CN107788902A - A kind of glass curtain wall cleaning machine device people that there is the back of the body to push away propeller - Google Patents
A kind of glass curtain wall cleaning machine device people that there is the back of the body to push away propeller Download PDFInfo
- Publication number
- CN107788902A CN107788902A CN201711099980.5A CN201711099980A CN107788902A CN 107788902 A CN107788902 A CN 107788902A CN 201711099980 A CN201711099980 A CN 201711099980A CN 107788902 A CN107788902 A CN 107788902A
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- CN
- China
- Prior art keywords
- main frame
- curtain wall
- glass curtain
- controller
- propeller
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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.)
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Classifications
-
- 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
Landscapes
- Manipulator (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a kind of glass curtain wall cleaning machine device people that there is the back of the body to push away propeller, main frame including being built-in with drive device and controller, drive device is electrically connected with the controller, main frame is provided with cleaning device, the main frame is provided with a plurality of pedipulator driven by drive device towards the side of glass curtain wall, pedipulator end is equipped with sucker, the main frame is provided with multiple propellers backwards to the side of glass curtain wall, the propeller is driven respectively by multiple motors in main frame, the motor is electrically connected with the controller, three-axis gyroscope or six axle gyroscopes are additionally provided with the main frame, three-axis gyroscope or six axle gyroscopes are connected with controller signals.By sucker and pedipulator, robot can on glass curtain wall vertically and horizontally walking, across the vertical and horizontal stop barrier on glass, carry out continuous wash；Robot can be attached on glass curtain wall by propeller when sucker loosens or inhales not tight by carrying on the back thrust, effectively prevented from dropping, improved the safety and reliability of robot.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot for glass curtain wall cleaning.
Background technology
At present, the cleaning of glass curtain wall is careless slightly that safety just occurs mainly by being accomplished manually on skyscraper
Accident, then people increasingly tend to carry out the washing and cleaning operation of high-altitude glass curtain wall using high-altitude cleaning machine people, but show
Dropped when some cleaning robots are tended to because of across obstacle in cleaning, power is not good or are broken down, be unfavorable for connecting
Continuous cleaning, security, reliability are poor；In addition, the existing cleaning robot degree of balance is also poor, not only exacerbates and drop, partially
From hidden danger, it is poor also easily to cause not wash clean cleaning performance living clearly.Therefore, it is necessary to prior art is improved with it is excellent
Change.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of glass curtain wall cleaning machine device that there is the back of the body to push away propeller
People, to improve the security of cleaning, reliability.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of glass curtain wall cleaning machine device people that there is the back of the body to push away propeller, including it is built-in with the master of drive device and controller
Machine, drive device are electrically connected with the controller, and main frame is provided with cleaning device, and the main frame is provided with more towards the side of glass curtain wall
The pedipulator that bar is driven by drive device, pedipulator end are equipped with sucker, and the main frame is provided with more backwards to the side of glass curtain wall
Individual propeller, the propeller are driven respectively by multiple motors in main frame, and the motor is electrically connected with the controller, institute
State and three-axis gyroscope or six axle gyroscopes are additionally provided with main frame, three-axis gyroscope or six axle gyroscopes are connected with controller signals.
The propeller is arranged at least four, and balanced is arranged on main frame backwards to the side of glass curtain wall.
Also include winch truck, the main frame is connected on winch truck by least two hawsers, and the winch truck is provided with
Winding plant, the hawser pass through winding plant folding and unfolding；It is also associated with receiving by winding plant between the main frame and winch truck
The service cable and signal cable put, the service cable are connected to drive device and motor, and signal cable is connected to controller.
The cleaning device includes hairbrush, perching knife and colloid scraper, and the main frame is driven provided with a plurality of by drive device
Mechanical arm, the hairbrush, perching knife and colloid scraper are attached separately to the end of mechanical arm.
The main frame is provided with least four mechanical arms, wherein being equipped with camera, the shooting on a mechanical arm
Head signal is connected to controller.
The main frame is built with the remote control signal receiver being connected with controller signals.
Beneficial effects of the present invention：By sucker and pedipulator, robot can on glass curtain wall vertically and horizontally walking, across glass
Vertical and horizontal stop barrier on glass, carry out continuous wash；Propeller can be when sucker loosens or inhales not tight by carrying on the back thrust by machine
Device people is attached on glass curtain wall, effectively prevents from dropping, and improves the safety and reliability of robot；Three-axis gyroscope or six
Axle gyroscope is used for perceiving the balanced degree of robot and signal is sent into controller, then the fortune by controller internal processes
Calculate and produce the rotating speed that control signal carrys out multiple propellers in control main frame, to maintain the balance of whole robot, further prevent
Drop, ensure cleaning quality.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, wherein：
Fig. 1 is the structural representation of the present invention.
Embodiment
Reference picture 1, a kind of glass curtain wall cleaning machine device people that there is the back of the body to push away propeller of the invention, including it is built-in with driving
The main frame 1 of device and controller, drive device is electrically connected with the controller, and the side of main frame 1 towards glass curtain wall is surrounded by eight
The pedipulator 11 that bar is driven by drive device, i.e., two are provided with per side, the end of pedipulator 11 is equipped with sucker 12, is gone back on main frame 1
Equipped with cleaning device, main frame 1 can be inhaled by sucker 12 on glass curtain wall, so that cleaning device cleans glass curtain wall, machine
Tool leg 11 vertical and horizontal can walk on vertical glass curtain wall, may span across the vertical and horizontal stop barrier on glass curtain wall, enter
Row moves integrally, to continue to clean other regions after having cleaned at one, in addition, can input cleaning road in controller in advance
Footpath, so that robot is according to the movement of cleaning path and cleaning.
Specifically, built with vavuum pump, vavuum pump could be arranged to eight and corresponded with sucker 12 main frame 1, and
Respectively by connect tracheae be connected to corresponding to sucker 12 carry out independent air-breathing, it can also be provided that one, and pass through eight companies
Trachea is connected to all suckers 12 and carries out unified air-breathing control, and magnetic valve, the vavuum pump are equipped with each connection tracheae
Controller is connected to solenoid signal.Vavuum pump and magnetic valve is controlled easily to realize that main frame 1 is each by controller
The inner side of sucker 12 of side vacuumizes so that it is firmly sucked on glass curtain wall, so as to carry out the cleaning of glass curtain wall and
Reposition after movement；Pressure sensor is equipped with each sucker 12, pressure sensor is connected with controller signals,
Vavuum pump or magnetic valve are just closed after the negative pressure as little as arranges value that pressure sensor detects when inhaling vacuum, to ensure that sucker 12 has
Enough negative-pressure suckings, tight curtain wall of inhaling ensure robot security's operation, avoid suction deficiency and come off.
Preferably, the main frame 1 is provided with four propellers 3 backwards to the side of glass curtain wall, the propeller 3 by mounted in
Four motors in main frame 1 are driven respectively, and the motor is electrically connected with the controller, and three-axis gyroscope is additionally provided with the main frame 1,
Three-axis gyroscope is connected with controller signals.Effect and the cooperating of sucker 12 are pushed away by the back of the body of propeller 3, robot integrally obtains
To be firmly attached on glass curtain wall, be convenient for cleaning, effectively prevent from dropping, improve robot security and
Reliability；Three-axis gyroscope is used for perceiving the balanced degree of robot and signal is sent into controller, then by controller
The computing of portion's program produces the rotating speed that control signal carrys out four propellers in control main frame 1, to maintain the balance of whole robot.
Further, it is also possible to which three-axis gyroscope is replaced by into six axle gyroscopes, to realize unmanned plane function, robot is transformed into nobody
Machine, to carry out high-altitude flight and clean in place.The remote control signal receiver dress being connected with controller signals is also equipped with main frame 1
Put, it is convenient and swift to carry out the switching of procedure auto-control and manual control at any time.
As the further improvement of above-mentioned technical proposal, also a winch truck 2 can be fixed in top of building, main frame 1 is logical
Two hawsers 21 to be crossed to be connected on winch truck 2, winch truck 2 is provided with winding plant, and hawser 21 carries out folding and unfolding by winding plant,
Rise synchronous with main frame 1 reduces, and plays safety effect, it is ensured that the safety of robot and the safety of lower section pedestrian；Main frame 1 and winch truck
It is also associated with being connected to driving dress by the service cable 22 and signal cable 23 of winding plant folding and unfolding, service cable 22 between 2
Put and motor, signal cable 23 are connected to controller, can make up what the battery-powered operation time was not grown by service cable 22
Shortcoming, lengthen working hours, improve operating efficiency, and signal is transmitted by signal cable 23, having can avoid being wirelessly connected on
Away from it is too far away when poor signal the problem of, effective anti-stop operation error, safety when ensureing manual control in moving process.
Preferably, the cleaning device includes hairbrush 14, perching knife 15, colloid scraper 16, and four are additionally provided with by driving on main frame 1
The mechanical arm 13 of dynamic device driving, wherein hairbrush 14, perching knife 15, colloid scraper 16 are installed in the end of three mechanical arms 13 respectively,
The cleaning of glass curtain wall is realized by the action of mechanical arm 13, wherein, hairbrush 14 is used to typically clean, wiped, and perching knife 15 is used for
Obstinate stain is removed, rubber scraper 16 is used to scrape the water mark after cleaning；The end of another mechanical arm 13 is provided with camera
17, the signal of camera 17 is connected to controller, passback positioning in good time and wash course, while examines cleaning performance, so as to
In judging whether to clean up, whether need to clean again, farthest ensure the effect and cleanliness factor of cleaning.
Further, the main frame 1 is connected to hairbrush 14 by water pipe built with water tank and water pump, water pump along mechanical arm 13
Or perching knife 15 or colloid scraper 16, so as to the water spray softening stain in cleaning, it is easy to clean, avoids xerotripsis from being not easy to clean up
The problem of, meanwhile, winch truck 2 is provided with the water-supply-pipe 24 by winding plant synchronization folding and unfolding, and water-supply-pipe 24 is connected in main frame 1
Water tank, the distance synchronous folding and unfolding by winding plant according to main frame 1 supplements water into water tank, extends cleaning duration, keep away in time
Exempt from water tank water deficiency and frequently stop；In addition, being also equipped with cleaning agent case and cleaning pump in main frame 1, cleaning pump passes through cleaning agent
Pipe is connected to hairbrush 14 or perching knife 15 or colloid scraper 16 along mechanical arm 13, for cleaning obstinate stain, by adding cleaning agent,
It is to be more prone to make cleaning stubbornness stain, and cleaning speed faster, cleans cleaner, more efficient, time-consuming shorter, meanwhile,
Winch truck 2 is provided with the cleaning fluid conveying pipeline 25 by winding plant synchronization folding and unfolding, and the cleaning fluid conveying pipeline 25 is connected to master
Cleaning agent case in machine 1, so as to the additional clean agent into cleaning agent case in time, extend cleaning duration, avoid because in cleaning agent case
Cleaning agent deficiency and frequently stop or make cleaning performance bad.
The present invention by sucker 12, pedipulator 11 and the cooperating of propeller 3, can on glass curtain wall vertically and horizontally walking, across
Vertical and horizontal stop barrier more on glass, the pressure sensor on sucker 12 can monitor the pressure of sucker 12 in real time, it is ensured that walking
Security；Propeller 3 further ensures its security, can when sucker 12 loosens or inhales not tight automatic start, by the back of the body push away
Robot is attached on glass curtain wall by power；And pass through a variety of cleaning means on multiple mechanical arms 13, the reality of cooperation camera 17
When monitor, can dispose the various spots on glass curtain wall, improve the quality of robot cleaning；In addition hawser 21 further ensures
The security performance of robot, fundamentally effectively prevents it from dropping.
The above embodiments are merely illustrative of the technical solutions of the present invention and is not limited, all without departing from the present invention
Any modification of spirit and scope or equivalent substitution, it all should cover in the range of technical solution of the present invention.
Claims (6)
1. a kind of glass curtain wall cleaning machine device people that there is the back of the body to push away propeller, including it is built-in with the master of drive device and controller
Machine, drive device are electrically connected with the controller, and main frame is provided with cleaning device, it is characterised in that：The main frame is towards glass curtain wall
Side be provided with a plurality of pedipulator driven by drive device, pedipulator end be equipped with sucker, and the main frame side is provided with multiple
Propeller, the propeller are driven respectively by multiple motors in main frame, and the motor is electrically connected with the controller, described
Three-axis gyroscope or six axle gyroscopes are additionally provided with main frame, three-axis gyroscope or six axle gyroscopes are connected with controller signals.
A kind of 2. glass curtain wall cleaning machine device people that there is the back of the body to push away propeller according to claim 1, it is characterised in that：Institute
State propeller and be arranged at least four, and balanced be arranged on main frame backwards to the side of glass curtain wall.
A kind of 3. glass curtain wall cleaning machine device people that there is the back of the body to push away propeller according to claim 1, it is characterised in that：Also
Including winch truck, the main frame is connected on winch truck by least two hawsers, and the winch truck is provided with winding plant, institute
State hawser and pass through winding plant folding and unfolding；The service cable by winding plant folding and unfolding is also associated between the main frame and winch truck
And signal cable, the service cable are connected to drive device and motor, signal cable is connected to controller.
A kind of 4. glass curtain wall cleaning machine device people that there is the back of the body to push away propeller according to claim 1, it is characterised in that：Institute
Stating cleaning device includes hairbrush, perching knife and colloid scraper, and the main frame is provided with a plurality of mechanical arm driven by drive device, institute
State the end that hairbrush, perching knife and colloid scraper are attached separately to mechanical arm.
A kind of 5. glass curtain wall cleaning machine device people that there is the back of the body to push away propeller according to claim 4, it is characterised in that：Institute
State main frame and be provided with least four mechanical arms, wherein camera is housed on a mechanical arm, the camera signals connection
To controller.
A kind of 6. glass curtain wall cleaning machine device people that there is the back of the body to push away propeller according to claim 1, it is characterised in that：Institute
Main frame is stated built with the remote control signal receiver being connected with controller signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711099980.5A CN107788902A (en) | 2017-11-09 | 2017-11-09 | A kind of glass curtain wall cleaning machine device people that there is the back of the body to push away propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711099980.5A CN107788902A (en) | 2017-11-09 | 2017-11-09 | A kind of glass curtain wall cleaning machine device people that there is the back of the body to push away propeller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107788902A true CN107788902A (en) | 2018-03-13 |
Family
ID=61534726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711099980.5A Pending CN107788902A (en) | 2017-11-09 | 2017-11-09 | A kind of glass curtain wall cleaning machine device people that there is the back of the body to push away propeller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107788902A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852147A (en) * | 2018-07-18 | 2018-11-23 | 深圳利尔阳光科技有限公司 | Glass curtain wall robotic cleaning device |
| WO2020114195A1 (en) * | 2018-12-06 | 2020-06-11 | 北京工业大学 | Special service robot for high-altitude operation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202376015U (en) * | 2011-11-15 | 2012-08-15 | 王靖瑜 | Intelligent window cleaning robot |
| CN106388724A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Glass curtain wall washing robot |
| CN106510565A (en) * | 2016-11-08 | 2017-03-22 | 苏州大学 | Air automatic scrubbing device, cleaning group, and suitable wall surface |
| CN208610743U (en) * | 2017-11-09 | 2019-03-19 | 广东豪信激光装备制造有限公司 | A kind of glass curtain wall cleaning machine device people pushing away propeller with back |
-
2017
- 2017-11-09 CN CN201711099980.5A patent/CN107788902A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202376015U (en) * | 2011-11-15 | 2012-08-15 | 王靖瑜 | Intelligent window cleaning robot |
| CN106388724A (en) * | 2016-10-28 | 2017-02-15 | 深圳精智机器有限公司 | Glass curtain wall washing robot |
| CN106510565A (en) * | 2016-11-08 | 2017-03-22 | 苏州大学 | Air automatic scrubbing device, cleaning group, and suitable wall surface |
| CN208610743U (en) * | 2017-11-09 | 2019-03-19 | 广东豪信激光装备制造有限公司 | A kind of glass curtain wall cleaning machine device people pushing away propeller with back |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852147A (en) * | 2018-07-18 | 2018-11-23 | 深圳利尔阳光科技有限公司 | Glass curtain wall robotic cleaning device |
| WO2020114195A1 (en) * | 2018-12-06 | 2020-06-11 | 北京工业大学 | Special service robot for high-altitude operation |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180313 |