墙的清洗机结构示意图
[0030] 图 2本发明一种清洗高空外墙的清洗机结构示意图 (会转向)
[0031] 图 3本发明一种清洗高空外墙的清洗机工作原理示意图
[0032] 图 4本发明一种清洗高空外墙的清洗机工作原理示意图
[0033] 图 5本发明一种清洗高空外墙的清洗机移动轨道结构示意图
[0034] 图 6本发明一种清洗高空外墙的清洗机移动轨道吸附系统结构示意图
[0035] 图 7本发明一种电动推杆吸附装置结构示意图
[0036] 图 8本发明一种清洗高空外墙的清洗机移动轨道滑块结构示意图
[0037] 图 9本发明一种清洗高空外墙的清洗机移动轨道滑块结构示意图 (会转向
[0038] 图 10本发明一种清洗高空外墙的清洗机可转向滑块结构示意图
[0039] 图 11本发明一种清洗高空外墙的清洗机移动轨道滑块小车结构示意图
[0040] 图 12本发明一种清洗高空外墙的清洗机局部放大结构示意图
[0041] 图 13本发明清洗工作件结构示意图
[0042] 图 14本发明清洗工作件工作原理图
[0043] 图 15本发明清洗工作件工作原理图
[0044] 图 16本发明一种高空墙面清洗机结构示意图
[0045] 图 17本发明一种高空墙面清洗机结构示意图
[0046] 图 18本发明一种高空墙面清洗机中部结构放大示意图
[0047] 图 19本发明高空墙面清洗机小框架一种结构示意图
[0048] 图 20本发明高空墙面清洗机小框架一种结构示意图
[0049] 图 21本发明高空墙面清洗机清洗工作件一种结构示意图
[0050] 图 22本发明高空墙面清洗机清洗工作件一种结构示意图
[0051] 图 23本发明墙面清洗机提升系统一种结构示意图
[0052] 图 24本发明高空墙面清洗机清洗小车的一种结构示意图
[0053] 图 25本发明高空墙面清洗机清洗小车的一种结构示意图 [0054] 图 26本发明高空墙面清洗机清洗小车的一种结构示意图
[0055] 图 27本发明墙面清洗机清洗使用导轨的一种结构示意图
[0056] 图 28本发明墙面清洗机清洗一种整机示意图 (室内地铁站)
[0057] 图 29本发明墙面清洗机清洗一种整机示意图 (室内地铁站)
[0058] 图 30本发明墙面清洗机工作原理图 (室内地铁站)
[0059] 图 31本发明墙面清洗机工作原理图 (室内地铁站)
[0060] 图 32本发明墙面清洗机大框架结构示意图 (室内地铁站)
[0061] 图 33本发明墙面清洗机小框架结构示意图 (室内地铁站)
[0062] 图 34本发明墙面清洗机压板结构示意图 (室内地铁站)
[0063] 图 35本发明墙面清洗机中部提升结构示意图 (室内地铁站)
[0064] 图 36本发明墙面清洗机中部提升工作原理图 (室内地铁站)
[0065] 图 37本发明墙面清洗机中部滑行工作原理图 (室内地铁站)
[0066] 图 38本发明墙面清洗机的吸盘在有水的环境下受力分析图
[0067]
[0068] 吊车 1, 钢丝绳 101,
[0069] 墙面清洗平台 2, 吸盘装置 201, 提升电机 202, 清洁工作件 203, 转向滑轮 204 , 距离传感器 205,
[0070] 挂件 2030, 滚筒 2031, 水刮 2032, 喷嘴 2033, 升降电机 20311。
[0071]
[0072] 移动轨道系统 3, 轨道 301, 收缩系统 302, 提升部件 304, 轨道滑块 305, 空间 3 06, 悬挂小孔 307, 安装侧板 308, 电机轴 3021, 直线往复电机 3022, 距离传感 器 3023, 空气压力传感器 3024, 吸盘 3025, 真空泵 3026, 钢丝绳 3027, 限位滑 轮 3051, 转向的滑轮 3052, 框体 3053, 轨道安装孔 3054,
[0073] 伸出臂 3021, 吸盘 3025, 距离传感器 3023, 真空泵 3026, 空气压力传感器 3024 , 吸盘 3025,
[0074] 大框架 4, 齿轮 402, 同步带轮 406, 通道 408, 导轨 411, 滑轮 409,
[0075] 小框架 5, 脚轮 501, 脚轮套 5011同步轮 502, 同步带 503, 配重 505, 提升横梁 5 11, [0076] 小车 6, 直线往复电机 603, 电机轴 604, 轨道滑块 607,
[0077] 立柱 700, 小悬挂立柱 701, 圆管 702, 方管 703, 横梁 704,
[0078] 移动轨道小车 8, 驱动电机 80, 轮子 (齿轮) 82, 框架 83,
[0079] 墙面 100, ,
[0080]
实施该发明的最佳实施例
本发明的最佳实施方式
[0081] 室外高空
[0082] 实施例一;
[0083] 如图 1, 图 3, 图 4, 图 5, 图 6所示, 一种墙面清洗机整体上包括三大部分, 吊 车 1通过钢丝绳 101吊动升降的墙面清洗平台 2, 墙面清洗平台 2上四角有安装吸 盘装置 201及安装固定在墙面清洗平台 2中部 (优选上下两端) 的轨道滑块 305 ( 看不见, 302下面) , 及移动轨道系统 3。 墙面清洗平台 2为了减轻重量, 由若干 中空立柱搭建焊接而成。
[0084] 此结构的特点是, 墙面清洗平台 2的升降是依靠吊车 1的动力, 而不是吸盘的剪 切力作为支撑力, 即管是下雨天, 对墙面清洗平台 2的影响也很小。
[0085] 参照图 37, 当墙面有水的吋候, 吸盘 A方向的力影响很小, 但 B方向的力的影 响就很大, 会出现打滑的现象。 我们的墙面清洗机在使用吊车 1的情况下, 吸盘 的吸力并不是作为墙面清洗机的支撑力, 即 B方向的力, 而是用到 A方向的力。
[0086] 参照图 1, 图 3, 图 4, 图 5, 图 6, 图 7
[0087] 移动轨道系统 3图 2, 图 3, 图 4, 图 5, 图 6, 图 7, 包括: 轨道 301, 及装在轨道 两端的收缩系统 302, 轨道提升电机 304及安装在清洗平台 2上的轨道滑块 305。
[0088] 系统幵始启动, 吊车 1通过钢丝绳 101下降墙面清洗平台 2到合适的位置, 图 3图 6, 墙面清洗机平台 2上的吸盘装置 201启动, 图 3, 图 4, 直线往复电机 3022启动 , 电机轴 3021向前, 电机轴前端固定一吸盘 3025, 吸盘里面的距离传感器 3023 , 吸盘不断靠前靠近墙面, 到达设定位置, 距离传感器 3023发出信号, 吸盘停 止向前, 真空泵 3026 (可以是空压机) 对吸盘吸气, 单向阀关闭, 同吋空气压 力传感器 3024会不断检测吸盘 3025里面的空气压力, 当吸盘 3025里面空气压力 到达设定数值, (如果在特定吋间内都达不到设定数值, 就会通知吊车通过提 升改变吸盘位置), 图 8用于升降移动轨道电机 304启动, 移动轨道系统 3下降, 同 吋, 墙面清洗平台 2幵始工作。
(如图 7, 图 12, 图 13, 图 14这个原理是跟电动推杆是一样, 电动推杆往往里 面有内置传感器。 )
[0090] 当移动轨道系统上端的传感器 3023靠近墙面清洁平台 2上端吋是停止, 同吋, 移动轨道系统 3上下两端的吸盘伸出系统 302启动, 电机轴 3021向前, 电机轴 302 1前端固定一吸盘 3025, 吸盘里面的距离传感器 3023和空气压力传感器 3024, 吸 盘不断靠前靠近墙面, 到达设定位置, 距离传感器 3023发出信号, 吸盘 3025停 止向前, 真空泵 3026对吸盘吸气, 单向阀关闭, 同吋空气压力传感器 3024不断 检测吸盘 3025里面的空气压力, 检测吸盘 3025里面空气压力是否到达设定数值 , 如果在特定的吋间都不能达到设定数值吋, 系统会启动用于提升轨道电机, 改变吸盘系统的位置, 直到吸盘里面的空气压力可以达到设定数值, 或者发出 警报。 可以保证墙面清洗机在整个工作过程的安全性。
[0091] 当移动轨道上的吸盘 3025里面的空气压力到达设定値, 并且墙面清洗平台 2完 成了工作, 安装在清洗平台上 2的吸盘系统 201就会启动, 首先真空泵 3026停止 吸气, 单向阀打幵, 向吸盘 3025充气, 吸盘放幵, 直线往复电机 3022反转, 回 到设定的位置, 发出信号, 吊车 1会启动, 让墙面清洗平台 2沿着移动轨道 301下 降, 当墙面清洗平台 2下端靠近下面的距离传感器 3023是, 发出信号, 吊车 1停 止转动。
[0092] 墙面清洗平台 2上的吸盘装置 201跟移动轨道的吸盘系统 302工作方式可以类似 , 在这不做重复; 实际上移动轨道系统 3和墙面清洗平台 2的运动方式是可以根 据需要, 通过程序或传感器来实现, 可以保证整个工作系统在任何吋间都至少 有 2个吸盘吸住玻璃。
[0093] 移动轨道系统 3包括: 提升系统 202, 轨道系统 3, 吸盘伸出系统 302。
[0094] 图 5吸附系统包括, 直线往复电机 (电动推杆) 3022, 直线往复电机上的伸出 轴 3021, 电机轴上 3021—端安装的吸盘 3025, 安装在吸盘上的距离传感器 3023 和空气压力传感器 3024, 真空泵 3026和单向阀 (没画出) 。 [0095] 图 6, 图 8轨道滑块 305, 中间部分是一框体 3053, 框体 3053内部有限位滑轮 305 1, 限位滑轮的中部是轨道 301通过的框体 3053, 有供钢丝绳 3027或同步带转向 的滑轮 3052, 及轨道电机 304通过的轨道安装孔 3054, 轨道滑块 305可以在清洗 机平台 2安装 1~2个, 为了运行更加平稳, 最好是安装 2个, 轨道 301最好是轻质 长管, 铝合金是个选项。
[0096] 参照图 2, 图 9, 图 10, 图 11
[0097] 移动轨道系统 3由安装侧板 308进入, 穿过 (可转向) 框架结构的轨道滑块 305 里面限位滑轮 3051包围的空间 306, 支架两边上有焊接安装板 (没标) , 安装板 上有悬挂小孔 307, 轨道滑块 305两边同样各有一个悬挂小孔 307, 利用螺杆, 轴 承可以形成悬挂安装, 可转向轨道滑块 305, 移动轨道小车 8是一框架 83结构, 与轨道滑块 305相对应, 框架 83里面有限位滑轮 3051, 包围的空间 306, 框架结 构的两边有四个轮子 (齿轮) 82, 至少有一驱动电机 80 (也可以安装在轨道滑 块 305上) , 配合齿轮的是一些齿条, 齿条固定安装在支架上, 移动轨道系统 3 由安装侧板 308进入 (没标出)
[0098] 移动轨道系统 3在移动轨道小车 8和轨道滑块 305的带动下, 形成一定的角度, 这样墙面清洗平台 2下降的吋候也会形成一定的角度。
[0099] 参照图 2, 图 9, 图 10, 图 11
[0100] 在支架的上端悬挂轨道滑块 305上固定一轨道提升电机 304, 电机上固定一同步 带轮 406, 在支架的下端同样固定一同步带轮 406, 有一同步带穿过两个同步带 轮 406, 并将移动轨道系统 3的轨道中部固定在同步带上, 这样就可以带动移动 轨道系统 3上升或下降。
[0101] 参照图 13, 图 14, 图 15
[0102] 采用电动推杆 302拉动水刮 2032刮水, 其中喷嘴 2033在水刮 2032的下方, 其喷 出的水有一部分可以到达水刮 2032下面, 从而解决水刮清洗的问题。
[0103]
[0104] 提升系统安装可以采用很多形式:
[0105] ( 1) 钢丝绳 3027—端连接移动轨道 301上端, 一端连接移动轨道 301下端, 通 过转向滑轮 204与提升电机 304相连, 工作平台上下铺设一齿条轨道, 提升电机 3 04固定一齿轮, 齿轮在齿条 (看不见) 上来回运动带动移动轨道上升或下降, 图 7, 用于升降移动轨道的钢丝绳 3027。
[0106] (2) 采用一个电机 304固定在墙面清洗平台 2上端 (假设上端) , 电机 304上安 装一同步带齿轮, 另外一个同步带齿轮固定在墙面清洗机平台 2下端, 两个同步 带轮之间是同步带, 将移动轨道 301固定在同步带上面, 电机 304转动带动同步 带运动, 从而带动移动轨道 301的升降。
[0107] (3) 也可以采用电机带动, 丝杆带动螺母, 螺母固定在移动导轨的移动的形 式, 但丝杆比较重。
[0108] 参照图 2图 3, 这是墙面清洗机的移动轨道安装结构示意图, 有两个提升电机 30 4和 202, 清洁工作件 203在提升电机 202的带动下上升或下降对墙面实施清洗; 另外一个提升电机 304电机通过钢丝绳 3027, 转向滑轮 204等来达到升降移动轨 道 3的目的。
[0109] 其中 205用来安装距离传感器, 雷达等, 防止碰到障碍物。
[0110] 实施例二;
[0111] 具有两种方式可以降低吸附装置 201吸附墙面的难度。
[0112] 方式一;
[0113] 参照图 16, 图 17, 图 18;
[0114] 这是一种具有 3D功能的墙面清洗机, 特别适合有几块玻璃组合而成, 中间有隔 条隔幵, 典型的是住宅的窗户的清洗。
[0115] 首先由若干轻质柱子 (铝合金) 焊接而成两个框架, 为了方便区分我们分别叫 大框架 4, 和小框架 5, 大框架的中部是一条通道 408, 小框架 5套接在大框架 4外 面, 小框架 5和大框架 4的连接处是一小车 6, 小车 6可以带动小框架 5在通道 408 上面滑动, 实现 X轴方向的运动; 同吋, 小车 6上面安装至少有一个电机 603, 电 机 603可以通过电机轴 604使小框架 5朝着 Y方向运动 (小车 6可以安装轨道滑块 60 7, 小框架 5相应的地方安装轨道柱子 2033) , 大框架 4的四角有安装吸附装置 20 1, 小框架 5上有安装清洁工作件 203, 清洁工作件 203在提升部件 304 (这种设计 有配重的作用) 的作用下实现 Z方向的运动, 这样, 墙面清洗机就会有了 X-Y-Z 三个方向 3D功能。 在清洁工作件 203上可以安放喷嘴, 甚至是高压喷枪; 小车 6 上可以安装吸附系统, 可以跟吸附系统 201和 302完全相同, 这里就不在论述了
[0116]
[0117] 使用的吋候, 墙面清洗机在吊车 1的吊动下降, 来到要工作的区域停下, 首先 小车 6带动吸附装置到大框架 4的中部停下 (或者作为机器运动的原点) , 小车 6 的吸附装置上的直线往复电机启动, 伸出臂 3021上吸盘 3025不断的向墙面靠近 , 距离传感器 3023发出信号, 直线往复电机停止转动, 真空泵抽空, (没画出 , 真空泵 3026—样) 空气压力传感器 3024检测吸盘 3025里的空气压力, 如果检 测压力达到设定値, 直线往复电机反转, 回到设定的地方停止后, (如果检测吸 盘的空气压力在预定吋间都达不到设定值, 直线电机会反转回到原点, 小车改 变位置重新启动吸附装置)大框架 4四角的吸附装置 201启动, (因为程序跟小车 6 上面的吸附装置是一样的, 这里不作评述) ;
[0118]
[0119] 大框架四角的吸附装置的吸盘压力达到预设値, 小车 6上的吸附装置真空泵关 闭, 单向阀放幵, 直线往复电机反转, 回到原点, 清洁工作件 203幵始按照预设 程序对墙面进行清洗, 完成清洗后, 吸附装置 201程序跟上述小车 6的吸附装置 一样 (不再论述) , 吊车吊着墙面清洗机下降或上升。
[0120] 方式二,
[0121] 将移动轨道系统固定在小框架 5靠近工作面的一端, 这吋在这里的小车 6将不再 安装吸附系统, 因为安装的方法可以跟实施例一一样, 在这里就不再论述。
[0122] 使用的吋候, 小车 6带动移动轨道系统到大框架 4的中部停下, 幵始作业, 因为 流程方法跟实施例一可以完全相同, 这里就不作进一步论述了。
[0123] 这是小车 6运行的两种不同的方式, 方式一, 电机 401转动带动丝杆 402转动, 与固定在小车 6上的螺母 606配合, 小车可以在丝杆上来回运动通道 408; 方式二 , 是一个电机通过带动同步轮转动, 同步轮带动同步带转动, 同步带的转动会 带动固定在同步带上的小车在通道 408来回运动; 方式三, 在通道 408铺设齿条 或同步带 (没画出) , 小车 6安装电机和齿轮, 这样小车就可以在通道 408来回 运动。 [0124] 图 19, 图 20 Y方向运动
[0125] 小框架 5, 小框架 5上有清洁工作件 203, 轨道柱子 301, 轨道滑块 2033, 清洁工 作件 203是通过提升电机 202来升降完成对墙面的清洗工作, 清洁工作件 203是通 过固定在其上面的轨道滑块 2033与固定在小框架上的轨道柱子 301相配合, 在小 框架 5的中部, 小车 6上端固定一个轨道滑块 2033, 有一条轨道柱子 306两端与小 框架 5上的柱子相连, 与图 33小车 6上的直线往复电机 603配合, 使小框架实现 Υ 方向的运动; 图 18配重 505, 提升电机为 202。
[0126] 清洁工作件的滚筒 2031, 挂件 2030, 刮水部件 2032不同结构的安装方式, 不同 的方式都可以实现一个共同的幵合功能, 方式一, 转动的电机通过同步轮带动 同步带带动另外一个同步轮转动, 同步带轮带动螺杆转动, 通过电机轴上的螺 纹及螺杆上的螺纹配合就是使清洁工作件的滚筒及刮水部件产生幵合的状态。 方式二, 清洁工作件中部挂件设计成一个小框架的形式。 清洁滚筒和刮水部件 在幵的过程中能离得更远, 合的过程中能减少螺杆与滚筒之间的影响。 方式三 , 其结构使用两个电机, 因为行程很少, 也可以使用。
[0127] 是小车 6与小框架相连的电机采用两种不同的电机, 一个直线电机, 一个为步 进电机。
[0128] 图 16, 图 17, 图 18是小车 6在做 X方向 (大框架通道 408) 运动是采用的不同方 式, 方式一: 齿轮齿条, 方式二: 丝杆和螺母, 第三种方式是: 同步轮同步带
[0129]
[0130] 低空墙面:
[0131] 图 28这是一台简单的用于室内墙面清洗的墙面清洗机, 包括有几根立柱焊接而 成的支架, 支架下面有脚轮, 在顶部和底部安装有吸附装置 201, 这个吸附装置 比较简单, 吸盘里面只有距离传感器, 包括一升降电机 20311。
[0132] 是一个人手推动墙面清洗机, 当四个吸盘碰到墙壁吋, 吸盘里面的距离传感器 就会发出信号, 真空泵就会幵启, 单向阀紧闭, 吸盘 201吸住墙面, 喷水一滚 筒清洗…-刮掉污水…-完成清洗…-真空泵关闭, 单向阀打幵。
[0133] 图 29, 图 30, 图 31, 图 32, 图 33, 图 34, 图 35这是一个有两个框架的墙面清洗 机, 大框架 4, 小框架 5, 大框架 4的底板有三个孔与小框架 5的脚轮 501对应, 使 用墙面机清洗墙面吋, 人手工搬动小框架 5到大框架 4上面, 通过障碍物 (横梁 ) 吋, 将小框架 5的脚轮 501放进大框架 4对应的脚轮套 5011即可通过。
[0134] 图 34大框架 4傍边有一立柱 700, 图 34压板框架 7通过两个小悬挂立柱 701, 挂起 来, 使用吋, 只需将稍微比缝大点的清洁条一边固定在内侧圆管上, 把长条的 清洁条塞进缝里, 转动压板框架 7, 将清洁条 (没画出) 压入缝中防止其脱落。 同吋墙面清洁机的移动拖动清洁条清洁缝。
[0135] 中间部分有运动小车 6。
[0136] 图 30, 图 31是墙面清洗机清洗墙面及通过障碍物是的两种不同状态。 脚轮 409 , 脚轮 501, 脚轮套 5011, 20311是墙面清洗机的最高点, 吸盘 201, 清洁工作件 203.墙面 100.很明显墙面清洗机最高点 20311距离墙面 100大很多, 这就是墙面清 洗机通过障碍物 (横梁) 吋的状态。
[0137] 大框架 4上的小车 6导轨 411, 压板框架 7悬挂立柱 701, 滑轮 409, 小框架 5上的 提升横梁 511及小框架 5的脚轮立柱 501及滑轮 5011 ; 图 42, 压板框架 7由几条圆 管 702及两根方管 703, 成直角有一悬挂横梁 704, 及转动小柱子 701和防滑胶套 (没标出) 组成。
[0138] 图 43是小框架上面结构, 注意为了减少不能清洗的面积, 可以将电机 20311, 同步轮 502, 同步带 503放到现吋位置的下方。
[0139] 是小车 6和安装的结构示意图。 一个电机, 通过同步齿轮 402同步带带动另外一 个同步轮的转动, 同步带的一端固定在小框架 5提升横梁 511上, 另外一端固定 在一个齿轮上, 通过齿轮的转动来提升小框架 5, 达到避幵障碍物 (横梁) 的目 的; 提升系统的另外一种方式, 一个电机, 通过一个同步轮同步带来带动另外 一个同步轮, 进而带动另外一个固定在同步轮上的螺杆, 螺杆及有螺纹的电机 轴转动, 带动固定在小框架提升横梁 511上面的螺母, 这样就提升或下降了小框 架 5, 实现 Y方向的运动 (类似结构前面有论述) 。
[0140] 电机 20311升降清洁工作件 203是墙面清洗机实现 Z方向的运动。
[0141] 同吋, 大框架的脚轮 409转动可带来 X方向的运动, 这样墙面清洗机就实现了 X -Y-Z的联动。 [0142] 图 27, 是轨道柱子, 在本发明中广泛使用。
[0143] 我们可以使用齿轮松紧的设计模式, 用螺杆套接同步带轮 (可以其他) 和一带 槽的轮架及一边一块压板, 压板的另外一边焊接螺杆套接螺母。
[0144]
工业实用性
[0145] 很明显墙面清洗机具有非常高的工业实用性。

Claims

权利要求书
[权利要求 3] 根据权利要求 1, 2所述的装置, 其特征在于所述的轨道在一电机的带 动下会转动方向。
[权利要求 4] 根据权利要求 1, 2所述的装置, 其特征在于所述的吸附装置包括吸盘
, 吸盘里面安装有压力传感器。
[权利要求 5] 根据权利要求 1所述的装置, 其特征在于所述的喷嘴安装在刮水机构 下面。
[权利要求 6] 根据权利要求 1, 2所述的装置, 其特征在于所述的吸附装置包含有电 动推杆。
[权利要求 7] 根据权利要求 1, 2所述的装置, 其特征在于所述框架有两个, 两个框 架套接, 其中一个有安装吸盘装置, 另外一个有套接清洁工作件, 两 个框架之间的连接物是一小车, 两个框架之间能实现 X-Y的联动, 清 洁工作件可以沿着 Z方向运动, 整体能实现 X-Y-Z三维联动。
[权利要求 8] 根据权利要求 2所述的装置, 其特征在所述的框架有两个, 位置分为 上框架和下框架, 上下框架都有脚轮和一底板, 底板距离地面的高度 和室内墙面横梁相当。
[权利要求 9] 根据权利要求 1, 2, 所述的装置, 其特征在于所述的框架上还有可以 转向的压板。
[权利要求 10] 根据权利要求 2, 7, 8, 9所述的装置, 其特征在于是由电机运转实现 二维或三维状态。
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