CN107928535A - A kind of new curtain cleaning robot - Google Patents
A kind of new curtain cleaning robot Download PDFInfo
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- CN107928535A CN107928535A CN201711470584.9A CN201711470584A CN107928535A CN 107928535 A CN107928535 A CN 107928535A CN 201711470584 A CN201711470584 A CN 201711470584A CN 107928535 A CN107928535 A CN 107928535A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 144
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 239000007921 spray Substances 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 238000007790 scraping Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 239000008358 core component Substances 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 claims 1
- 239000011521 glass Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000005457 optimization Methods 0.000 description 8
- 238000005406 washing Methods 0.000 description 4
- 238000005253 cladding Methods 0.000 description 3
- 238000005202 decontamination Methods 0.000 description 3
- 230000003588 decontaminative effect Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000003796 beauty Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 208000034700 Vitreous opacities Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- APTZNLHMIGJTEW-UHFFFAOYSA-N pyraflufen-ethyl Chemical compound C1=C(Cl)C(OCC(=O)OCC)=CC(C=2C(=C(OC(F)F)N(C)N=2)Cl)=C1F APTZNLHMIGJTEW-UHFFFAOYSA-N 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of new curtain cleaning robot, including hoist engine, wiper mechanism, thrust wind turbine, control system, wiper mechanism on three cleaning units by being respectively provided with support frame, screeding device, roller brushes structure, guide wheel device；Three cleaning units set transmission device, and automatic control system includes PLC control system, hoist controlling system, robot body control system；Hoist controlling system includes alignment system, traveling control system, the lifting of robot body, the lifting of cable, the lifting of water pipe are controlled, robot body control system includes spray and cleaning system, stable equilibrium's system, window frame identifying system and early warning and processing system.The present invention is rational in infrastructure, and high safety, cleaning area can adjust, and cleaning is thorough, has practical control system, ensures that cleaning robot realizes that balance Control Scheme, execution Enterprise model such as are escaped danger, are automatically positioned at the function automatically.
Description
Technical field
The present invention relates to a kind of curtain wall for high rise building cleaning equipment, be specifically related to one kind disclosure satisfy that working at height, gram
Take the new curtain cleaning robot of high altitude environment influence.
Background technology
Largely building employs cladding glass for urban construction at present, and as outdoor wall, glass curtain wall surface can be a large amount of
The solid matter in dust, mist thunderbolt, rainwater in precipitation air, and then influence cleaning and the beauty of glass.Glass curtain wall
Cleaning is manually cleaned using rope or hanging basket from top layer suspension method always, but as the increase of story height and area increase
Greatly, clean that the risk of operation is higher and higher, the workload of cleaning is also increasing, so not only has security risk, at the same time
Cleaning efficiency is low, and labor intensity is big.
Also there are many machine constructions under the development of automation, in cladding glass cleaning and replace artificial work, but
The curtain cleaning robot used at present is primarily present problems with automatic cleaning：
1. security is low：Since curtain wall robot is in working at height, it is subject to external force factor more, causes curtain wall robot to be put in the air
Dynamic, security is poor, reduces cleaning efficiency.
2. translational speed is slow, cleaning is not thorough：Glass curtain wall solid matter deposition is firm, and simply washing away cannot not only cut
It is real to solve the problems, such as, vitreous opacity is also created, has seriously affected the beauty of curtain wall.
3. cost is high：Robot washer structure is complicated mostly at present, and of high cost, input greatly, thus is unsuitable for advising greatly
Mould is promoted.
Meanwhile there is presently no practical automatic cleaning program, the automation of washing and cleaning operation are accomplished far away.Machine
Key issues of wall adaptability of people, about barrier ability and cleaning efficiency, constrains cleaning robot man-based development, above-mentioned reason
Cause cleaning robot on cladding glass can not large-area applications, be only improved the wall adaptability of robot, cleaning efficiency,
Reducing cost just can make cleaning robot be applied and develop on curtain cleaning.
Therefore problem to be solved by this invention is how to carry out automation cleaning to the glass curtain wall of skyscraper.
The content of the invention
In order to make up above-mentioned the deficiencies in the prior art, the object of the present invention is to provide a kind of new curtain cleaning machine
People, rational in infrastructure, high safety, cleaning area can adjust, and cleaning is thorough, have practical control system, ensure cleaning machine
Device people realizes balance Control Scheme, performs Enterprise model the function such as escape danger, is automatically positioned automatically.
The purpose of the present invention is what is be achieved through the following technical solutions：A kind of new curtain cleaning robot, including volume
Machine is raised, wiper mechanism, thrust wind turbine, control system, is characterized in that：The wiper mechanism is single by cleaning unit I, cleaning
Member II, cleaning unit III form, and support frame, screeding device, roller brushes structure, directive wheel dress are respectively provided with three cleaning units
Put；Hanging ring is set in the support frame of I front end of cleaning unit, thrust wind turbine is set on cleaning unit I, I end of cleaning unit and
Cleaning unit II, III front end of cleaning unit are respectively provided with guide rail, and guide rail is equipped with sliding block, cleaning unit II, III guide rail of cleaning unit
On sliding block be connected respectively by latch with the sliding block on I guide rail of cleaning unit；Cleaning unit I and cleaning unit II, cleaning
Transmission device is set between unit III, and transmission device includes power motor, transmission shaft, spline, power motor are set on transmission shaft
Driving wheel is set, driven wheel is set among transmission shaft, power motor is connected with transmission shaft by belt；Cleaning unit I, cleaning are single
Member II, the round brush of cleaning unit III are respectively provided with driven wheel, are connected respectively with transmission shaft belt；The automatic control system includes
PLC control systems, hoist controlling system, robot body control system；Hoist controlling system includes alignment system, walking control
System processed, controls the lifting of robot body, the lifting of cable, the lifting of water pipe, and robot body control system includes spray
And cleaning system, stable equilibrium's system, window frame identifying system and early warning and processing system；Above-mentioned each control system is equipped with manipulation circle
Face, parameter is down-set in PLC control system automatically after setting, and the control system journey worked out and stored is have cured in PLC
Sequence, control system program divide function independent closed-loop control, have logical security interlocking again between each function module.
Scheme as an optimization, sets in the support frame some water knockout drums to spray water to round brush.
Scheme as an optimization, the roller brushes structure include round brush body and flange, and round brush body both ends are equipped with flange, method
The blue circumferentially disposed 4-8 notch of external annular surface, notch is interior to set bristle.
Scheme as an optimization, the screeding device are separately positioned on the connecting seat of three cleaning unit front ends, connecting seat
Axis connection scrapes panel seat, connecting seat and scrapes and sets spring between stand；Scraper plate base rear end axis connection gear wheel, scrapes panel seat front end and sets extension
Grillage, is fixedly mounted scraper plate on hanging plate frame.
Scheme as an optimization, the installing plate being connected with cleaning unit, installing plate bottom axis are set on the guide wheel device
Connection is in the directive wheel or guide wheel group of an angle of 90 degrees.
Scheme as an optimization, the PLC control systems are equipped with three kinds of control modes, manual, automatic and one-touch unmanned value
Pattern is kept, three kinds of modes switch at any time, need to only set the relevant parameters such as cleaning height, cleaning area that one-touch behaviour can be achieved
Make.
Scheme as an optimization, the PLC control systems pass through ground control remote controler, Computerized monitor system and/or mobile phone
APP monitoring system real-time inspection and controls system whether operation irregularity.
Scheme as an optimization, the hoist controlling system control frequency control motor to realize cleaning robot sheet according to PLC
The raising and lowering of body, above-mentioned motor has dual band-type brake function, including electromagnetism dead electricity is internal contracting brake provided and manual emergency brakes
System, it is ensured that the safety of equipment；The hoist engine of control cable and water pipe uses frequency control motor, and with robot body motor
It is chain, it is ensured that lifting speed and robot body realtime uniform；The spray and cleaning system are as curtain cleaning robot
Core component, is sprayed by PLC control solenoid valve control water knockout drums, and PLC control servomotors drive round brush to carry out electrodeless tune
Speed cleaning；Stable equilibrium's system includes steel wire rope force snesor, steel wire rope obliquity sensor, robot obliquity sensor, survey
Away from sensor, can monitoring robot in real time equilibrium state, in the event of tilting, then automatic recovery；Window frame identification system
System is the accurate walking positioning with distance measuring sensor, border monitoring sensor, realizes accurate measurements window frame width and height,
And window frame is crossed over automatically；Early warning and processing system close to photoelectric sensor mainly by judging whether there is thing around robot
Body approaches, and automatically processes, anticollision.
Scheme as an optimization, robot body hoist engine are equipped with alignment system, and the walking coordinate of real-time positioning robot, sits
Mark is positioned using tri- axis of X, Y, Z, is realized that 3 D stereo positions, can be obtained accurate run trace, and can be accurately automatically across barrier.
Beneficial effects of the present invention：
1. cleaning is thorough, the present invention uses front and rear double roller brushes structure, and transmission device makes three round brush synchronously operate, to being attached to
Curtain wall in brush finish is cleaned, and when work can effectively clear up in place；The distinctive bristle of round brush with cleaning without dead angle
Feature；
2. rational in infrastructure, high safety, when curtain wall robot cleans automatically, when scraping plate mechanism device is under pressure excessive,
Gear wheel can be pressed on cleaned curtain wall, to prevent by scraping plate mechanism device scratch；Guiding wheel structure is by the way of rolling to clear
The robot for washing curtain wall produces favourable guiding role, reduces robot and swings in the air；
3. cleaning area scalability, two cleaning units arranged side by side can adjust interval, increase cleaning area, while use and push away
Power wind turbine, makes that its operation is more reliable, and simple in structure, cost is low, have it is wide clean, the market prospects of environmental protection；
4.PLC control systems ensure robot body in external force（Such as high wind）Or the lower energy autobalance of the factor such as foreign object scraping collision interference
Control, while perform Enterprise model and complete automatic curtain wall glass spraying spray, scrub, scrape until decontamination, going stain up to dry
The function such as the storage of clean, automatic cleaning record data is defecated, escape danger automatically, be automatically positioned.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the structure diagram of wiper mechanism.
Fig. 3 is the structure diagram of round brush.
Fig. 4 is the structure diagram of screeding device.
Fig. 5 is the structure diagram of guide wheel device.
Fig. 6 is the structure diagram of transmission device.
Fig. 7 is the structure diagram of drive splines axis.
Fig. 8 forms schematic diagram for PLC control systems
In Fig. 1-Fig. 7：I 1-1 of cleaning unit, II 1-2 of cleaning unit, cleaning unit III 1-3, guide rail 1-4, latch 1-5, thrust
Wind turbine 2, roller brushes structure 3, screeding device 4, guide wheel device 5, transmission device 6, hanging ring 7, support frame 8, PLC control systems
9, flange 3-1, flange notch 3-2, bristle 3-3, connecting seat 4-1, spring 4-2, scrape stand 4-3, gear wheel 4-4, scraper plate 4-5, hang
Grillage 4-6, directive wheel 5-1, small axis 5-2, locking nut 5-3, installing plate 5-4, transmission shaft 6-1, power motor 6-2, driving wheel
6-3, driven wheel 6-4, belt 6-5, ground control remote controler 9-1, Computerized monitor system 9-2, cell phone application monitoring system 9-3,
Lift-on/Lift-off System 9-4, robot body control system 9-5, alignment system 9-6, traveling control system 9-7, window frame identification system
Unite 9-8, stable equilibrium system 9-9, spray and cleaning system 9-10, early warning and processing system 9-11.
Brief description of the drawings
Such as Fig. 1-Fig. 8, a kind of new curtain cleaning robot includes hoist engine, wiper mechanism, thrust wind turbine 2, control
System；Wiper mechanism is made of I 1-1 of cleaning unit, II 1-2 of cleaning unit, III 1-3 of cleaning unit, on three cleaning units
Support frame 8, screeding device 4, roller brushes structure 3, guide wheel device 5 are set；Some water knockout drums are set in support frame 8 to round brush
Water spray；The roller brushes structure 3 includes round brush body and flange, and round brush body both ends are equipped with flange 3-1, flange 3-1 outer shroud tables
Bristle 3-3 is set in the circumferentially disposed 4-8 notch 3-2 in face, notch 3-2；Before screeding device 4 is separately positioned on three cleaning units
On the connecting seat 4-1 at end, connecting seat 4-1 axis connections scrape panel seat 4-3, connecting seat 4-1 and scrape and set spring 4-2 between stand 4-3；
Panel seat 4-3 rear ends axis connection gear wheel 4-4 is scraped, panel seat 4-3 front ends is scraped and hanging plate frame 4-6 is set, scraper plate is fixedly mounted on hanging plate frame 4-6
4-5；The installing plate 5-4 being connected with cleaning unit is set on guide wheel device 5, and installing plate 5-4 bottoms are in by small axis 5-2 connections
The directive wheel 5-1 of an angle of 90 degrees, and locked with locking nut 5-3.
Hanging ring 7 is set in the support frame of I 1-1 front ends of cleaning unit, thrust wind turbine 2 is set on I 1-1 of cleaning unit, clearly
Wash I 1-1 ends of unit and II 1-2 of cleaning unit, III 1-3 front ends of cleaning unit and be respectively provided with guide rail 1-4, guide rail 1-4, which is equipped with, to be slided
Block, the sliding block on II 1-2 of cleaning unit, III 1-3 guide rails of cleaning unit pass through I 1-1 guide rails of latch 1-5 and cleaning unit respectively
On sliding block connection；Transmission device 6, transmission are set between II 1-2 of I 1-1 of cleaning unit and cleaning unit, III 1-3 of cleaning unit
Device 6 includes power motor 6-2, transmission shaft 6-1, and spline is set on transmission shaft 6-1, and power motor sets driving wheel 6-3, transmission
Driven wheel 6-4, power motor 6-2 and transmission shaft 6-1 is set to be connected by belt 6-5 among axis 6-1；It is I 1-1 of cleaning unit, clear
Wash unit II 1-2, the round brush of III 1-3 of cleaning unit is respectively provided with driven wheel 6-4, be connected respectively with transmission shaft 6-1 belts.
Automatic control system includes PLC control systems 9, hoist controlling system 9-4, robot body control system 9-5；
Hoist controlling system 9-4 includes alignment system 9-6, traveling control system 9-7, controls the lifting of robot body, cable to hang
Dress, the lifting of water pipe, robot body control system 9-5 include spray and cleaning system 9-10, stable equilibrium's system 9-9, window
Frame identifying system 9-8 and early warning and processing system 9-11；Above-mentioned each control system is equipped with operation and control interface, under parameter is automatic after setting
Put in PLC control system, the control system program worked out and stored is have cured in PLC, control system program divides work(
Can independent closed-loop control, have logical security interlocking again between each function module；PLC control systems are equipped with three kinds of control modes,
Manually, automatic and one-touch unattended pattern switches at any time, need to only set the relevant parameters such as cleaning height, cleaning area
Realize operating in a key；PLC control systems pass through ground control remote controler 9-1, Computerized monitor system 9-2, cell phone application monitoring
System real-time inspection and control system 9-3 whether operation irregularity.
Hoist controlling system 9-4 realizes the raising and lowering of cleaning robot human body according to PLC control frequency control motors,
Above-mentioned motor has a dual band-type brake function, including electromagnetism dead electricity is internal contracting brake provided and manual emergency brake system, it is ensured that equipment
Safety；The hoist engine of control cable and water pipe uses frequency control motor, and chain with robot body motor, it is ensured that lifting speed
Degree and robot body realtime uniform；Robot body hoist engine is equipped with alignment system, the walking coordinate of real-time positioning robot,
Coordinate is positioned using tri- axis of X, Y, Z, is realized real 3 D stereo positioning, can be obtained accurate run trace, and can be accurate
Automatically across barrier；The core component of spray and cleaning system 9-10 as curtain cleaning robot, by PLC control solenoid valve controls point
Hydrophone is sprayed, and PLC control servomotors drive round brush to carry out stepless time adjustment cleaning；Stable equilibrium's system 9-9 includes steel
Cord force snesor, steel wire rope obliquity sensor, robot obliquity sensor, distance measuring sensor, can real-time monitoring robot
Equilibrium state, in the event of tilting, then automatic recovery；Window frame identifying system 9-8 is by distance measuring sensor, border monitoring
Sensor coordinates accurate walking positioning, realizes accurate measurements window frame width and height, and cross over window frame automatically；Early warning and processing
System 9-11 prevents mainly by judging whether there is object proximity around robot close to photoelectric sensor, and automatically process
Hit.
Automatic control system ensure no matter external force（Such as high wind）Or the lower energy balance Control Scheme of the factor such as foreign object scraping collision interference,
The front, rear, left and right coordinate of i.e. real-time monitoring robot, real time dynamic tracing, establish it is a kind of steady, efficiently, quickly respond and be
System；Dynamic realizes Quick-return ortho states；Enterprise model is performed to complete automatic curtain wall glass spraying spray, scrub, scrape
Until decontamination, go stain up to clean cleaning, cleaning solution nebulizes sprinkling automatically, monitors cleaning performance automatic adjustment according to camera and brushes
Wash rotating speed and robot ambulation speed and distance, serious dirty place can with secondary decontamination, go stain, repeated washing；Automatic cleaning record
Data store, and automatically generate real-time report, and establish individual document, later stage generation daily sheet, moon sheet, all report history numbers
According to can inquire about, print, unloading；Automatic identification window frame, automatic leaping over obstacles are performed, there is left and right window frame identification sensing in robot
Device, window frame height recognition sensor and window frame width identification sensor, are fed back by the measurement of sensor and signal, according to machine
The positioning of people in itself, obtains the data such as the position of window frame, width, height, by fuzzy algorithmic approach, provides automatically and about hinders data and reality
Apply path；Automatically escape danger, have a foreign object or external force touches robot, when unreasonable change occurs for robot normality index, by from
Dissipate variable-structure control to robot apply needed for power of escaping danger, can flexibility and reliability operation robot realize escape danger automatically；Automatically
Positioning, real-time recorder people longitudinal direction（Y-axis）And transverse direction（X-axis）Walking coordinate, be accurately positioned, and can accurately return to coordinate original
Point.
In addition, I end of cleaning unit is connected with cleaning unit II, III front end of cleaning unit by slide, distance can be with
Adjustment, before curtain wall robot automatically cleaning, measures the curtain wall of cleaning, the cleaning length adjustment of robot to cleaned curtain wall
Applicable length, robot start to work, and when curtain cleaning robot enters the curtain wall scope to be cleaned, thrust wind turbine is again
Push curtain cleaning robot to curtain wall to be cleaned, since the thrust of thrust wind turbine makes curtain cleaning robot being attached to tightly
On curtain wall, it is set reliably to work.
Claims (9)
1. a kind of new curtain cleaning robot, including hoist engine, wiper mechanism, thrust wind turbine, control system, its feature exist
In：The wiper mechanism is made of cleaning unit I, cleaning unit II, cleaning unit III, and branch is respectively provided with three cleaning units
Support frame frame, screeding device, roller brushes structure, guide wheel device；Hanging ring is set in the support frame of I front end of cleaning unit, and cleaning is single
Thrust wind turbine is set in member I, and I end of cleaning unit and cleaning unit II, III front end of cleaning unit are respectively provided with guide rail, are set on guide rail
There is a sliding block, the sliding block on cleaning unit II, III guide rail of cleaning unit passes through latch and the sliding block on I guide rail of cleaning unit respectively
Connection；Transmission device is set between cleaning unit I and cleaning unit II, cleaning unit III, and transmission device includes power motor, passes
Moving axis, spline is set on transmission shaft, and power motor sets driving wheel, driven wheel, power motor and transmission are set among transmission shaft
Axis is connected by belt；Cleaning unit I, cleaning unit II, the round brush of cleaning unit III are respectively provided with driven wheel, respectively with transmission shaft
Belt connects；The automatic control system includes PLC control systems, hoist controlling system, robot body control system；Hang
Filling control system includes alignment system, traveling control system, controls the lifting of robot body, the lifting of cable, water pipe to hang
Dress, robot body control system include spray and cleaning system, stable equilibrium's system, window frame identifying system and early warning and processing
System；Above-mentioned each control system is equipped with operation and control interface, and parameter is down-set in PLC control system automatically after setting, have cured in PLC
The control system program worked out and stored, control system program divide function independent closed-loop control, each function module it
Between again have logical security interlocking.
A kind of 2. new curtain cleaning robot according to claim 1, it is characterised in that：Set in the support frame
Some water knockout drums are put to spray water to round brush.
A kind of 3. new curtain cleaning robot according to claim 1, it is characterised in that：The roller brushes structure bag
Include round brush body and flange, round brush body both ends are equipped with flange, the circumferentially disposed 4-8 notch of flange external annular surface, are set in notch
Put bristle.
A kind of 4. new curtain cleaning robot according to claim 1, it is characterised in that：The screeding device point
It is not arranged on the connecting seat of three cleaning unit front ends, connecting seat axis connection scrapes panel seat, and connecting seat and scraping is set between stand
Spring；Scraper plate base rear end axis connection gear wheel, scrapes panel seat front end and sets hanging plate frame, scraper plate is fixedly mounted on hanging plate frame.
A kind of 5. new curtain cleaning robot according to claim 1, it is characterised in that：The guide wheel device
Upper to set the installing plate being connected with cleaning unit, installing plate bottom axis connection is in the directive wheel or guide wheel group of an angle of 90 degrees.
A kind of 6. new curtain cleaning robot according to claim 1, it is characterised in that：The PLC controls system
System is equipped with three kinds of control modes, manual, automatic and one-touch unattended pattern, and three kinds of modes switch at any time, need to only set clear
Wash the relevant parameters such as height, cleaning area and operating in a key can be achieved.
A kind of 7. new curtain cleaning robot according to claim 1, it is characterised in that：The PLC controls system
System passes through ground control remote controler, and whether Computerized monitor system and/or cell phone application monitoring system real-time inspection and control system work
It is abnormal.
A kind of 8. new curtain cleaning robot according to claim 1, it is characterised in that：The hoist controlling system
System realizes the raising and lowering of cleaning robot human body according to PLC control frequency control motors, and above-mentioned motor has dual band-type brake to stop
Car function, including electromagnetism dead electricity is internal contracting brake provided and manual emergency brake system, it is ensured that the safety of equipment；Control cable and water pipe
Hoist engine uses frequency control motor, and chain with robot body motor, it is ensured that lifting speed and robot body real-time one
Cause；The spray and core component of the cleaning system as curtain cleaning robot, by PLC control solenoid valve control water knockout drums into
Row spray, PLC control servomotors drive round brush to carry out stepless time adjustment cleaning；Stable equilibrium's system includes steel wire rope power sensing
Device, steel wire rope obliquity sensor, robot obliquity sensor, distance measuring sensor, can monitoring robot in real time equilibrium state,
In the event of inclination, then automatic recovery；Window frame identifying system is accurate with distance measuring sensor, border monitoring sensor
Walking positioning, realize accurate measurements window frame width and height, and cross over window frame automatically；Early warning and processing system mainly pass through
Judge whether there is object proximity around robot close to photoelectric sensor, and automatically process, anticollision.
A kind of 9. new curtain cleaning robot according to claim 1, it is characterised in that：The hoist engine is equipped with
Alignment system, the walking coordinate of real-time positioning robot, coordinate are positioned using tri- axis of X, Y, Z, realize that 3 D stereo positions, can be with
Accurate run trace is obtained, and can be accurately automatically across barrier.
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| CN201711470584.9A CN107928535A (en) | 2017-12-29 | 2017-12-29 | A kind of new curtain cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711470584.9A CN107928535A (en) | 2017-12-29 | 2017-12-29 | A kind of new curtain cleaning robot |
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| CN107928535A true CN107928535A (en) | 2018-04-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021082626A1 (en) * | 2019-10-28 | 2021-05-06 | 南京中科特检机器人有限公司 | Cleaning device |
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Application publication date: 20180420 |