CN108523785A - A kind of pneumatic glass curtain cleaning robot - Google Patents
A kind of pneumatic glass curtain cleaning robot Download PDFInfo
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- CN108523785A CN108523785A CN201810331610.8A CN201810331610A CN108523785A CN 108523785 A CN108523785 A CN 108523785A CN 201810331610 A CN201810331610 A CN 201810331610A CN 108523785 A CN108523785 A CN 108523785A
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- cylinder
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- glass curtain
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- sucker
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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
- 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
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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
- A47L11/40—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
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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
- 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
- A47L11/4066—Propulsion of the whole machine
-
- 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
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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
- 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
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- Manipulator (AREA)
Abstract
The invention discloses a kind of pneumatic glass curtain cleaning robots, belong to climbing robot field.A kind of pneumatic glass curtain cleaning robot of the present invention, its glass curtain wall cleaning machine device people is controlled by cylinder completely climbs wall and cleaning action to realize, its walking mechanism is formed by connecting by four groups of walking assemblies by four groups of walking cylinder head and the tail, coordinate absorption and the release action of sucker on walking assembly by the stretching motion of two groups of opposite walking cylinders, glass curtain wall cleaning machine device people is realized horizontal and vertical stable mobile, the structure of walking mechanism is simpler compact, flexible and convenient operation has higher working efficiency；And, walking assembly generates negative pressure of vacuum using suction cylinder to sucker, it is narrow-minded needed for each suction cylinder, requirement to air pump is low, actual operation and practicability are more preferable, and sucker and the one-to-one connection of suction cylinder, some sucker gas leakage will not impact entire walking mechanism, more securely and reliably.
Description
Technical field
The present invention relates to a kind of curtain cleaning robots, more specifically to a kind of pneumatic glass curtain cleaning machine
People.
Background technology
It is constantly progressive with the continuous development of society with scientific and technological, glass curtain wall is with its beautiful appearance, the open visual field
Etc. advantages become the world today building mainstream.China begins attempt to a glass curtain wall this skill in the eighties of eighties of last century
Art is applied in building, and the developed countries such as America and Europe began to use glass curtain wall under construction early in 1917.Although I
It is later that the development of state's glass curtain wall is compared to the western developed countries such as America and Europe, but the speed of development is but very surprising.Currently,
China has become maximum glass curtain wall producing country in the world and uses state.
It is reported that the mainly artificial cleaning of the cleaning way of glass curtain wall at present, the range of glass curtain wall is generally large, and
And be in than relatively hazardous eminence, the holder that surrounding can not be used for supporting, so cleaning worker need to generally take hanging basket or
Person's waist tether rope could carry out cleaning to the curtain wall of eminence, once misoperation or chance bad weather will lead to a disaster,
It causes casualties, property loss.In addition this artificial scouring mode labor intensity is big, and danger coefficient is high, inefficiency, price
It is high, belong to high-risk occupation.Therefore, it is dangerous to be badly in need of a kind of artificial progress of intelligent cleaning robot replacement of high degree of automation
Glass curtain wall cleaning.
It is increasing with the demand of curtain cleaning, the curtain wall climbing robot of many types has also been emerged both at home and abroad,
These curtain wall climbing robots, which will mostly move, and adsorb, clean three great institutions combines realization, and adsorbing mechanism generally may be used
It is divided into two major classes：One kind is the magnet adsorption mode for being suitable for moving on the wall surface of the iron works such as fuel cartridge, ship；Separately
One kind is to be suitable for that the negative-pressure adsorption mode moved on the smooth surface of magnetic suck cannot be being used.For the clear of glass curtain wall
It washes, generally by the way of second of negative-pressure adsorption.Such as Chinese Patent Application No. 201610788867.7, data of publication of application is
On December 7th, 2016, invention and created name are：A kind of intelligent travel in high sky robot, this application are related to a kind of intelligent
Travel in high sky robot, including rack and the controller, wiper mechanism, first walking mechanism and the second vehicle with walking machine that are arranged on
Structure；Second walking mechanism is adsorbed on curtain wall, and first walking mechanism is detached from curtain wall, is carried out to curtain wall in rack relative movement thereof
Cleaning；After rack is moved to corresponding position, first walking mechanism is adsorbed onto on curtain wall, and then the second walking mechanism is detached from curtain wall
And it is mobile.The walking structure of this application is relatively simple, but it is only capable of moving in one direction, and the movement in other directions relies on
In the suspention lifting device of roof.
In order to overcome defect existing for the walking mechanism of existing glass curtain wall cleaning machine device people, applicant was in September 4 in 2017
It is 201710787378.4 to propose number of patent application day, entitled：A kind of high building curtain wall cleaning robot and its cleaning
The patent application case of method, the high building curtain wall cleaning robot and its cleaning method of this application utilize outer absorption walking mechanism
The horizontal and vertical movement of entire cleaning robot is realized on curtain wall with interior absorption walking mechanism alternating sorbent, and is utilized
The rotary motion of interior absorption walking mechanism can be such that curtain cleaning robot turns to freely, 360 ° omni-directional movement be realized, for spy
The curtain wall of different shape can also realize no dead angle cleaning；Meanwhile the sucker in outer absorption walking mechanism and interior absorption walking mechanism
Telescopic is all had, makes curtain cleaning robot that there is good obstacle crossing function, frame-free glass curtain on the middle and senior level can be suitable for
Wall and the cleaning for having frame glass curtain wall；And wiper mechanism can be lifted or be depressed, and can be preferably bonded curtain wall surface, be reached
More preferably cleaning performance, after wiper mechanism lifts, curtain cleaning robot can walk and get on curtain wall more flexiblely
Barrier.
However, in practice process, it is found by the applicant that cleaning robot walking motion is executed using sucker suction structure,
Traditional mode is to carry out vacuumizing generation negative-pressure sucking to sucker using high-pressure pump, and design is for high-pressure pump in this way
It is more demanding, to make sucker generate vacuum environment always, the pressure requirements of the work that air pump will be always, high-pressure pump it is high and
Continuous work is needed, small air pump cannot be satisfied requirement, and large-scale air pump is not easy to carry, and practical application is in curtain cleaning operation
In less be applicable in.It finds during the experiment, common piston air pump can be damaged because working long hours machine head heating；Vacuum pump
Also it cannot be satisfied, one the reason is that when polypody sucker has gas leakage, vacuum degree does not reach requirement, and the adsorption capacity of sucker is smaller,
Another reason is that vacuum pump works always, and machine fever is serious, is easily damaged.Also, the walking of existing cleaning robot
Mechanism structure design is complex, it usually needs servo motor and microcontroller are controlled, and need to connect longer gas path pipe
With power supply electric wire, manufacturing cost is higher, is not easy to promote；And that there are walking motions is cumbersome, operation is difficult to grasp, working efficiency is low
The defects of lower.
Invention content
1. technical problems to be solved by the inivention
It is an object of the invention to overcome the walking mechanism of existing glass curtain wall cleaning machine device people more demanding to air pump, real
With the deficiencies such as property is poor and complicated, operating difficulties, working efficiency are low, a kind of pneumatic glass curtain cleaning robot is provided,
Technical solution using the present invention, glass curtain wall cleaning machine device people is controlled by cylinder completely climbs wall and cleaning action to realize,
Walking mechanism is formed by connecting by four groups of walking assemblies by four groups of walking cylinder head and the tail, and stretching for two groups of opposite walking cylinders is passed through
The absorption and release action of sucker, realize glass curtain wall cleaning machine device people horizontal and vertical on contracting movement cooperation walking assembly
Stablize movement, the structure of walking mechanism is simpler compact, flexible and convenient operation, has higher working efficiency；Also, it walks
Assembly generates negative pressure of vacuum using suction cylinder to sucker, and narrow-minded needed for each suction cylinder, the requirement to air pump is low, practical
Operability and practicability are more preferable, and sucker and the one-to-one connection of suction cylinder, some sucker gas leakage will not to entire walking mechanism
It impacts, more securely and reliably.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention is：
A kind of pneumatic glass curtain cleaning robot of the present invention, including four groups of walking assemblies, four groups of walking assemblies pass through
Four groups of walking cylinder head and the tail connect into closing structure, and synchronization telescope acts two groups of opposite walking cylinders in the same direction, phase
The telescopic direction of two groups of adjacent walking cylinders is mutually perpendicular to；
Including walking frame, telescopic cylinder, sucker, vacuum cylinder and suction cylinder occur for the walking assembly, described
Telescopic cylinder be fixedly installed on walking frame, and the driving end of telescopic cylinder is connected with the mounting base of sucker, for band
Dynamic sucker stretching motion is to be adsorbed on cladding glass；Cylinder occurs for the vacuum and suction cylinder is installed on walking frame
On, the driving end that cylinder occurs for the vacuum is connected with the driving end of suction cylinder, the driving for driving suction cylinder
Synchronization telescope movement is held, a pipe interface of the suction cylinder is connected with the air entry of sucker, for making sucker produce
Raw negative pressure of vacuum；
Further include wiper mechanism, the wiper mechanism is erected on walking assembly.
Further, the structure of four groups of walking assemblies is identical, and the walking frame of every group of walking assembly is " L " shape,
Four groups of walking assembly head and the tail connect into rectangular configuration.
Further, the walking frame is formed by connecting by two vertically disposed little frameworks, and in two small frames
One group of telescopic cylinder is respectively provided on frame, the driving end of every group of telescopic cylinder is respectively mounted two suckers.
Further, the sucker and the one-to-one connection of suction cylinder.
Further, cylinder occurs for one group of vacuum and two groups of suction cylinders connect into an air cylinder group side by side, described
Vacuum occurs cylinder and is located between two groups of suction cylinders, and cylinder occurs for vacuum and the driving end of suction cylinder passes through connecting plate phase
Connection.
Further, the walking cylinder and telescopic cylinder are all made of double-rod cylinder.
Further, the wiper mechanism includes rodless cylinder, cleaning framework, scraper plate cylinder and rubber flap, institute
The rodless cylinder stated is across on the walking frame of walking assembly, and the sliding block of rodless cylinder is connected with cleaning framework,
For driving cleaning framework to move back and forth；The scraper plate cylinder is fixed on cleaning framework, and the driving end of scraper plate cylinder with
Rubber flap is connected, for driving rubber flap flexible to contact or detach with cladding glass.
Further, it is additionally provided with guide rod between the rubber flap and cleaning framework.
Further, one end of the rodless cylinder is fixed on the walking frame of one group of walking assembly, the other end
It is installed on by guide mechanism on the walking frame of another group of adjacent walking assembly.
Further, the guide mechanism includes guide rail and sliding block, and the guide rail is fixed on the row of walking assembly
It walks on frame, the sliding block is fixed on rodless cylinder, and the sliding block is slidably matched with guide rail.
3. advantageous effect
Using technical solution provided by the invention, compared with existing known technology, there is following remarkable result：
(1) a kind of pneumatic glass curtain cleaning robot of the invention, walking mechanism pass through four by four groups of walking assemblies
Group walking cylinder head and the tail are formed by connecting, and the suction of sucker on walking assembly is coordinated by the stretching motion of two groups of opposite walking cylinders
Release action is echoed, realizes glass curtain wall cleaning machine device people in horizontal and vertical stable movement, the structure of walking mechanism is more
Simple and compact, flexible and convenient operation have higher working efficiency；Also, walking assembly generates sucker using suction cylinder
Negative pressure of vacuum, narrow-minded needed for each suction cylinder, the requirement to air pump is low, and actual operation and practicability are more preferable；
(2) a kind of pneumatic glass curtain cleaning robot of the invention, the structure of four groups of walking assemblies is identical, and every group
The walking frame of walking assembly is " L " shape, and four groups of walking assembly head and the tail connect into rectangular configuration, glass curtain wall cleaning machine device people
Regular shape, there is better adaptability for glass curtain wall, cleaning performance is good, and cleaning efficiency is high；Also, four groups of walkings are total
At structure it is identical, be simple to manufacture conveniently, cost is relatively low；
(3) a kind of pneumatic glass curtain cleaning robot of the invention, walking frame is by two vertically disposed small frames
Frame is formed by connecting, and one group of telescopic cylinder is respectively provided in two little frameworks, and the driving end of every group of telescopic cylinder is respectively mounted two
Sucker is more secured to the absorption of cladding glass；And sucker and the one-to-one connection of suction cylinder, some sucker gas leakage is to entire row
Walking mechanism will not impact, more securely and reliably；
(4) cylinder and two groups of pumping gas occur for a kind of pneumatic glass curtain cleaning robot of the invention, one group vacuum
Cylinder connects into an air cylinder group side by side, and vacuum occurs cylinder and is located between two groups of suction cylinders, and cylinder and pumping occur for vacuum
The driving end of cylinder is connected by connecting plate, and vacuum occurs cylinder and drives two groups of suction cylinder synchronization actions, and motion stability can
It leans on, response quickly；
(5) a kind of pneumatic glass curtain cleaning robot of the invention, walking cylinder and telescopic cylinder are all made of double rod
Cylinder has better stability and higher pressure, and improve robot climbs wall stability；
(6) a kind of pneumatic glass curtain cleaning robot of the invention, wiper mechanism drive rubber using rodless cylinder
Scraper plate moves back and forth, and rubber flap has the movement travel of bigger, cleaning performance good, efficient；Also, rubber flap and cleaning
Guide rod is additionally provided between frame, rubber flap is flexible to be stablized, and can be fitted closely with cladding glass；
(7) a kind of pneumatic glass curtain cleaning robot of the invention, one end of rodless cylinder is fixed on one group of walking
On the walking frame of assembly, the other end is installed on by guide mechanism on the walking frame of another group of adjacent walking assembly, clearly
Washing machine structure can be across the middle part of glass curtain wall cleaning machine device people, at the same do not influence glass curtain wall cleaning machine device people transverse direction and
Longitudinal movement, stable structure are ingenious in design.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of pneumatic glass curtain cleaning robot of the present invention；
Fig. 2 is the structural schematic diagram of one group of walking assembly in the present invention；
Fig. 3 is a kind of overall structure diagram of pneumatic glass curtain cleaning robot of the present invention；
Fig. 4 is the schematic diagram that is slidably installed of the rodless cylinder in the present invention.
Label declaration in schematic diagram：
1, walking assembly；1-1, walking frame；1-2, telescopic cylinder；1-3, sucker；Cylinder occurs for 1-4, vacuum；1-5, pumping
Gas cylinder；2, walking cylinder；3, wiper mechanism；3-1, rodless cylinder；3-2, guide mechanism；3-2a, guide rail；3-2b, sliding block；3-
3, cleaning framework；3-4, scraper plate cylinder；3-5, guide rod；3-6, rubber flap.
Specific implementation mode
To further appreciate that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment
In conjunction with shown in Fig. 1, Fig. 2 and Fig. 3, a kind of pneumatic glass curtain cleaning robot of the present embodiment, including four groups of rows
Assembly 1 is walked, four groups of walking assemblies 1 connect into closing structure, and two groups of opposite walking cylinders by four groups of 2 head and the tail of walking cylinder
2 in the same direction synchronization telescope act, the telescopic direction of adjacent two groups of walking cylinders 2 is mutually perpendicular to；In this way, opposite two groups
It can be moved to a direction when walking 2 synchronization telescope of cylinder action, so as to meet glass curtain wall cleaning machine device people in cross
To with longitudinal mobile needs, design so simpler compact, climb wall walking motion and more stablize and easily controllable, without watching
Take motor driving, climb wall action it is sensitiveer, have higher working efficiency.Shown in Figure 2, above-mentioned walking assembly 1 wraps
It includes walking frame 1-1, telescopic cylinder 1-2, sucker 1-3, vacuum and cylinder 1-4 and suction cylinder 1-5 occurs, telescopic cylinder 1-2 is solid
Dingan County is loaded on walking frame 1-1, and the driving end of telescopic cylinder 1-2 is connected with the mounting base of sucker 1-3, is inhaled for driving
Disk 1-3 stretching motions are to be adsorbed on cladding glass；Vacuum occurs cylinder 1-4 and suction cylinder 1-5 and is installed on walking frame 1-1
On, the driving end that cylinder 1-4 occurs for vacuum is connected with the driving end of suction cylinder 1-5, the drive for driving suction cylinder 1-5
Moved end synchronization telescope movement, a pipe interface of suction cylinder 1-5 is connected with the air entry of sucker 1-3, for making sucker
1-3 generates negative pressure of vacuum；In this way, the vacuum state of sucker 1-3 is kept without high-pressure pump continue working, occurred by vacuum
Cylinder 1-4 drives the piston motion of suction cylinder 1-5 that can carry out air-breathing to sucker 1-3, and sucker 1-3 is made to reach vacuum state,
Narrow-minded needed for each suction cylinder 1-5, the requirement to air pump is low, and actual operation and practicability are more preferable.
As shown in Figures 2 and 3, in the present embodiment, the structure of four groups of walking assemblies 1 is identical, and every group of walking assembly 1
The frame 1-1 that walks is " L " shape, and four groups of 1 head and the tail of walking assembly connect into rectangular configuration, the shape of glass curtain wall cleaning machine device people
Rule has better adaptability for glass curtain wall, and cleaning performance is good, and cleaning efficiency is high；Also, four groups of walking assemblies 1
Structure is identical, is simple to manufacture conveniently, cost is relatively low.Specifically, walking frame 1-1 by two vertically disposed little frameworks connections and
At, and the driving end for being respectively provided in two little frameworks one group of telescopic cylinder 1-2, every group of telescopic cylinder 1-2 is respectively mounted two suctions
Disk 1-3, the two suckers 1-3 can be fixed on the driving end of telescopic cylinder 1-2 by connecting plate, more to the absorption of cladding glass
Add securely.And, it is preferable that sucker 1-3 and the one-to-one connections of suction cylinder 1-5, some sucker 1-3 gas leakage is to entire vehicle with walking machine
Structure will not impact, more securely and reliably.In addition, in the present embodiment, cylinder 1-4 and two groups of pumping gas occur for one group of vacuum
Cylinder 1-5 connects into an air cylinder group side by side, and vacuum occurs cylinder 1-4 and two groups of suction cylinder 1-5 and two pressing plates up and down can be used
It is fixedly connected by split bolt, it is easier for installation as air cylinder group；Vacuum occurs cylinder 1-4 and is located at two groups of suction cylinder 1-
Between 5, and vacuum occurs cylinder 1-4 and is connected by connecting plate with the driving end of suction cylinder 1-5, and cylinder 1-4 occurs for vacuum
Two groups of suction cylinder 1-5 synchronization actions are driven, motion stability is reliable, response quickly.Experiment, which shows high-pressure pump only, needs generation 8
~10 kilograms of high pressure drives 8~10 suction cylinder 1-5 flexible, due to the fact that end vacuum also only has 1 kilogram negative
Pressure, therefore end vacuum can be generated to control 8~10 suction cylinder 1-5 by 8~10 kilograms of high-pressure pump, completely
It can ensure that sucker 1-3 is firmly adsorbed on cladding glass.In addition, above-mentioned walking cylinder 2 and telescopic cylinder 1-2 be all made of it is double
Bar cylinder has better stability and higher pressure, and improve robot climbs wall stability.It walks cylinder 2 and flexible
Cylinder 1-2 is connect by reversal valve with high-pressure pump.
Shown in hookup 3, a kind of pneumatic glass curtain cleaning robot of the present embodiment, further includes wiper mechanism 3, cleaning
Mechanism 3 is erected on walking assembly 1.Wiper mechanism 3 includes rodless cylinder 3-1, cleaning framework 3-3, scraper plate cylinder 3-4 and rubber
Scraper plate 3-6, rodless cylinder 3-1 across on the walking frame 1-1 of walking assembly 1, and the sliding block of rodless cylinder 3-1 with it is clear
It washes frame 3-3 to be connected, for driving cleaning framework 3-3 to move back and forth；Scraper plate cylinder 3-4 is fixed on cleaning framework 3-3, and
The driving end of scraper plate cylinder 3-4 is connected with rubber flap 3-6, for driving rubber flap 3-6 flexible to be connect with cladding glass
It touches or detaches；It is worked using rodless cylinder 3-1 driving wiper mechanisms 3, rubber flap 3-6 has the movement travel of bigger, cleaning
Effect is good, efficient.In order to improve the job stability of rubber flap 3-6, it is ensured that cleaning without dead angle, rubber flap 3-6 with it is clear
Wash between frame 3-3 and be additionally provided with guide rod 3-5, i.e., be respectively provided with a guide rod 3-5 at the both ends of rubber flap 3-6, guide rod 3-5 with set
It is matched in the guide sleeve on cleaning framework 3-3, rubber flap 3-6 is flexible to be stablized, and can be fitted closely, be ensured with cladding glass
Cleaning performance.In the present embodiment, one end of rodless cylinder 3-1 is fixed on the walking frame 1-1 of one group of walking assembly 1,
The other end is installed on by guide mechanism 3-2 on the walking frame 1-1 of another group of adjacent walking assembly 1.On as shown in figure 4,
The guide mechanism 3-2 stated includes guide rail 3-2a and sliding block 3-2b, and guide rail 3-2a is fixed on the walking frame 1-1 of walking assembly 1,
Sliding block 3-2b is fixed on rodless cylinder 3-1, and sliding block 3-2b is slidably matched with guide rail 3-2a.In this way, wiper mechanism 3 can be across
In the middle part of glass curtain wall cleaning machine device people, while the horizontal and vertical movement of glass curtain wall cleaning machine device people, structure are not influenced
Stablize, it is ingenious in design.Above-mentioned rodless cylinder 3-1 is preferably without bar electromagnetic coupling cylinder.
A kind of pneumatic glass curtain cleaning robot of the present embodiment, in use, setting up robot power dress on roof
(such as high-pressure pump) and roof boom hoisting are set, then connects all kinds of pipelines of curtain cleaning robot and robot power plant
It connects, curtain cleaning robot is hung on high building curtain wall by the hoist cable of roof boom hoisting, prevents curtain cleaning robot from falling
It falls.When operation, the actions such as operating personnel can be cleaned, be walked on curtain wall surface by wireless controller remote control robot.
Specific cleaning method is as follows：
When cleaning, the telescopic cylinder 1-2 on four groups of walking assemblies 1 drives sucker 1-3 protruding, and sucker 1-3 is made to be adjacent to
On cladding glass surface, high-pressure pump occurs cylinder 1-4 by vacuum and drives suction cylinder 1-5 stretching motions, will be with pumping
The sucker 1-3 of cylinder 1-5 connections is vacuumized, and so that glass curtain wall cleaning machine device people is passed through sucker 1-3 and is adsorbed on cladding glass；Frame
The wiper mechanism 3 being located on walking assembly 1 cleans cladding glass.Specific action is as follows：Scraper plate cylinder 3-4 drives rubber
Scraper plate 3-6 is stretched out and is fitted closely with cladding glass, and rodless cylinder 3-1 drives cleaning framework 3-3 to move back and forth, and then makes rubber
Scraper plate 3-6 is back and forth scraped on cladding glass.
When longitudinal movement, sucker 1-3 and curtain on two groups of walking assemblies 1 of glass curtain wall cleaning machine device people top or lower part
Wall glass is detached from, and the reversal valve control that cylinder 1-4 is occurred by control vacuum for the action that sucker 1-3 is detached from cladding glass is realized,
And withdrawn by telescopic cylinder 1-2 drive suckers 1-3, while two groups of longitudinal walking cylinders 2 are synchronized and are stretched out, drive and cladding glass
It is detached from two groups of walking assemblies 1 to vertically move, be then detached from two groups of walking assemblies 1 with cladding glass is adsorbed on cladding glass again
On, and other two groups of walking assemblies 1 and cladding glass are detached from, while two groups of longitudinal walking cylinders 2 are synchronized and are retracted, drive and curtain
Wall glass is detached from two groups of walking assemblies 1 and vertically moves；Two groups of walking assemblies 1 of upper and lower part alternately with cladding glass absorption and
It is detached from, longitudinal two groups of walking cylinders 2 are synchronized and extended and retracted, that is, that completes glass curtain wall cleaning machine device people is longitudinally continuous row
It walks.
When transverse movement, sucker 1-3 and curtain on two groups of walking assemblies 1 of glass curtain wall cleaning machine device people left or right side
Wall glass is detached from, while lateral two groups of walking cylinders 2 synchronization is stretched out, and is driven and is detached from two groups of 1 cross of walking assemblies with cladding glass
To movement, then two groups of walking assemblies 1 are detached from cladding glass and be adsorbed on cladding glass again, and other two groups of walking assemblies
1 is detached from cladding glass, while two groups of lateral walking cylinders 2 are synchronized and retracted, and drives total with cladding glass two groups of walkings of disengaging
At 1 transverse shifting；Two groups of walking assemblies 1 of the left and right sides are alternately adsorbed with cladding glass and are detached from, lateral two groups of walking gas
Cylinder 2, which synchronizes, to be extended and retracted, that is, completes the laterally consecutive walking of glass curtain wall cleaning machine device people.
A kind of pneumatic glass curtain cleaning robot of the present invention is controlled by cylinder completely to realize that climbing wall and cleaning moves
Make, walking mechanism is formed by connecting by four groups of walking assemblies by four groups of walking cylinder head and the tail, and two groups of opposite walking gas are passed through
The absorption and release action of sucker, realize glass curtain wall cleaning machine device people in transverse direction on the stretching motion cooperation walking assembly of cylinder
It is moved with longitudinal stability, the structure of walking mechanism is simpler compact, flexible and convenient operation, has higher working efficiency；And
And walking assembly generates negative pressure of vacuum using suction cylinder to sucker, narrow-minded, the requirement to air pump needed for each suction cylinder
Low, actual operation and practicability are more preferable, and sucker and the one-to-one connection of suction cylinder, some sucker gas leakage is to entire vehicle with walking machine
Structure will not impact, more securely and reliably.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, without creatively designing and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (10)
1. a kind of pneumatic glass curtain cleaning robot, it is characterised in that：Including four groups of walking assemblies (1), four groups of walking assemblies
(1) closing structure is connected into from beginning to end by four groups of walking cylinders (2), and two groups of opposite walking cylinders (2) are same in the same direction
Expanding-contracting action is walked, the telescopic direction of adjacent two groups of walking cylinders (2) is mutually perpendicular to；
The walking assembly (1) includes walking frame (1-1), telescopic cylinder (1-2), sucker (1-3), vacuum generation cylinder
(1-4) and suction cylinder (1-5), the telescopic cylinder (1-2) is fixedly installed on walking frame (1-1), and telescopic cylinder
The driving end of (1-2) is connected with the mounting base of sucker (1-3), for driving sucker (1-3) stretching motion to be adsorbed on curtain wall
On glass；Cylinder (1-4) occurs for the vacuum and suction cylinder (1-5) is installed on walking frame (1-1), the vacuum
The driving end that cylinder (1-4) occurs is connected with the driving end of suction cylinder (1-5), the drive for driving suction cylinder (1-5)
Moved end synchronization telescope movement, a pipe interface of the suction cylinder (1-5) are connected with the air entry of sucker (1-3),
For making sucker (1-3) generate negative pressure of vacuum；
Further include wiper mechanism (3), the wiper mechanism (3) is erected on walking assembly (1).
2. a kind of pneumatic glass curtain cleaning robot according to claim 1, it is characterised in that：Four groups of walking assemblies
(1) structure is identical, and the walking frame (1-1) of every group of walking assembly (1) is " L " shape, and four groups of walking assemblies (1) connect from beginning to end
It is connected into rectangular configuration.
3. a kind of pneumatic glass curtain cleaning robot according to claim 2, it is characterised in that：The walking frame
(1-1) is formed by connecting by two vertically disposed little frameworks, and one group of telescopic cylinder (1-2) is respectively provided in two little frameworks,
The driving end of every group of telescopic cylinder (1-2) is respectively mounted two suckers (1-3).
4. a kind of pneumatic glass curtain cleaning robot according to claim 3, it is characterised in that：Sucker (the 1-
3) with suction cylinder (1-5) one-to-one connection.
5. a kind of pneumatic glass curtain cleaning robot according to claim 4, it is characterised in that：Gas occurs for one group of vacuum
Cylinder (1-4) and two groups of suction cylinders (1-5) connect into an air cylinder group side by side, and the vacuum occurs cylinder (1-4) and is located at two
Between group suction cylinder (1-5), and vacuum occurs cylinder (1-4) and is connected by connecting plate with the driving end of suction cylinder (1-5)
It connects.
6. a kind of pneumatic glass curtain cleaning robot according to claim 5, it is characterised in that：The walking cylinder
(2) and telescopic cylinder (1-2) is all made of double-rod cylinder.
7. a kind of pneumatic glass curtain cleaning robot according to claim 1 to 6 any one, it is characterised in that：Institute
The wiper mechanism (3) stated includes rodless cylinder (3-1), cleaning framework (3-3), scraper plate cylinder (3-4) and rubber flap (3-6),
The rodless cylinder (3-1) is across on the walking frame (1-1) of walking assembly (1), and the cunning of rodless cylinder (3-1)
Block is connected with cleaning framework (3-3), for driving cleaning framework (3-3) to move back and forth；The scraper plate cylinder (3-4) is fixed
In on cleaning framework (3-3), and the driving end of scraper plate cylinder (3-4) is connected with rubber flap (3-6), for driving vulcanite scraper
Plate (3-6) is flexible to contact or detach with cladding glass.
8. a kind of pneumatic glass curtain cleaning robot according to claim 7, it is characterised in that：The rubber flap
Guide rod (3-5) is additionally provided between (3-6) and cleaning framework (3-3).
9. a kind of pneumatic glass curtain cleaning robot according to claim 7, it is characterised in that：The rodless cylinder
The one end of (3-1) is fixed on the walking frame (1-1) of one group of walking assembly (1), and the other end is installed by guide mechanism (3-2)
In on the walking frame (1-1) of another group of adjacent walking assembly (1).
10. a kind of pneumatic glass curtain cleaning robot according to claim 9, it is characterised in that：The slide guide machine
Structure (3-2) includes guide rail (3-2a) and sliding block (3-2b), and the guide rail (3-2a) is fixed on the walking frame of walking assembly (1)
On (1-1), the sliding block (3-2b) is fixed on rodless cylinder (3-1), and the sliding block (3-2b) is sliding with guide rail (3-2a)
Dynamic cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810331610.8A CN108523785B (en) | 2018-04-13 | 2018-04-13 | Pneumatic glass curtain wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810331610.8A CN108523785B (en) | 2018-04-13 | 2018-04-13 | Pneumatic glass curtain wall cleaning robot |
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| CN108523785A true CN108523785A (en) | 2018-09-14 |
| CN108523785B CN108523785B (en) | 2020-12-18 |
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| CN201810331610.8A Active CN108523785B (en) | 2018-04-13 | 2018-04-13 | Pneumatic glass curtain wall cleaning robot |
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| CN (1) | CN108523785B (en) |
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| CN109124455A (en) * | 2018-10-30 | 2019-01-04 | 吉林大学 | Glass-cleaning robot and its control method outside building with self-identifying and obstacle avoidance ability |
| CN111820828A (en) * | 2020-07-15 | 2020-10-27 | 袁海波 | Building curtain wall self-cleaning robot |
| CN112009589A (en) * | 2020-09-17 | 2020-12-01 | 重庆贻晨兴工业设计有限责任公司 | Walking device and using method thereof |
| CN114739373A (en) * | 2022-03-30 | 2022-07-12 | 山西卓弈翔科技有限公司 | Wall body for construction revises straightness equipment for measurement of hanging down |
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