CN107468176A

CN107468176A - A kind of glass curtain wall cleaning systems that can be traversing

Info

Publication number: CN107468176A
Application number: CN201710902198.6A
Authority: CN
Inventors: 丁伟
Original assignee: Chengdu Iding Industry Product Design Co Ltd
Current assignee: Chengdu Iding Industry Product Design Co Ltd
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2017-12-15

Abstract

The present invention relates to a kind of glass curtain wall cleaning systems that can be traversing, including rail set, clean robot group and safety device, rail set adsorb on glass curtain wall, clean robot group rail set it is up walk, safety device prevents clean robot group and rail set from dropping；The clean robot group can be with traversing, clean robot group includes distributor and cleaner, the both sides of the cleaner are respectively equipped with distributor, and the both ends of rail set are connected to the folding and unfolding realized on distributor to rail set, and the cleaner is matched with rail set and freely walked.The cleaner of the present invention can arbitrarily be walked in former and later two directions, when needing u-turn, without turning, directly traversing and then reverse walking, substantially increase cleaning efficiency.

Description

A kind of glass curtain wall cleaning systems that can be traversing

Technical field

The invention belongs to cleaning applications, more particularly to a kind of glass curtain wall cleaning systems that can be traversing.

Background technology

With the progress and expanding economy of society, high buildings and large mansions are rised sheer from level ground in city, and present it is higher and higher become Gesture.Glass is widely used in office building because light, transparent, attractive in appearance, but by institute in the dust in air, rainwater The dust of entrainment, excreta of birds etc. can gradually deposit to the curtain wall surface of building, so as to influence the attractive in appearance of curtain wall, because This, the cleaning to glass curtain wall has had been to be concerned by more and more people and has gradually formed huge curtain cleaning market.

However, the cleaning to the curtain wall of glass is mainly still completed using manual type at present, i.e.,：By cleanup crew from Roof is suspended in midair to Architectural Services Department, manually curtain wall surface is cleared up by cleanup crew, such a mode not only has whole process The problems such as cleaning efficiency is not high, danger coefficient is big, and cleaning cost is higher, also thus have impact on the attractive in appearance, clear of glass curtain wall Space that is clean and further developing.

For this problem, the robot of automated cleaning can be carried out to glass curtain wall by occurring some in the market, this A little robots can adsorb to be cleared up glass curtain wall surface on the wall of glass curtain wall, however, because existing cleaner Device people's adsorbing mechanism is mounted in tire or robot, and adsorbing mechanism quantity is few, and adsorption area is small, if there is somewhere on glass Substantial amounts of booty, the absorption affinity of adsorbing mechanism will be influenceed, so as to influence the stress of whole robot, easily dropped, it is dangerous； Existing clean robot can only straight line moving, it is impossible to turns, cleaning route is dumb；Existing robot adsorbing mechanism is by true Empty pumping falls the air in adsorbing mechanism, and adsorbing mechanism is kept vacuum suction, vavuum pump can increase entirely on glass curtain wall The deadweight of equipment and vavuum pump is when extracting the air in adsorbing mechanism, can consume a large amount of power, influence whole equipment battery Endurance.

The content of the invention

The goal of the invention of the present invention is：

1. solving existing clean robot cleaning arrives glass curtain wall edge, when changing cleaning route, turn the problem of troublesome；

2. also to solve the problems, such as that clean robot easily drops on this basis；

3. also to solve clean robot on this basis easily to drop from glass curtain wall, the problem of damaging pedestrian.

The technical solution adopted by the present invention is as follows：

The distributor that can be traversing of glass curtain wall cleaning systems, it is characterised in that：Including rail set, clean robot group and peace Full device, rail set can be adsorbed on glass curtain wall, clean robot group rail set it is up walk, safety device prevents clearly Clean robot group and rail set drop；The clean robot group can be with traversing, and clean robot group is including distributor and clearly Clean device, the both sides of the cleaner are respectively equipped with distributor, and the both ends of rail set, which are connected on distributor, to be realized to rail The folding and unfolding of duct device, the cleaner are matched with rail set and freely walked.

One distributor is in preceding laying rail set, and a distributor is in after-contraction rail set, and cleaner is in center row Walk and glass curtain wall surface is cleaned, using distributor is one in front and one in back arranged, glass curtain wall is arrived in the cleaning of clean robot group When edge needs to adjust route, without direction of rotation, it will directly be now become to originally in the distributor of preceding laying track in rear receipts The distributor of contracting track, now became to fall in the preceding distributor for laying track, cleaner in the distributor of rear folding and unfolding track originally Operation is moved back, the commutation of clean robot group is convenient and swift, can greatly improve cleaning efficiency.

Further, rail set includes track and adsorbing mechanism, is equably disposed with the length direction of track some Adsorbing mechanism, adsorbing mechanism can adsorb track on glass curtain wall；The adsorbing mechanism includes sucker and seal, works as sealing When part moves inward relative to sucker, sucker is in adsorbed state, and when seal is displaced outwardly relative to sucker, sucker is in Non-adsorbed state.

When rail set is squeezed, sucker stress squeezes out the air of inside, and sucker mouth is fitted on glass, seals Part is forced through seal to be goed deep into sucker, and so as to hermetic seal mouth, whole suction cup interior forms vacuum, because suction cup interior With the pressure difference of air, the absorption of sucker tightly is on glass curtain wall, to bear the power of whole device；When seal is from sucker During interior extraction, air enters in sucker from seal, and pressure difference disappears inside and outside sucker, and sucker loses absorption affinity, and sucker is from glass Come off on curtain wall；Using the insertion and extraction of seal, the adsorbed state of sucker is controlled, uses vavuum pump than traditional, more Power, and the reduction of vavuum pump are saved, the weight of whole device can be mitigated, make whole device lighter.

Further, distributor includes transversely movable base apparatus, jack, wheel on base apparatus Mechanism, battery one, controlling organization one and propeller, jack can carry out folding and unfolding to track, and wheel mechanism can be with respect to base apparatus Traversing, propeller can increase normal pressure of the distributor to track.

Battery one provides the energy to distributor, and controlling organization one controls the operation of whole distributor, responsible pair of jack The folding and unfolding of track, wheel mechanism drive the movement of distributor, and propeller can increase have normal pressure of the distributor to track, on the one hand may be used To increase the frictional force of wheel group and track, beneficial to the walking of distributor, on the other hand increase pressure of the distributor to track, so as to Increase pressure of the track to adsorbing mechanism, be advantageous to adsorbing mechanism and preferably adsorb on glass curtain wall.

Further, cleaner includes transversely movable base apparatus, cleaning mechanism, wheel on base apparatus Mechanism, battery two, controlling organization two and propeller, cleaning mechanism can clean to glass curtain wall, and wheel mechanism can be with respect to chassis Device is traversing, and propeller can increase normal pressure of the distributor to track.

Battery two provides the energy to cleaner, and battery two is provided with electric quantity detection apparatus, and controlling organization two controls cleaner With the operation of whole cleaning systems, cleaning mechanism is responsible for the cleaning to glass curtain wall, and wheel mechanism drives the movement of distributor, spiral Oar can increase have normal pressure of the distributor to track, on the one hand can increase wheel group and the frictional force of track, beneficial to distributor Walking, on the other hand increase distributor to the pressure of track, so as to increase pressure of the track to adsorbing mechanism, be advantageous to adsorption machine Structure is preferably adsorbed on glass curtain wall.

Further, base apparatus includes chassis and transverse-moving mechanism two, and transverse-moving mechanism two can drive chassis is relative to take turns mechanism Transverse shifting, the transverse-moving mechanism two include movable block two, guide spiro rod two, motor two and telescoping mechanism three, telescoping mechanism three In wheel mechanism, motor two is arranged on telescoping mechanism three, one end of the output end connection guide spiro rod two of motor two, is led Other end connection mobile two to screw rod two, the connecting portion two of movable block two are arranged on chassis, and motor two can band action-oriented spiral shell The rotation of bar two passes through the mobile chassis of movable block two, telescoping mechanism three can with wheel group it is traversing when, elongate or shorten.

Motor two drives guide spiro rod two to rotate, and guide spiro rod two drives chassis to move by movable block two, and motor two is Revolution and the servomotor of direction of rotation can be controlled, telescoping mechanism three is electric expansion bar, when wheel group moves, is stretched Mechanism three elongates or shortens, and with the movement of match wheel group, the chassis of distributor is provided with guide part, can allow Satellite Orbit Smoothing from receipts Laying mechanism is transitioned into wheel mechanism.

The track of distributor jack laying by the guide part on distributor chassis, can be smooth from jack mistake Cross to wheel group, it is possible to reduce the abrasion of track and track firm adsorbing mechanism, can also allow track more smoothly to lay；Cross sliding machine Structure two drives chassis transverse shifting, what realizes that the horizontal of clean robot group is moved to press wheel group in orbit as the strong point Move, the change of robot group cleaning route convenient for cleaning, cleaning route is more flexible.

Further, wheel mechanism includes wheel group, telescoping mechanism one and transverse-moving mechanism one, and the energy driven wheel group of telescoping mechanism one is erected Translation is moved, and the energy driven wheel group transverse shifting of transverse-moving mechanism one, the transverse-moving mechanism one includes guide rail and move portion, and guide rail is arranged on On base apparatus, move portion can drive guide rail traversing on base apparatus；Move portion include be located on guide rail movable block one, lead To screw rod one, motor one and telescoping mechanism four, the connecting portion one of telescoping mechanism four is arranged on base apparatus, and motor one is arranged on On telescoping mechanism four, the output end of one end connection motor one of guide spiro rod one, other end connection movable block one, when the band of motor one Action-oriented screw rod one rotates, and guide rail moves on chassis；Wheel group includes driving wheel and driven pulley, and telescoping mechanism one includes expansion bend One and expansion bend two, expansion bend one can drive driving wheel vertical shift, expansion bend two can drive driven pulley vertical shift, motor four Output end connection connection rotating shaft one, rotating shaft one under the driving of motor four, drive driving wheel rotation.

Telescoping mechanism one can be moved up and down vertically with driven wheel group, because wheel group is built-in in track, be had on track Adsorbing mechanism, when the driven wheel group of telescoping mechanism one is moved, track can move together, so as to pull up or compress adsorption machine Structure, when the adsorbing mechanism of whole piece track is all in unadsorbed state, transverse-moving mechanism one can laterally adjust the position of wheel group, horizontal Telephone-moving structure two adjusts the position on chassis, so as to realize the traversing of whole machine people group；Motor one drives guide spiro rod one to rotate, Guide spiro rod one drives guide rail to move by movable block one, and so as to which driven wheel group moves, motor one is that can control revolution and rotation Turn the servomotor in direction, telescoping mechanism four is electric expansion bar, and when movement on chassis, telescoping mechanism four extends or contracted It is short, to coordinate the movement on chassis.

Further, cleaning mechanism includes water tank, connects the flusher and swab of water tank, water tank and scouring Device is arranged on the chassis of cleaner；The front and rear of flusher is fitted with swab, with the walking of clean robot group Before direction is, the swab after flusher works, and the swab before flusher leaves unused.

The front and rear of flusher is fitted with swab, using the direction of clean robot group walking before, flusher Swab afterwards works, and the swab before flusher leaves unused；Clean robot group includes cleaner and distributor, one Distributor is carried out in after-contraction track, cleaner in preceding laying track, a distributor in centre walking to glass curtain wall surface Cleaning, when one route of cleaner clean, it is necessary to when reverse, now become to originally in the preceding distributor for laying track The distributor of after-contraction track, now became to, in the distributor of preceding laying track, clean in the distributor of rear folding and unfolding track originally Device falls back operation, and the swab after flusher was changed into before flusher originally, leaves unused；Originally before flusher Now become to after flusher, run；The front and rear of flusher is fitted with swab, with the walking of clean robot group Before direction is, the swab after flusher works, and the swab before flusher leaves unused, and can guarantee that clean robot group After reversely, cleaning mechanism normal operation.

Further, water tank is divided into cleaning agent case and Sewage treatment case, and cleaning agent case is connected with flusher, and waste water returns Receive case with flusher to be connected, flusher has a waste water recovery pipe, and the pump in Sewage treatment case can pass through useless in flusher For Water Sproading pipe the Sewage treatment on flusher into waste water tank, swab includes support one, telescoping mechanism five, upset dress One and scrubber are put, the one end of support one is arranged on chassis, and one end connection telescoping mechanism five, turning device one is arranged on telescopic machine On structure five, during cleaning, telescoping mechanism five ceaselessly extends shortening, drives scrubber is past to backhaul by turning device one It is dynamic, glass curtain wall is cleared up back and forth, turning device one includes expansion bend three and motor six, and expansion bend three passes through motor six Output shaft is hinged on telescoping mechanism five；During cleaning, controlling organization can automatically adjust according to the gradient of glass curtain wall The length of expansion bend three and the angle that the relative glass curtain wall of expansion bend three is controlled by motor six.

Water tank is divided into cleaning agent case and waste water tank, realizes the recovery to waste water, can avoid water stain staying in glass curtain wall On；During cleaner is walked, scrubber ceaselessly extends shortening, and glass curtain wall is cleaned, and can allow clean surface Product is wider, and cleans cleaner；Controlling organization the length of automatic regulation telescopic unit three and can be stretched according to the gradient of glass curtain wall Contracting device three realizes the cleaning to acclive glass curtain wall with respect to the angle of glass curtain wall.

Further, safety device includes suspension apparatus, and suspension apparatus is slidably connected on track two, it is characterised in that Hoisting mechanism and power set with safety rope are installed with suspension apparatus, power set are hoisting mechanism and entirely hanged Device for hoisting provides power, and the free-end of the safety rope on hoist engine stretches out the bottom of suspension apparatus, and consolidates with cleaning robot group The junction of fixed connection, safety rope and suspension apparatus bottom is provided with from device of bursting, and from bursting, device is fixedly mounted on suspension apparatus Bottom, locked portion being fixedly connected with from device of bursting, locked portion is provided with perforation, and safety rope passes through the perforation in locked portion, when When safety rope exceedes setting value to the pressure of perforation, from bursting, device holds locked safety rope tightly by locked portion.

Suspension apparatus is slidably connected in orbit, it is characterised in that is installed with suspension apparatus with safety rope Hoisting mechanism and power set, power set provide power for hoisting mechanism and whole suspension apparatus, the safety rope on hoist engine Free-end stretch out the bottom of suspension apparatus, and be fixedly connected with cleaning robot, safety rope and the handing-over of suspension apparatus bottom Place is provided with from device of bursting, and the bottom of suspension apparatus is fixedly mounted on from device of bursting, and is fixedly connected with locked portion from device of bursting, is locked Dead portion is provided with perforation, and safety rope, when safety rope exceedes setting value to the pressure of perforation, is burst certainly through the perforation in locked portion Device holds locked safety rope tightly by locked portion.Due to the setting of said structure, when the lowering velocity of safety rope exceedes regulation speed When i.e. cleaning robot group drops downwards when spending, safety rope increases the pressure of perforation, when what pressure reached design bears pressure When, from bursting, device holds locked safety rope tightly by locked portion, and then prevents the further decentralization of safety rope, thus, successfully prevents Cleaning robot group drops.

In summary, the beneficial effects of the invention are as follows：

1. the cleaner of the present invention can arbitrarily be walked in former and later two directions, after a cleaning route has cleaned, without turning Turn around, clean robot group is directly traversing, and reversely walking, convenient and swift, greatly improves cleaning efficiency；

2. track can recycle, track length is not limited by glass curtain wall height, makes cleaner wider using face；

3. cleaning mechanism can automatically adjust length and angle, acclive glass curtain wall can be cleaned；

4. distributor before and after using, cleaner is walked in centre, and the adsorbing mechanism adsorbed on glass curtain wall is more, clean robot Group is not easy to drop.

Brief description of the drawings

Fig. 1 is glass curtain wall cleaning systems overall schematic；

Fig. 2 is the schematic diagram of distributor；

Fig. 3 is the schematic bottom view of distributor；

Fig. 4 is the schematic diagram of cleaner；

Fig. 5 is the schematic diagram of wheel mechanism；

Fig. 6 is the schematic diagram of rail set；

Fig. 7 is the schematic diagram that driving wheel and track turn are matched somebody with somebody；

Fig. 8 is safety device use-schematic diagram；

Fig. 9 is from apparatus structure schematic diagram of bursting；

Figure 10 is the traversing schematic diagram of clean robot；

Marked in figure：100- clean robot groups, 1- distributors, 2- cleaners, 3- chassis, 3001- guide pads, 3002- are led To portion, 30021- guide parts one, 30022- guide parts two, 3003- movable blocks two, 30031- connecting portions two, 4 tracks, 5- guide rails, 51- guide grooves, 52- movable blocks one, 6- guide spiro rods one, 7- motors one, 8- motors two, 9- rotating shafts one, 10- guide spiro rods two, 11- motors three, 12- telescoping mechanisms one, 121- constrictors one, 122- constrictors two, 13- driven pulleys, 14- driving wheels, 15- rotating disks One, 16- adsorbing mechanism, 161- suckers, 162- seals, 17- motors four, 18- telescoping mechanisms four, 181- connecting portions one, 19- stretches Contracting mechanism three, 20- batteries one, 21- controlling organizations one, 24 support meanss, 241 right supports, 241- left socles, 25- rotating shafts two, 26- motors five, 27- baffle plates, 28- propellers, 29- batteries two, 30- wiper mechanisms, 301- water tanks, 302- flushers, 303- Swab, 3031- telescoping mechanisms five, 3032- turning devices one, 3033 scrubbers, 3034- supports one, 3035- motors seven, 31- controlling organizations two, 35- suspension apparatus, 36- tracks two, 37- safety ropes, the locked portions of 38-.

Embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not For limiting the present invention.

Embodiment

The invention discloses a kind of glass curtain wall cleaning systems that can be traversing, including rail set, clean robot group and Safety device, rail set can be adsorbed on glass curtain wall, clean robot group 100 rail set it is up walk, safety device Prevent clean robot group and rail set from dropping；The clean robot group 100 can be with traversing, and clean robot group 100 is wrapped Distributor 1 and cleaner 2 are included, the both sides of the cleaner 2 are respectively equipped with distributor 1, and the both ends of rail set are connected to The folding and unfolding to rail set is realized on distributor 1, the cleaner 2, which is matched with rail set, freely walks.

Rail set includes track 4 and adsorbing mechanism 16, and some adsorption machines are equably disposed with the length direction of track 4 Structure 16, adsorbing mechanism 16 can adsorb track 4 on glass curtain wall；The adsorbing mechanism 16 includes sucker 161 and seal 162, when seal 162 moves inward relative to sucker 161, sucker 161 is in adsorbed state, when seal 162 relative to When sucker 161 is displaced outwardly, sucker 161 is in non-adsorbed state.

Distributor includes transversely movable base apparatus, jack, wheel mechanism, battery on base apparatus One 20, controlling organization 1 and propeller 28, jack can carry out folding and unfolding to track, and wheel mechanism can be horizontal with respect to base apparatus Move, propeller 28 can increase normal pressure of the distributor to track.

Jack includes support meanss and rotating device one, and rotating device one is arranged in support meanss, rotating device One energy rotating, realizes the folding and unfolding of track；Rotating device one includes driving motor 5 26 and rotating shaft 2 25, the output end of motor 5 26 Connection rotating shaft；The support meanss 24 include left socle 242 and right support 241, and rotating shaft is arranged on left socle 242 and right support On 241, provided with the baffle plate 27 that track 5 is crispaturaed neat is made, rotating shaft 2 25 is provided with detection and turned for left socle 242 and right support 241 The how many sensor of the upper rail of axle 2 25, sensor can be pressure sensor.

Cleaner includes transversely movable base apparatus, cleaning mechanism 30, wheel mechanism, electricity on base apparatus Pond 2 29, controlling organization 2 31 and propeller 28, cleaning mechanism 30 can clean to glass curtain wall, and wheel mechanism can be with respect to chassis Device is traversing, and propeller 28 can increase normal pressure of the distributor to track.

Cleaning mechanism includes water tank 301, connects the flusher 302 and swab 303 of water tank, water tank 301 and scouring Device 303 is arranged on the chassis 3 of cleaner 2；The front and rear of flusher 302 is fitted with swab 303, with cleaning machine Before the direction of the walking of people's group 100 is, the swab 303 after flusher 302 works, the swab before flusher 302 303 is idle；Water tank 301 is divided into cleaning agent case and Sewage treatment case, and cleaning agent case is connected with flusher 302, Sewage treatment Case is connected with flusher 302, and flusher 302 has a waste water recovery pipe, and the pump in Sewage treatment case can pass through flusher 302 In waste water recovery pipe the Sewage treatment on flusher 302 into waste water tank；Swab 303 include support 1, Telescoping mechanism 5 3031, turning device 1 and scrubber 3033, the one end of support 1 are arranged on chassis 3, and one end connects Telescoping mechanism 5 3031 is connect, turning device 1 is arranged on telescoping mechanism 5 3031, during cleaning, telescoping mechanism 5 3031 ceaselessly elongation shortenings, drive scrubber 3033 back to move, glass curtain wall are carried out by turning device 1 Clear up back and forth；Turning device 1 includes expansion bend 3 30321 and motor 6 30322, and expansion bend 3 30321 passes through motor six 30322 output shaft is hinged on telescoping mechanism 5 3031；During cleaning, controlling organization can be according to the slope of glass curtain wall Spend the length of automatic regulation telescopic unit three and expansion bend 3 30321 is controlled with respect to the angle of glass curtain wall by motor 6 30322 Degree；One end connection motor seven 3035 of the expansion bend 3 30321 away from telescoping mechanism 5 3031, the output axis connection of motor 7 3035 Scrubber 3033, the liquid level sensor of detection liquid level is installed, water tank 301 and flusher 302 lean on magnetic valve control in water tank 301 Break-make processed.

Wheel mechanism includes wheel group, telescoping mechanism 1 and transverse-moving mechanism one, and the energy driven wheel group of telescoping mechanism 1 is moved vertically Dynamic, the energy driven wheel group transverse shifting of transverse-moving mechanism one, the transverse-moving mechanism one includes guide rail 5 and move portion, and guide rail 5 is provided with and led To groove 51, guide groove 51 can coordinate installation with the guide pad 3001 on chassis, and move portion can drive guide rail 5 on guide pad 3001 Slide, and do not fall out；Move portion includes movable block 1, guide spiro rod 1, motor 1 and the telescopic machine being located on guide rail 5 Structure 4 18, the connecting portion 1 of telescoping mechanism 4 18 are arranged on base apparatus, and motor 1 is arranged on telescoping mechanism 4 18, The output end of one end connection motor 1 of guide spiro rod 1, other end connection movable block 1, when the band action-oriented spiral shell of motor 1 Bar 1 rotates, and guide rail 5 moves on chassis；Wheel group includes driving wheel 14 and driven pulley 13, and telescoping mechanism 1 includes expansion bend 1 and expansion bend 2 122, expansion bend 1 can drive driving wheel vertical shift, expansion bend 2 122 can drive driven pulley to erect Translation is moved, and the output end connection connection rotating shaft 1 of motor 4 17, rotating shaft 1 drives driving wheel 14 to revolve under the driving of motor four Turn, driving wheel 14 be provided with adjustment wheel prescription to rotating mechanism, rotating mechanism includes motor 3 11 and rotating disk 1, motor 3 11 On telescoping mechanism, the output end connection rotating disk 1 of motor 3 11, motor 4 17 is arranged on rotating disk.Rotating mechanism can To adjust the direction of driving wheel according to the instruction of controlling organization, because wheel group is built-in in track, driving wheel is in whirler Adjustment is put to track can also follow adjustment direction together, so as to realize that clean robot group commutates in the presence of structure.

Base apparatus includes chassis 3 and transverse-moving mechanism two, and transverse-moving mechanism two can drive the relative wheel mechanism in chassis 3 laterally to move Dynamic, the transverse-moving mechanism two includes movable block 2 3003, guide spiro rod 2 10, motor 28 and telescoping mechanism 3 19, telescopic machine Structure 3 19 is arranged in wheel mechanism, and motor 28 is arranged on telescoping mechanism 3 19, the output end connection guide spiro rod of motor 28 2 10 one end, the other end connection movable block 2 3003 of guide spiro rod 2 10, the connecting portion 2 30031 of movable block 2 3003 are pacified On chassis, motor 28 can drive the rotation of guide spiro rod 2 10 to pass through the mobile chassis of movable block 2 3003, telescoping mechanism 3 19 Can with wheel group it is traversing when, elongate or shorten.

The chassis of distributor is provided with guide part 3002, and guide part 3002 is arc, and guide part includes guide part 1 With guide part 2 30022.

Safety device includes suspension apparatus 35, and suspension apparatus is slidably connected on track 2 36, it is characterised in that suspention dress Put and hoisting mechanism and power set with safety rope 37 are installed with 35, power set are hoisting mechanism and whole suspention Device provides power, and the free-end of the safety rope 37 on hoist engine stretches out the bottom of suspension apparatus 35, and with cleaning robot group It is fixedly connected, the junction of safety rope 37 and the bottom of suspension apparatus 35 is provided with from device of bursting, and from bursting, device is fixedly mounted on suspention The bottom of device 35, locked portion 38 is fixedly connected with from device of bursting, locked portion is provided with perforation, and safety rope 37 passes through locked portion Perforation on 38, when safety rope 37 exceedes setting value to the pressure of perforation, from bursting, device holds locked peace tightly by locked portion 38 Full rope 37.

When being that cleaning robot group 100 drops downwards when the lowering velocity of safety rope 37 exceedes fixing speed, safety rope The pressure increase of 37 pairs of perforation, when pressure reaches when bearing pressure of design, from bursting, device holds locked peace tightly by locked portion 38 Full rope 37, and then the further decentralization of safety rope 37 is prevented, thus, successfully prevent dropping for cleaning robot group 100.

Clean robot group has the wheel mechanism that three row are set up in parallel, and each column wheel group corresponds to a track 4, at work, extremely Rare two row wheel group is pressed on glass curtain wall by track 4.Position corresponding to three tracks of clean robot group be respectively A, B, C, when track 4 needs to crispatura corresponding to B location, the expansion bend 1 and expansion bend of the wheel group corresponding to the track 4 of B location 2 122 synchronous shortenings, because wheel group is built-in in track 4, track is together lifted, the under tension of adsorbing mechanism 16, from Depart from glass curtain wall, during clean robot group 100 is advanced, the adsorbing mechanism of track 4 is constantly pulled up, when whole When the adsorbing mechanism of bar track 4 is all in unadsorbed state, the motor 5 26 of the radio and tape player of distributor 1 inverts, and track 4 returns again Onto the rotating shaft 2 25 in the distributor 1 of preceding laying track 4, to meet that next step track 4 continues to lay.

If clean robot group is traversing to the right, controlling organization first controls stretching for the wheel group corresponding to the track 4 of location A Contracting device 1 and the synchronous shortening of expansion bend 2 122, because wheel group is built-in in track 4, track is together lifted, absorption Mechanism under tension, departs from from glass curtain wall, and during clean robot group is advanced, the adsorbing mechanism of track 4 is not by Disconnected pulls up, when the adsorbing mechanism of whole piece track 4 is all in unadsorbed state, controlling organization control location A track 4 pair The rotating of motor 1 for the wheel group answered, the output end connection guide spiro rod 1 of motor 1 rotates, so as to pass through movable block 1 Control guide rail 5 moves right, and telescoping mechanism 3 19 can elongate or shorten, to coordinate the movement of guide rail 5；When wheel, mechanism is laterally moved to Behind A1 positions, telescoping mechanism 1, which can extend, makes wheel group pressure in orbit, the rotation of controlling organization controlled motor 28, so as to band Action-oriented screw rod 2 10 rotates, and guide spiro rod drives chassis 3 to move by movable block two, so as to realize cleaner 2 and distributor 1 It is traversing to the right, during this period, telescoping mechanism 4 18 elongates or shortens, to coordinate the movement on chassis 3, so as to realize whole cleaning Robot group it is traversing.

When glass curtain wall edge is arrived in the cleaning of clean robot group, clean robot group is first traversing and then commutates, it is possible to Carry out the change of cleaning route.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.

Claims

A kind of 1. glass curtain wall cleaning systems that can be traversing, it is characterised in that：Including rail set, clean robot group and safety Device, rail set can be adsorbed on glass curtain wall, clean robot group（100）Rail set it is up walk, safety device is prevented Only clean robot group and rail set drop；The clean robot group（100）Can be with traversing, clean robot group（100） Including distributor（1）And cleaner（2）, the cleaner（2）Both sides be respectively equipped with distributor（1）, the both ends of rail set It is connected to distributor（1）Folding and unfolding of the upper realization to rail set, the cleaner（2）It is matched with free walker on rail set Walk.
A kind of 2. glass curtain wall cleaning systems that can be traversing as claimed in claim 1, it is characterised in that the rail set bag Include track（4）And adsorbing mechanism（16）, track（4）Length direction on be equably disposed with some adsorbing mechanisms（16）, absorption Mechanism（16）Can be track（4）Absorption is on glass curtain wall；The adsorbing mechanism（16）Including sucker（161）And seal （162）, work as seal（162）Relative to sucker（161）When moving inward, sucker（161）In adsorbed state, work as seal （162）Relative to sucker（161）When being displaced outwardly, sucker（161）In non-adsorbed state.
3. a kind of glass curtain wall cleaning systems that can be traversing as claimed in claim 1, it is characterised in that the distributor includes Transversely movable base apparatus, jack, wheel mechanism, battery one on base apparatus（20）, controlling organization one （21）And propeller（28）, jack can be to track progress folding and unfolding, and wheel mechanism can be traversing with respect to base apparatus, propeller（28） Normal pressure of the distributor to track can be increased.
4. a kind of glass curtain wall cleaning systems that can be traversing as claimed in claim 1, it is characterised in that the cleaner includes Transversely movable base apparatus, the cleaning mechanism on base apparatus（30）, wheel mechanism, battery two（29）, control machine Structure two（31）And propeller（28）, cleaning mechanism（30）Glass curtain wall can be cleaned, wheel mechanism can be horizontal with respect to base apparatus Move, propeller（28）Normal pressure of the distributor to track can be increased.
A kind of 5. glass curtain wall cleaning systems that can be traversing as described in claim 3 or 4, it is characterised in that the chassis dress Put including chassis（3）With transverse-moving mechanism two, transverse-moving mechanism two can drive chassis（3）Relative wheel mechanism transverse shifting, it is described traversing Mechanism two includes movable block two（3003）, guide spiro rod two（10）, motor two（8）With telescoping mechanism three（19）, telescoping mechanism three （19）In wheel mechanism, motor two（8）Installed in telescoping mechanism three（19）On, motor two（8）Output end connection be oriented to Screw rod two（10）One end, guide spiro rod two（10）Other end connection mobile two（3003）, movable block two（3003）Connection Portion two（30031）On chassis, motor two（8）Guide spiro rod two can be driven（10）Rotation passes through movable block two（3003）Move Dynamic chassis, telescoping mechanism three（19）Can with wheel group it is traversing when, elongate or shorten.
A kind of 6. glass curtain wall cleaning systems that can be traversing as described in claim 3 or 4, it is characterised in that the wheel mechanism Including wheel group, telescoping mechanism one（12）With transverse-moving mechanism one, telescoping mechanism one（12）Energy driven wheel group vertical shift, transverse-moving mechanism One energy driven wheel group transverse shifting, the transverse-moving mechanism one include guide rail（5）And move portion, guide rail（5）Installed in base apparatus On, move portion can drive guide rail（5）It is traversing on base apparatus；Move portion includes being located at guide rail（5）On movable block one（52）、 Guide spiro rod one（6）, motor one（7）With telescoping mechanism four（18）, telescoping mechanism four（18）Connecting portion one（181）The bottom of installed in On disk device, motor one（7）Installed in telescoping mechanism four（18）On, guide spiro rod one（6）One end connection motor one（7）It is defeated Go out end, other end connection movable block one（52）, when motor one（7）Drive guide spiro rod one（6）Rotation, guide rail（5）On chassis It is mobile；Wheel group includes driving wheel（14）And driven pulley（13）, telescoping mechanism one（12）Including expansion bend one（121）With expansion bend two （122）, expansion bend one（121）Driving wheel vertical shift, expansion bend two can be driven（122）Driven pulley vertical shift can be driven, electricity Machine four（17）Output end connection connection rotating shaft one（9）, rotating shaft one（9）In motor four（17）Driving under, drive driving wheel rotation Turn.
A kind of 7. glass curtain wall cleaning systems that can be traversing as claimed in claim 4, it is characterised in that the cleaning mechanism bag Include including water tank（301）, connection water tank flusher（302）And swab（303）, water tank（301）And swab （303）Installed in cleaner（2）Chassis（3）On；Flusher（302）Front and rear be fitted with swab（303）, with clear Clean robot group（100）Before the direction of walking is, flusher（302）Swab afterwards（303）Work, flusher （302）Preceding swab（303）It is idle.
A kind of 8. glass curtain wall cleaning systems that can be traversing as claimed in claim 7, it is characterised in that the water tank（301） It is divided into cleaning agent case and Sewage treatment case, cleaning agent case and flusher（302）It is connected, Sewage treatment case and flusher （302）It is connected, flusher（302）There is a waste water recovery pipe, the pump in Sewage treatment case can pass through flusher（302）In it is useless Water Sproading pipe is flusher（302）On Sewage treatment into waste water tank, swab（303）Including installed in support one （3034）, telescoping mechanism five（3031）, turning device one（3032）And scrubber（3033）, support one（3034）One end is arranged on Chassis（3）On, one end connection telescoping mechanism five（3031）, turning device one（3032）Installed in telescoping mechanism five（3031）On, During cleaning, telescoping mechanism five（3031）Ceaselessly elongation is shortened, and passes through turning device one（3032）Drive scrubber （3033）Back move, glass curtain wall is cleared up back and forth, turning device one（3032）Including expansion bend three（30321）And electricity Machine six（30322）, expansion bend three（30321）Pass through motor six（30322）Output shaft be hinged on telescoping mechanism five（3031）On； During cleaning, controlling organization according to the length of the gradient automatic regulation telescopic unit three of glass curtain wall and can pass through motor Six（30322）Control expansion bend three（30321）With respect to the angle of glass curtain wall.
A kind of 9. glass curtain wall cleaning systems that can be traversing as claimed in claim 1, it is characterised in that the safety device bag Include suspension apparatus（35）, suspension apparatus is slidably connected at track two（36）On, it is characterised in that suspension apparatus（35）Interior fixed peace Equipped with safety rope（37）Hoisting mechanism and power set, power set provide dynamic for hoisting mechanism and whole suspension apparatus Power, the safety rope on hoist engine（37）Free-end stretch out suspension apparatus（35）Bottom, and with cleaning robot group fix connect Connect, safety rope（37）With suspension apparatus（35）The junction of bottom is provided with from device of bursting, and suspention dress is fixedly mounted on from device of bursting Put（35）Bottom, from burst device on be fixedly connected with locked portion（38）, locked portion is provided with perforation, safety rope（37）Through lock Dead portion（38）On perforation, work as safety rope（37）When exceeding setting value to the pressure of perforation, from bursting, device passes through locked portion（38） Hold locked safety rope tightly（37）.