CN106073650A - A kind of robot for cleaning high-rise glass curtain wall - Google Patents
A kind of robot for cleaning high-rise glass curtain wall Download PDFInfo
- Publication number
- CN106073650A CN106073650A CN201610339835.9A CN201610339835A CN106073650A CN 106073650 A CN106073650 A CN 106073650A CN 201610339835 A CN201610339835 A CN 201610339835A CN 106073650 A CN106073650 A CN 106073650A
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- CN
- China
- Prior art keywords
- cleaning
- robot
- module
- curtain wall
- glass curtain
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- Legal status (The legal status 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 status listed.)
- Pending
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4022—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4027—Filtering or separating contaminants or debris
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
- E04G23/004—Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Sustainable Development (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot for cleaning high-rise glass curtain wall, including robot body, multiple motion gripper unit and cleaning module, wherein, multiple motion gripper unit are uniformly arranged on the periphery of robot body, and cleaning module is movably connected on robot body.The present invention is by the multiple motion gripper unit being arranged on robot body and cleaning module so that it is have powerful obstacle climbing ability and curved surface adapts to ability, and can work with single large area, it is not necessary to manually repeating carrying, and cleaning effect is good, cleaning efficiency is high.
Description
Technical field
The present invention relates to the cleaning technique field of glass curtain wall, particularly relate to a kind of machine for cleaning high-rise glass curtain wall
Device people.
Background technology
The alien invasion of curtain wall of glass for high building and other similar material cleans and is that one heavy and the work of danger, passes
The high-rise curtain cleaning method of system mainly has two kinds: one is directly to hang cleaner's (being commonly called as spider-man) with rope on curtain wall
Operation, this mode danger is very big, and its explicit order is prohibited by many developed countries and regions (such as the U.S., Hong-Kong etc.) the most
Only；The second is to carry cleaner by roof railcar and hoistable platform to carry out the cleaning of curtain wall, but this mode also fails to root
The danger of this elimination workman, and running cost is high.
Using curtain wall as today of building exterior trim a large amount of, traditional curtain cleaning method cannot adapt to new-type building
Demand, at present, also begin to occur in that some intelligence window cleaning equipments on the market, these window cleaning equipments are applicable to the monolithic of little scope mostly
Cleaning glass, movement locus also can only be straight line, plane.But modern high-rise building is the most bizarre and motley, extraordinary-looking, its
On glass curtain wall be also no lack of curved surface, be difficult to the complete independently cleaning to high-rise glass curtain wall only according to existing window cleaning equipment.
Summary of the invention
It is an object of the invention to provide a kind of robot for cleaning high-rise glass curtain wall, in order to solve prior art
Glass curtain wall on the middle and senior level is difficult to the problem cleaned.
The invention provides a kind of robot for cleaning high-rise glass curtain wall, including robot body, multiple motion
Gripper unit and cleaning module, wherein, multiple motion gripper unit are uniformly arranged on the periphery of robot body, cleaning module
It is movably connected on robot body.
Further, motion gripper unit is included the end sucker being flexibly connected successively, oscillating bearing and is driven by motor
Dynamic multiple joints.
Further, multiple joints include first shoulder joint and two the first elbow joinies, the first arm being sequentially connected with
Joint is mutually perpendicular to the plane of movement of the first elbow joint.
Further, cleaning module includes the cleaner arm with 5DOF and is arranged on the clear of this cleaner arm end
Clean assembly.
Further, have that the cleaner arm of 5DOF includes being sequentially connected with around X to the second shoulder joint and 4 rotated
Individual the second elbow joint rotated around Z-direction, cleaning assemblies is arranged on the end of the second elbow joint.
Further, cleaning assemblies includes being arranged on the cleaning head device on both sides, the collecting port of sewage being arranged below, setting
Put the clear water spout above cleaning head device and be arranged on cleaning brush roll and the dust exhaust apparatus at middle part.
Further, the cleaning head device on both sides is for removably connecting.
Further, cleaning head device includes the first scraping article, rub piece and the second scraping article set gradually.
Further, robot body is additionally provided with motion-control module, vacuum generation module, water loop module, its
In, cleaning assemblies connects with water loop module, and end sucker is connected with vacuum generation module, and motion-control module is for each mould
Block is controlled.
Further, also including sensor assembly, this sensor assembly includes acceleration transducer, sonac, red
Outer sensor, pressure transducer, position sensor and inclinator, wherein, acceleration transducer is arranged on robot body；Super
Sonic transducer is arranged at the end of motion gripper unit, the front end of robot body and cleaning head device front end；Infrared sensor
It is arranged on the front end of robot body；Pressure transducer is arranged on sucker；Position sensor and inclinator are separately positioned on respectively
On joint.
The invention described above technical scheme is used to provide the benefit that: by the multiple motion handss being arranged on robot body
Arm module and cleaning module so that it is there is powerful obstacle climbing ability and curved surface adapts to ability, and can work with single large area, nothing
Need to manually repeat carrying, and cleaning effect is good, cleaning efficiency is high.
Accompanying drawing explanation
Fig. 1 is that the present invention is for cleaning robot architecture's schematic diagram of high-rise glass curtain wall；
Fig. 2 is the structural representation of motion gripper unit 200 in Fig. 1；
Fig. 3 is the structural representation of cleaning module 300 in Fig. 1；
Fig. 4 is the structural representation of cleaning assemblies 320 in Fig. 3.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.
The invention discloses a kind of robot for cleaning high-rise glass curtain wall, as it is shown in figure 1, include robot body
100, multiple motion gripper unit 200 and cleaning module 300, wherein, multiple motion gripper unit 200 are uniformly arranged on machine
The periphery of human agent 100, cleaning module 300 is movably connected on robot body 100.
As in figure 2 it is shown, in embodiments of the present invention, motion gripper unit 200 includes the end sucker being flexibly connected successively
210, oscillating bearing 220 and by motor-driven multiple joints.Wherein, multiple joints include first arm being sequentially connected with
Joint 231 and two the first elbow joinies 232, the first shoulder joint 231 is mutually perpendicular to the plane of movement of the first elbow joint 232.Tool
Body, in the present embodiment, motion gripper unit 200 can have 6, and it is evenly distributed on the periphery of robot body 100,
Action two-by-two during work, thus keep balance.
As shown in Figure 3, Figure 4, in the above embodiment of the present invention, cleaning module 300 then can include having 5DOF
Cleaner arm and the cleaning assemblies 320 being arranged on this cleaner arm end.Wherein, the cleaner arm with 5DOF includes depending on
Secondary connection around X to the second shoulder joint 311 rotated and 4 the second elbow joinies 312 rotated around Z-direction, and cleaning assemblies 320
Then it is arranged on the end of the second elbow joint 312；Cleaning assemblies 320 also includes being arranged on the cleaning head device 321 on both sides, being arranged on
Lower section collecting port of sewage 322, be arranged on the clear water spout 323 above cleaning head device and be arranged on middle part cleaning brush roll
324 and dust exhaust apparatus 325.Concrete, cleaning head device also includes the first scraping article 3211, the rub piece 3212 and second set gradually
Scraping article 3213.In the present embodiment, cleaning head device, for removably connecting, can be replaced with curtain wall detection device after dismounting,
Thus the robot of the present invention is also used as detecting curtain wall.
In embodiments of the present invention, robot body 100 is additionally provided with motion-control module 101, vacuum generation module
102, water loop module 103 and central controller 104, wherein, water loop module 103 and cleaning assemblies 320 downlink connection；Vacuum
Module 102 is occurred to be connected respectively with the sucker 210 in motion gripper unit 200；Motion-control module 101 and each motion arm mould
Block 200 and cleaning module 300 connect, for controlling motion gripper unit 200 and the direction of motion of cleaning module 300 and position
Put；Central controller 104 is then for being controlled each module.
Concrete, it is also possible to including sensor assembly, wherein, sensor assembly includes acceleration transducer, ultrasonic sensing
Device, infrared sensor, pressure transducer, position sensor and inclinator.Acceleration transducer is arranged on robot body, uses
In the attitude information gathering robot body；Before sonac is arranged at the end of motion gripper unit, robot body
End and cleaning head device front end, for distance and the detection of barrier；Infrared sensor is arranged on the front end of robot body, uses
Merge in the sensor with distance and detection of obstacles；Pressure transducer is arranged on sucker, puts in place and work for end sucker
Make the detection of state；Position sensor and inclinator are then separately positioned on each joint, detect for the position in each joint.
Furthermore it is also possible to arrange security protection module in robot, this security protection module can include safety rope and
The elevator unit of attachment security rope respectively, wherein, safety rope can have two, is respectively arranged on robot body, thus enters
One step improves the safety of robot manipulating task.
The operation principle of the embodiment of the present invention further explained below, in the present embodiment, 6 motion gripper unit are equal
The even both sides being distributed in robot body, action the most two-by-two, in the end sucker of two motion gripper unit of action
Without vacuum, and be failure to actuate 4 motion gripper unit occur vacuum, thus be firmly adsorbed on glass planar.Action
Two motion gripper unit are respectively arranged with 3 degree of freedom, can realize around z to rotate and around y to rotation, thus easily realize upper and lower,
The left and right motion requirement with obstacle detouring, the most reciprocal, it is achieved curtain cleaning robot is flexible various angle levels
Mobile and fixing.When cleaning glass curtain wall, the water sprayed by the clear water spout above cleaning assemblies, washed away cleaning assemblies
Rear inflow collecting port of sewage, enters the water loop module of robot body, after being filtered by defecator again through collecting port of sewage
In the secondary filtered water tank returning to water loop module, such that it is able to recycling water resource.In the present embodiment, two groups of cleaning head devices
Can pack up respectively or put down, the clear water spout above two groups of cleaning head devices can control to be turned on and off respectively simultaneously.
The robot for cleaning high-rise glass curtain wall that the present invention provides, multiple by be arranged on robot body
Motion gripper unit and cleaning module so that it is there is powerful obstacle climbing ability and curved surface adapts to ability, be adapted to nearly all
The curtain cleaning work in building, and can work with single large area, it is not necessary to manually repeat carrying, and cleaning effect is good, clean effect
Rate is high.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each method embodiment can be led to
The hardware crossing programmed instruction relevant completes.Aforesaid program can be stored in a computer read/write memory medium.This journey
Sequence upon execution, performs to include the step of above-mentioned each method embodiment；And aforesaid storage medium includes: ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. the robot being used for cleaning high-rise glass curtain wall, it is characterised in that include robot body, multiple motion arm
Module and cleaning module, the plurality of motion gripper unit is uniformly arranged on the periphery of robot body, described cleaning module
It is movably connected on robot body.
Robot for cleaning high-rise glass curtain wall the most according to claim 1, it is characterised in that described motion arm
Module includes the end sucker being flexibly connected successively, oscillating bearing and passes through motor-driven multiple joints.
Robot for cleaning high-rise glass curtain wall the most according to claim 2, it is characterised in that the plurality of joint
Including first shoulder joint being sequentially connected with and two the first elbow joinies, described first shoulder joint and the motion of the first elbow joint
Plane is mutually perpendicular to.
Robot for cleaning high-rise glass curtain wall the most according to claim 1, it is characterised in that described cleaning module
Including there is the cleaner arm of 5DOF and being arranged on the cleaning assemblies of described cleaner arm end.
Robot for cleaning high-rise glass curtain wall the most according to claim 4, it is characterised in that described in have 5 from
By the cleaner arm spent include being sequentially connected with around X to the second shoulder joint rotated and 4 the second elbow joinies rotated around Z-direction,
Described cleaning assemblies is arranged on the end of described second elbow joint.
6. according to the robot for cleaning high-rise glass curtain wall described in claim 4 or 5, it is characterised in that described cleaning
Assembly includes being arranged on the cleaning head device on both sides, the collecting port of sewage being arranged below, being arranged on described cleaning head device
Side clear water spout and be arranged on middle part cleaning brush roll and dust exhaust apparatus.
Robot for cleaning high-rise glass curtain wall the most according to claim 6, it is characterised in that described both sides clear
Clean head unit is for removably connecting.
Robot for cleaning high-rise glass curtain wall the most according to claim 6, it is characterised in that described cleaning head fills
Put the first scraping article, rub piece and the second scraping article including setting gradually.
9. according to the robot for cleaning high-rise glass curtain wall described in any one of claim 1～8, it is characterised in that institute
Stating and be additionally provided with motion-control module, vacuum generation module, water loop module on robot body, described cleaning assemblies is with described
Water loop module connects, and described end sucker is connected with vacuum generation module, and described motion-control module is for entering each module
Row controls.
Robot for cleaning high-rise glass curtain wall the most according to claim 9, it is characterised in that also include sensing
Device module, described sensor assembly includes that acceleration transducer, sonac, infrared sensor, pressure transducer, position pass
Sensor and inclinator, described acceleration transducer is arranged on robot body, and described sonac is arranged at motion arm
The end of module, the front end of robot body and cleaning head device front end, described infrared sensor is arranged on robot body's
Front end, described pressure transducer is arranged on sucker, and described position sensor and inclinator are separately positioned on each joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339835.9A CN106073650A (en) | 2016-05-22 | 2016-05-22 | A kind of robot for cleaning high-rise glass curtain wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339835.9A CN106073650A (en) | 2016-05-22 | 2016-05-22 | A kind of robot for cleaning high-rise glass curtain wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106073650A true CN106073650A (en) | 2016-11-09 |
Family
ID=57230066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610339835.9A Pending CN106073650A (en) | 2016-05-22 | 2016-05-22 | A kind of robot for cleaning high-rise glass curtain wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106073650A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN106965869A (en) * | 2017-04-24 | 2017-07-21 | 张红星 | A kind of spider robot applied to work high above the ground |
| WO2018234769A1 (en) * | 2017-06-21 | 2018-12-27 | Tedbury Ivo | Apparatus and system |
| CN109107114A (en) * | 2018-08-15 | 2019-01-01 | 安徽星宇生产力促进中心有限公司 | A kind of intelligence machine and working method for placing rope |
| CN111789522A (en) * | 2020-06-28 | 2020-10-20 | 朱浩 | Cleaning machine for high-rise glass curtain wall |
| CN112006593A (en) * | 2019-05-30 | 2020-12-01 | 杭州萤石软件有限公司 | Cleaning mechanism and cleaning robot |
| CN112205911A (en) * | 2020-08-28 | 2021-01-12 | 南京驭逡通信科技有限公司 | Hoisting type all-dimensional cleaning device for building glass curtain wall and using method thereof |
| CN113287987A (en) * | 2021-06-16 | 2021-08-24 | 陕西中建建乐智能机器人股份有限公司 | Wall surface cleaning robot |
-
2016
- 2016-05-22 CN CN201610339835.9A patent/CN106073650A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN106965869A (en) * | 2017-04-24 | 2017-07-21 | 张红星 | A kind of spider robot applied to work high above the ground |
| WO2018234769A1 (en) * | 2017-06-21 | 2018-12-27 | Tedbury Ivo | Apparatus and system |
| GB2578054A (en) * | 2017-06-21 | 2020-04-15 | Tedbury Ivo | Apparatus and system |
| CN109107114A (en) * | 2018-08-15 | 2019-01-01 | 安徽星宇生产力促进中心有限公司 | A kind of intelligence machine and working method for placing rope |
| CN112006593A (en) * | 2019-05-30 | 2020-12-01 | 杭州萤石软件有限公司 | Cleaning mechanism and cleaning robot |
| CN111789522A (en) * | 2020-06-28 | 2020-10-20 | 朱浩 | Cleaning machine for high-rise glass curtain wall |
| CN112205911A (en) * | 2020-08-28 | 2021-01-12 | 南京驭逡通信科技有限公司 | Hoisting type all-dimensional cleaning device for building glass curtain wall and using method thereof |
| CN112205911B (en) * | 2020-08-28 | 2021-11-26 | 南京驭逡通信科技有限公司 | Hoisting type all-dimensional cleaning device for building glass curtain wall and using method thereof |
| CN113287987A (en) * | 2021-06-16 | 2021-08-24 | 陕西中建建乐智能机器人股份有限公司 | Wall surface cleaning robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161109 |