CN101518429A - Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof - Google Patents
Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof Download PDFInfo
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- CN101518429A CN101518429A CN200910026249A CN200910026249A CN101518429A CN 101518429 A CN101518429 A CN 101518429A CN 200910026249 A CN200910026249 A CN 200910026249A CN 200910026249 A CN200910026249 A CN 200910026249A CN 101518429 A CN101518429 A CN 101518429A
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- sweeping robot
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Abstract
The invention discloses a robot cleaning system for cleaning the outside vertical surface of a building and a cleaning method using the same. An operation cable is hung on a mounting bracket, wherein the bottom end of the operation cable is connected to a hoisting machine, the operation cable is provided with a cleaning robot, a winding holding wheel and a driving device thereof are rotatablely connected with the cleaning robot, the operation cable penetrates into the cleaning robot and winds around the winding holding wheel for one or more circles, one surface of the cleaning robot is fixedly provided with three or more telescopic supporting arms, the surface of the cleaning robot provided with the telescopic supporting arms is also rotatablely connected with a cleaning arm and a rotary driving device thereof, and the top of the cleaning arm is fixedly connected with a cleaning hair brush. The robot cleaning system can thoroughly free high-altitude leaning workers from dangerous rugged environments, improve the working efficiency, reduce the cleaning cost, has good safety performance, and prevents casualties from taking place in the process of artificial high-altitude operations; besides, the cleaning method is simple and easy to perform.
Description
Technical field
The invention discloses a kind of outside vertical surface of building robot purging system, the invention also discloses a kind of cleaning method that uses this robot purging system.
Background technology
The city middle-high building is increasing, and outer facade cleaning becomes problem anxious to be solved.Still use now the mode of hand sweeping, by the roof rope that hangs down, use hanging basket or use safety rope, the workman is by the progressively cleaning downwards of floor most significant end.Inefficiency, cost of labor height, labour intensity height, work under bad environment danger.According to incompletely statistics, there are nearly 60,000 workmans injures and deaths when work high above the ground in the annual whole nation.
Summary of the invention
One of purpose of the present invention is to overcome the deficiencies in the prior art, provides a kind of and can completely the high-altitude swabber be freed, increases work efficiency, reduce the outside vertical surface of building robot purging system that cleaning expense is used, security performance is good, the injures and deaths situation takes place when having avoided artificial work high above the ground from dangerous rugged environment.
Another object of the present invention provides a kind of cleaning method that uses listing robot purging system.
According to technical scheme provided by the invention, on mounting bracket, hang the operation hawser, operation hawser bottom is connected on the hoist engine, on described operation hawser, be provided with sweeping robot, be rotatably connected on the sweeping robot to have to roll up and hold wheel and drive unit thereof, the operation hawser penetrate sweeping robot and around volume hold the wheel one the circle or one the circle more than, be fixed with the flexible support arm more than three or three on described sweeping robot one surface, also be rotatably connected to cleaning arm and device of rotation driving thereof having on the sweeping robot surface of flexible support arm, the fixedly connected brush sweeper of cleaning wall top ends.
Described flexible support arm has three, and they are " product " word shape row portion.Described cleaning arm has three, and they are inverted " product " word shape row portion, and cleaning arm and flexible support arm are set in distance.
The cleaning method of above-mentioned outside vertical surface of building robot purging system comprises following steps:
A, sweeping robot are through on the operation hawser in advance by the workman;
B, the end that mounting bracket is used for fixing the operation hawser is set at the roof of building, the other end of operation hawser is put into bottom of the building along the outer facade of building and firmly is connected with hoist engine, the hoist engine of bottom of the building is with the rolling-in of operation hawser, make the operation hawser parallel as far as possible near building to be cleaned outer facade and keep exceptionally straight, flexible support arm stretches out, and makes sweeping robot become the support on the outer facade of building;
The flexible support arm withdrawal of c, sweeping robot, sweeping robot utilizes power of self and inner volume to hold wheel moving up and down along the active of operation hawser, cleaning arm rotates, and makes the brush sweeper that is installed on the cleaning arm top begin the outer facade of building is carried out cleaning works from roof; After the outer facade of this file was finished cleaning, hoist engine loosened the operation hawser slightly, and the mounting bracket of roof and the hoist engine of bottom of the building move to the outer facade of next file jointly, and hoist engine is with the rolling-in once more of operation hawser;
D, sweeping robot rise to roof along the operation hawser, and cleaning arm rotates, and make the brush sweeper that is installed on the cleaning arm top proceed the cleaning work of the outer facade of follow-up file; And so forth until finish whole outside the cleaning task of facade.
The present invention can free the high-altitude swabber completely from dangerous rugged environment, improved operating efficiency, has reduced cleaning expense usefulness, and security performance is good, and the injures and deaths situation takes place when having avoided artificial work high above the ground, and cleaning method is simple.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention.
Fig. 2 is one of sweeping robot stereogram among the present invention.
Fig. 3 be among the present invention the sweeping robot stereogram two.
The specific embodiment
The invention will be further described below in conjunction with concrete drawings and Examples.
As shown in the figure: on mounting bracket 1, hang operation hawser 2, operation hawser 2 bottoms are connected on the hoist engine 3, on described operation hawser 2, be provided with sweeping robot 4, be rotatably connected on the sweeping robot 4 to have to roll up and hold wheel 5 and drive unit thereof, operation hawser 2 penetrate sweeping robot 5 and around volume hold the wheel 5 one the circle or one the circle more than, be fixed with the flexible support arm 6 more than three or three on described sweeping robot 4 one surfaces, on sweeping robot 4 surfaces, also be rotatably connected to cleaning arm 7 and device of rotation driving thereof, the fixedly connected brush sweeper 8 of cleaning wall 7 top ends with flexible support arm 6.
Described flexible support arm 6 has three, and they are " product " word shape row portion.Described cleaning arm 7 has three, and they are inverted " product " word shape row portion, and cleaning arm 7 is set in distance with flexible support arm 6.
The cleaning method of this outside vertical surface of building robot purging system comprises following steps:
A, sweeping robot 4 are through on the operation hawser 2 in advance by the workman;
B, the end that mounting bracket 1 is used for fixing operation hawser 2 is set at the roof of building, the other end of operation hawser 2 is put into bottom of the building along the outer facade of building and firmly is connected with hoist engine 3, the hoist engine 3 of bottom of the building is with 2 rolling-in of operation hawser, make operation hawser 2 parallel as far as possible near building to be cleaned outer facade and keep exceptionally straight, flexible support arm 6 stretches out, and makes 4 one-tenth supports on the outer facade of building of sweeping robot;
Flexible support arm 6 withdrawals of c, sweeping robot 4, sweeping robot 4 utilizes power of self and inner volume to hold wheel 5 moving up and down along 2 actives of operation hawser, cleaning arm 7 rotates, and makes the brush sweeper 8 that is installed on cleaning arm 7 tops begin the outer facade of building is carried out cleaning works from roof; After the outer facade of this file was finished cleaning, hoist engine 3 loosened operation hawser 2 slightly, and the mounting bracket 1 of roof and the hoist engine 3 of bottom of the building move to the outer facade of next file jointly, and hoist engine 3 is with operation hawser 2 rolling-in once more;
D, sweeping robot 4 rise to roof along operation hawser 2, and cleaning arm 7 rotates, and make the brush sweeper 8 that is installed on cleaning arm 7 tops proceed the cleaning work of the outer facade of follow-up file; And so forth until finish whole outside the cleaning task of facade.
Roof at building is provided with the end that mounting bracket 1 is used for fixing operation hawser 2, and the other end of operation hawser 2 is put into bottom of the building along the outer facade of building and firmly is connected with hoist engine 3.Sweeping robot 4 is through on the operation hawser 2 in advance by the workman, can initiatively creep up and down along operation hawser 2.The cleaning work method is: after the fixed installation of the two ends of operation hawser 2, the hoist engine 3 of bottom of the building is 2 rolling-in of operation hawser, make operation hawser 2 parallel as far as possible near building to be cleaned outer facade and keep exceptionally straight; Sweeping robot 4 utilizes power of self and inner volume to hold wheel 5 along operation hawser 2 moving up and down initiatively, and begins the outer facade of building is carried out cleaning works from roof; After the outer facade of this file was finished cleaning, hoist engine 3 loosened operation hawser 2 slightly, and the mounting bracket 1 of roof and the hoist engine 3 of bottom of the building move to the outer facade of next file jointly, and hoist engine 3 is with operation hawser 2 rolling-in once more; Sweeping robot 4 rises to roof along operation hawser 2, proceeds the cleaning work of the outer facade of follow-up file; And so forth until finish whole outside the cleaning task of facade.
Because main cleaning works finished by sweeping robot 4, what the staff was responsible for the support of roof and bottom of the building and hoist engine 3 moves the replacing of the working face of sweeping robot 4 etc.Nature can be handled many sweeping robots 4 and carry out cleaning work simultaneously.So not only thoroughly avoided personnel's danger such as injures and deaths of falling to improve labour intensity, improved operating efficiency simultaneously and reduced job costs.
Claims (4)
1, a kind of outside vertical surface of building robot purging system, be included in mounting bracket (1) and go up the operation hawser (2) that hangs, it is characterized in that: operation hawser (2) bottom is connected on the hoist engine (3), on described operation hawser (2), be provided with sweeping robot (4), be rotatably connected on the sweeping robot (4) to have to roll up and hold wheel (5) and drive unit thereof, operation hawser (2) penetrates sweeping robot (5) and holds wheel (5) a circle or more than the circle around volume, be fixed with the flexible support arm (6) more than three or three on described sweeping robot (4) one surfaces, on the sweeping robot with flexible support arm (6) (4) surface, also be rotatably connected to cleaning arm (7) and device of rotation driving thereof, the cleaning fixedly connected brush sweeper of wall (7) top ends (8).
2, outside vertical surface of building as claimed in claim 1 robot purging system, it is characterized in that: described flexible support arm (6) has three, and they are " product " word shape row portion.
3, outside vertical surface of building as claimed in claim 1 robot purging system, it is characterized in that: described cleaning arm (7) has three, and they are inverted " product " word shape row portion, and cleaning arm (7) is set in distance with flexible support arm (6).
4, the method for utilizing the described outside vertical surface of building of claim 1 robot purging system to clean comprises following steps:
A, sweeping robot (4) are through on the operation hawser (2) in advance by the workman;
B, the end that mounting bracket (1) is used for fixing operation hawser (2) is set at the roof of building, the other end of operation hawser (2) is put into bottom of the building along the outer facade of building and firmly is connected with hoist engine (3), the hoist engine of bottom of the building (3) is with operation hawser (2) rolling-in, make operation hawser (2) parallel as far as possible near building to be cleaned outer facade and keep exceptionally straight, flexible support arm (6) stretches out, and makes sweeping robot (4) become the support on the outer facade of building;
Flexible support arm (6) withdrawal of c, sweeping robot (4), sweeping robot (4) utilizes power of self and inner volume to hold wheel (5) moving up and down along 2 actives of operation hawser, cleaning arm (7) rotates, and makes the brush sweeper (8) that is installed on cleaning arm (7) top begin the outer facade of building is carried out cleaning works from roof; After the outer facade of this file was finished cleaning, hoist engine (3) loosened operation hawser (2) slightly, and the hoist engine (3) of mounting bracket of roof (1) and bottom of the building moves to the outer facade of next file jointly, and hoist engine (3) is with operation hawser (2) rolling-in once more;
D, sweeping robot (4) rise to roof along operation hawser (2), and cleaning arm (7) rotates, and make the brush sweeper (8) that is installed on cleaning arm (7) top proceed the cleaning work of the outer facade of follow-up file; And so forth until finish whole outside the cleaning task of facade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100262499A CN101518429B (en) | 2009-03-17 | 2009-03-17 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100262499A CN101518429B (en) | 2009-03-17 | 2009-03-17 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101518429A true CN101518429A (en) | 2009-09-02 |
| CN101518429B CN101518429B (en) | 2012-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100262499A Expired - Fee Related CN101518429B (en) | 2009-03-17 | 2009-03-17 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
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| CN (1) | CN101518429B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104146649A (en) * | 2013-05-13 | 2014-11-19 | 科沃斯机器人科技(苏州)有限公司 | Self-moving adsorption robot |
| CN106388691A (en) * | 2016-11-09 | 2017-02-15 | 安双志 | Working method of dead-corner-free glass robot |
| CN106513344A (en) * | 2016-12-08 | 2017-03-22 | 宁波永良电梯技术发展有限公司 | Elevator cleaning device |
| CN108553015A (en) * | 2018-06-11 | 2018-09-21 | 杨俊杰 | Window wiping robot outside a kind of building that convenience and high-efficiency is unattended |
| CN110123191A (en) * | 2019-05-15 | 2019-08-16 | 江苏理工学院 | A kind of window wiping robot system and clean method |
| CN112873180A (en) * | 2021-01-22 | 2021-06-01 | 佛山(华南)新材料研究院 | High-altitude operation suspension device and robot |
| US20210180351A1 (en) * | 2019-12-16 | 2021-06-17 | Chun Wo Construction & Engineering Co., Limited | System and method for building façade cleaning and painting with a dual cable-driven robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2119190U (en) * | 1991-03-30 | 1992-10-21 | 杨振武 | Cradle for cleaning external wall |
| CN100588359C (en) * | 2006-12-27 | 2010-02-10 | 深圳市霖智电子有限公司 | Apparatus for automatically cleaning out-wall of high building |
| CN101322631B (en) * | 2008-07-09 | 2010-11-03 | 杨光 | Full-automatic machine for cleaning external walls of high-rise buildings |
| CN101332068B (en) * | 2008-07-16 | 2010-06-09 | 郝高林 | Suspension obstacle surmounting device of building cleaning robot |
| CN201379513Y (en) * | 2009-03-17 | 2010-01-13 | 江苏威汇力自动化技术有限公司 | Robot cleaning system for building outer vertical face |
-
2009
- 2009-03-17 CN CN2009100262499A patent/CN101518429B/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104146649A (en) * | 2013-05-13 | 2014-11-19 | 科沃斯机器人科技(苏州)有限公司 | Self-moving adsorption robot |
| CN104146649B (en) * | 2013-05-13 | 2017-05-10 | 科沃斯机器人股份有限公司 | Self-moving adsorption robot |
| CN106388691A (en) * | 2016-11-09 | 2017-02-15 | 安双志 | Working method of dead-corner-free glass robot |
| CN106513344A (en) * | 2016-12-08 | 2017-03-22 | 宁波永良电梯技术发展有限公司 | Elevator cleaning device |
| CN108553015A (en) * | 2018-06-11 | 2018-09-21 | 杨俊杰 | Window wiping robot outside a kind of building that convenience and high-efficiency is unattended |
| CN110123191A (en) * | 2019-05-15 | 2019-08-16 | 江苏理工学院 | A kind of window wiping robot system and clean method |
| CN110123191B (en) * | 2019-05-15 | 2023-09-22 | 江苏理工学院 | Window cleaning robot system and cleaning method |
| US20210180351A1 (en) * | 2019-12-16 | 2021-06-17 | Chun Wo Construction & Engineering Co., Limited | System and method for building façade cleaning and painting with a dual cable-driven robot |
| CN112873180A (en) * | 2021-01-22 | 2021-06-01 | 佛山(华南)新材料研究院 | High-altitude operation suspension device and robot |
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| Publication number | Publication date |
|---|---|
| CN101518429B (en) | 2012-07-04 |
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Granted publication date: 20120704 Termination date: 20160317 |
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