CN109267757A - A kind of glass curtain wall cleaning equipment - Google Patents
A kind of glass curtain wall cleaning equipment Download PDFInfo
- Publication number
- CN109267757A CN109267757A CN201810620501.8A CN201810620501A CN109267757A CN 109267757 A CN109267757 A CN 109267757A CN 201810620501 A CN201810620501 A CN 201810620501A CN 109267757 A CN109267757 A CN 109267757A
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- China
- Prior art keywords
- round brush
- master controller
- cleaning
- curtain wall
- glass curtain
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- 238000004140 cleaning Methods 0.000 title claims abstract description 330
- 239000011521 glass Substances 0.000 title claims abstract description 171
- 239000003292 glue Substances 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 209
- 230000001174 ascending effect Effects 0.000 claims description 52
- 238000005096 rolling process Methods 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 230000004888 barrier function Effects 0.000 claims 1
- 238000005303 weighing Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 28
- 238000004891 communication Methods 0.000 description 12
- 238000005507 spraying Methods 0.000 description 9
- 239000007921 spray Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 239000003595 mist Substances 0.000 description 3
- 230000003796 beauty Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 238000005253 cladding Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of glass curtain wall cleaning equipments, belong to glass outer wall automatic cleaning equipment technical field.A kind of glass curtain wall cleaning equipment of the invention, it is characterised in that it includes rack (1), control system (2), at least a pair of sucker crawler belt disk (3) being arranged on rack (1), at least one balanced type cleaning brush (4) being arranged on rack (1)；Wherein: an at least column flexible glue sucker (201) is provided on each sucker crawler belt disk (3), balanced type cleaning brush (4) is arranged among rack (1) by horizontal moving guide rail (301).The present invention has the characteristics that simple structure, reliable performance, cost performance are high compared with prior art.
Description
Technical field
The invention belongs to glass outer wall automatic cleaning equipment technical fields, more specifically, it is clear to belong to a kind of glass curtain wall
Wash equipment.
Background technique
The daylighting of cladding glass in prior art building is good, heat-holding dampproof performance is good, using beauty, therefore with glass
Curtain wall is that the constructure screen wall structure of representative gradually deduces into magnificent " city coat ", becomes the beautiful together of modern metropolitan cities
Landscape.In order to guarantee the clean and tidy beauty of architectural appearance, it is necessary to periodically be cleaned to glass curtain wall, to beautify city appearance.
It is main to the cleaning of glass of building curtain wall at present or hanging basket taken by cleaning worker or waist tether rope is completed, it is this
Mode is completely dependent on manually, not only large labor intensity, working efficiency bottom, and extremely dangerous, belongs to high-altitude limit operation, every year
There is the report of personnel therefore injures and deaths, the personal safety of worker is always the maximum hidden danger of skyscraper cleaning industry.So one
The robot that kind substitution manually carries out washing and cleaning operation to glass of building curtain wall will push the rapid development of high building cleaning industry.
With the progress of mobile robot technology, robot has more and more been applied in actual job.Its
Middle clean robot has a wide range of applications, and is applied to the cleaning of glass curtain wall, can both reduce the risk of people's operation,
The efficiency and intelligent level of glass curtain wall cleaning can be improved again.Curtain wall adsorbs fixed form and cleaning process is cleaning robot
The key technology of people, the robot architecture of negative pressure of vacuum suction type is complicated, obstacle climbing ability is poor；It is climbed based on bionic principle sucker
Structure is complicated for robotic, movement speed is slow, and cleaning efficiency is low；For movement speed problem, moving guide rail fixed form
Cleaning robot installation cost it is high, be dfficult to apply to special-shaped building surface, the practicability is poor.
Summary of the invention
The present invention gives a kind of glass curtain wall cleaning equipment to efficiently solve the above technical problem.
The present invention has the characteristics that simple structure, reliable performance, cost performance are high compared with prior art.
Detailed description of the invention
Attached drawing 1A is the control structure schematic diagram of single brush glass curtain wall cleaning equipment of the invention；
Attached drawing 1B is the control flow schematic diagram of single brush glass curtain wall cleaning equipment of the invention；
Attached drawing 1C is the control structure schematic diagram of double brush glass curtain wall cleaning equipments of the invention；
Attached drawing 1D is the control flow schematic diagram of double brush glass curtain wall cleaning equipments of the invention；
Attached drawing 1E is the control structure schematic diagram of three brush glass curtain wall cleaning equipments of the invention；
Attached drawing 1F is the control flow schematic diagram of three brush glass curtain wall cleaning equipments of the invention；
Attached drawing 2A is the structural schematic diagram one of single brush glass curtain wall cleaning equipment of the invention；
Attached drawing 2B is the structural schematic diagram two of single brush glass curtain wall cleaning equipment of the invention；
Attached drawing 2C is the structural schematic diagram three of single brush glass curtain wall cleaning equipment of the invention；
Attached drawing 2D is the structural schematic diagram four of single brush glass curtain wall cleaning equipment of the invention；
Attached drawing 3A is the structural schematic diagram one of double brush glass curtain wall cleaning equipments of the invention；
Attached drawing 3B is the structural schematic diagram two of double brush glass curtain wall cleaning equipments of the invention；
Attached drawing 3C is the structural schematic diagram three of double brush glass curtain wall cleaning equipments of the invention；
Attached drawing 3D is the structural schematic diagram four of double brush glass curtain wall cleaning equipments of the invention；
Attached drawing 4A is the structural schematic diagram one of three brush glass curtain wall cleaning equipments of the invention；
Attached drawing 4B is the structural schematic diagram two of three brush glass curtain wall cleaning equipments of the invention；
Attached drawing 4C is the structural schematic diagram three of three brush glass curtain wall cleaning equipments of the invention；
Attached drawing 4D is the structural schematic diagram four of three brush glass curtain wall cleaning equipments of the invention；
Attached drawing 5A is the lifting schematic diagram one of glass curtain wall cleaning equipment of the present invention；
Attached drawing 5B is the lifting schematic diagram two of glass curtain wall cleaning equipment of the present invention.
Drawing reference numeral explanation
Specific embodiment
Preferred embodiment 1
Attached drawing 1A, Figure 1B are the structural schematic diagram and control flow chart of single brush glass curtain wall cleaning equipment of the invention；Fig. 2A,
2B, 2C, 2D are the structural schematic diagrams of single brush glass curtain wall cleaning equipment of the invention；Fig. 5 A is single brush glass curtain wall cleaning of the invention
The lifting schematic diagram of equipment.
Glass curtain wall cleaning equipment includes rack 1, the control system being arranged on rack 12, at least a pair of of setting in machine
Crawler belt sucker 3 on frame 1, at least one the first balanced type washer 4 on rack 1 is set；Wherein: crawler belt sucker 3
Traveling crawler 301 on be provided at least one column flexible glue sucker 302, balanced type cleaning brush 4.Row is provided on crawler belt sucker 3
Walk crawler belt 301, be provided with flexible glue sucker 302 on traveling crawler 301, glass curtain wall cleaning equipment under wirerope lifting along
The walking of glass curtain wall vertical direction, flexible glue sucker 302 are used for attracted with glass curtain wall.
Control system 2 is pushed away including master controller 201, at least one first round brush motor 2021, at least one first level
Bar motor 2031, at least one first contact-making switch 2041, at least one first obstacle detecting sensor 2051；Master controller
201 respectively with the first round brush motor 2021, first level push-rod electric machine 2031, the first contact-making switch 2041, the first obstacle detection
Sensor 2051 is electrical connected.
Control system 2 further includes 2022,2032, one second, second horizontal push motors of a second round brush motor
2042, second obstacle detecting sensors 2052 of contact-making switch；Master controller 201 respectively with the second round brush motor 2022,
Two horizontal push motors 2032, the second contact-making switch 2042, the second obstacle detecting sensor 2052 are electrical connected；
Control system 2 also further includes 2033, one, 2023, third horizontal push motors of a third round brush motor
The three third obstacle detecting sensors 2053 of contact-making switch 2043, one；Master controller 201 respectively with third round brush motor 2023,
Third horizontal push motor 2033, third contact-making switch 2043, third obstacle detecting sensor 2053 are electrical connected.
The first frequency converter 2061 is provided between master controller 201 and the first round brush motor 2021, master controller 201 passes through
First frequency converter 2061 controls the first round brush motor 2021；Master controller 201 and first level push-rod electric machine 2031 it
Between be provided with the first disconnecting relay 2071 and first resistor ruler 2081 parallel, master controller 201 passes through the first disconnecting relay
The opening and closing of 2071 control first level push-rod electric machines 2031, master controller 201 are accurately controlled by first resistor ruler 2081
The traveling process of first level push-rod electric machine 2031 processed.First contact-making switch 2041 and the first obstacle detecting sensor 2051 difference
It is electrical connected with master controller 201, when the first cleaning round brush 401 is likely encountered obstacle, the first contact-making switch 2041 and first
Obstacle detecting sensor 2051 is for detecting obstacle and feeding back to master controller 201, and master controller 201 is to the first round brush motor
2021 and first level push-rod electric machine 2031 carry out accordingly control realize avoidance.
First balanced type washer 4 is led including the first cleaning round brush 401, the first extendable weight case 402, first level movement
Rail level 403, the first extendable weight connecting rod 404, the first extendable weight connecting rod 404 drive 402 stretching motion of the first extendable weight case,
Two the first extendable weight connecting rods 404, two the first extendable weight connecting rods can be symmetrically arranged on first balanced type washer 4
404 are connected with the both ends of the first extendable weight case 402 respectively.First balanced type washer 4 is set by horizontal moving guide rail face 403
It sets among rack 1, cleans round brush 401 and extendable weight case 402 is moved toward one another along horizontal moving guide rail face 403；Level fortune
Moving rail surface 403 is matched with the motion guide rail 101 in rack 1, and first level push-rod electric machine 2031 drives horizontal moving guide rail
Motion guide rail 101 of the face 4031 in rack 1 moves back and forth.
First round brush motor 2021 is arranged on the first level motion guide rail face 403 of the first balanced type washer 4, the
One cleaning round brush 401 is connected with the first round brush motor 2021 by driving belt, and the first round brush motor 2021 drives the first cleaning
401 rotary motion of round brush, the first cleaning round brush 401 carry out washing and cleaning operation to glass curtain wall.First level motion guide rail face 403 with
First level push-rod electric machine 2031 is connected, and first level push-rod electric machine 2031 drives first level motion guide rail face 403 back and forth to transport
Dynamic and then the first cleaning round brush 401 of drive and 402 symmetric motion of the first extendable weight case.
Under the effect of first level push-rod electric machine 2031, the first cleaning round brush 401 and the first extendable weight case 402 are right
It moves toward one another with claiming, first level motion guide rail face 403 drives the first cleaning round brush 401 protruding, and setting is flexible first
The first extendable weight case 402 on counterweight connecting rod 404 is also protruding, is arranged on first level motion guide rail face 403
First round brush motor 2021 drives the first cleaning rotation of round brush 401 to clean glass curtain wall by belt pulley, and first is flexible
Ballast box 402 and the first cleaning round brush 401 are cancelled out each other with respect to the torque at the center of cleaning equipment, the first extendable weight case 402
It is protruding so that cleaning equipment ontology is in a kind of moving equilibrium state always with the first cleaning round brush 401, so that
Crawler belt sucker 3 of the glass curtain wall cleaning equipment of the present invention during rising or descending motion thereon can be steadily fitted in
It is moved on glass curtain wall.
Water tank 1010 is provided in rack 1, water tank 1010 is connected with spraying system, and spraying system is used to spray to glass curtain wall
Mist, spraying system is just to glass curtain wall atomized water spray after glass curtain wall cleaning equipment booting of the present invention；Rack 1 and elevator motor
703 are connected by the wirerope in reel that is connected with elevator motor 703, can be set between controller 701 and elevator motor 703
Set an elevator frequency converter 702；Master controller 201 sends control instruction, master controller to from controller 701 by communication network
201 by from controller 701 to elevator motor 703 carry out control have reached drive the ascending motion of glass curtain wall cleaning equipment or
Descending motion, the presetting glass curtain wall cleaning equipment ascending motion of the present invention of master controller 201 or descending motion when work are main
Controller 201 by communication network to from controller 701 feed back presetting glass curtain wall cleaning equipment ascending motion of the present invention or
Person's descending motion, from controller 701 according to the control instruction of master controller 201 control the ascending motion of glass curtain wall cleaning equipment or
Person's descending motion.
Hard disk video recorder 10 is used for the image information shot with video-corder of recording camera 9, from controller 701, remote controller 8,
Recording camera 9, hard disk video recorder 10 are communicated wirelessly by wireless communication networks and master controller 201, according to actually making
With situation also from controller 701, remote controller 8, recording camera 9, hard disk video recorder 10 by the way that cable modem can also be used
News mode and master controller 201 carry out wire communication.
The method that single brush glass curtain wall cleaning equipment of present embodiment is controlled, comprising the following steps:
S1: the distance from the wall of round brush and round brush scrubs revolving speed in the presetting glass curtain wall cleaning equipment of master controller 201；
The presetting glass curtain wall cleaning equipment ascending motion of master controller 201 or descending motion；
S2: master controller 201 controls first level push-rod electric machine 2031 and drives the first cleaning 401 stretch out motion of round brush, main
Controller 201 controls the first round brush motor 2021 and the first cleaning round brush 401 is driven to carry out rotary rolling；Then master controller 201 is controlled
Glass curtain wall cleaning equipment processed executes ascending motion or descending motion presetting in S1 step；
S3: it is fed back immediately after the first cleaning round brush 401 encounters obstacle if the first obstacle detecting sensor 2051 detects
To master controller 201, then master controller 201 controls glass curtain wall cleaning equipment and stops executing upper elevator presetting in S1 step
Dynamic or descending motion, the first round brush motor 2021 of control drive the first cleaning round brush 401 to stop operating, controlled level push rod is electric
Machine 2031 drives the first cleaning horizontal retraction movement of round brush 401；If the first obstacle detecting sensor 2051 does not detect
One cleaning round brush 401 encounters obstacle, then master controller 201 control glass curtain wall cleaning equipment execute it is presetting upper in S1 step
Elevator is moved or descending motion；
S4: if the first obstacle detecting sensor 2051 detects that the first cleaning round brush 401 has been recovered to safe distance and has stood
Feed back to master controller 201, then master controller 201 control glass curtain wall cleaning equipment execute S2 step in ascending motion or
Person's descending motion；If the first obstacle detecting sensor 2051 does not detect that the first round brush 4011 has been recovered to safe distance,
Then first cleaning of the control of master controller 201 round brush 401 continues to withdraw；
S5: if the first obstacle detecting sensor 2051 detects that the first cleaning round brush 401 completes Obstacle Negotiation, master control
Device 201 processed controls the stop motion of glass curtain wall cleaning equipment, and 201 controlled level push-rod electric machine 2031 of master controller drive first is clear
Wash 401 stretch out motion of the round brush distance from the wall presetting into S1 step；
S6: if 201 controlled level push-rod electric machine 2031 of master controller drives the first cleaning 401 stretch out motion of round brush to S1
Presetting distance from the wall in step, then master controller 201 control the first round brush motor 2021 drive first cleaning round brush 401 into
Row rotary rolling, master controller 201 control glass curtain wall cleaning equipment execute in S1 step presetting ascending motion or under
Drop movement.
Preferred embodiment 2
Attached drawing 1C, Fig. 1 D are the structural schematic diagram and control flow chart of double brush glass curtain wall cleaning equipments of the invention；Fig. 3 A,
3B, 3C, 3D are the structural schematic diagrams of double brush glass curtain wall cleaning equipments of the invention；Fig. 5 B is double brush glass curtain wall cleanings of the invention
The lifting schematic diagram of equipment.
Glass curtain wall cleaning equipment includes rack 1, the control system being arranged on rack 12, at least a pair of of setting in machine
Crawler belt sucker 3 on frame 1, at least one the first balanced type washer 4 on rack 1 is set；Wherein: crawler belt sucker 3
Traveling crawler 301 on be provided at least one column flexible glue sucker 302, balanced type cleaning brush 4.Row is provided on crawler belt sucker 3
Walk crawler belt 301, be provided with flexible glue sucker 302 on traveling crawler 301, glass curtain wall cleaning equipment under wirerope lifting along
The walking of glass curtain wall vertical direction, flexible glue sucker 302 are used for attracted with glass curtain wall.
Control system 2 is pushed away including master controller 201, at least one first round brush motor 2021, at least one first level
Bar motor 2031, at least one first contact-making switch 2041, at least one first obstacle detecting sensor 2051；Master controller
201 respectively with the first round brush motor 2021, first level push-rod electric machine 2031, the first contact-making switch 2041, the first obstacle detection
Sensor 2051 is electrical connected.
Control system 2 further includes 2022,2032, one second, second horizontal push motors of a second round brush motor
2042, second obstacle detecting sensors 2052 of contact-making switch；Master controller 201 respectively with the second round brush motor 2022,
Two horizontal push motors 2032, the second contact-making switch 2042, the second obstacle detecting sensor 2052 are electrical connected；
The second frequency converter 2062 is provided between master controller 201 and the second round brush motor 2022, master controller 201 passes through
Second frequency converter 2062 controls the second round brush motor 2022；Master controller 201 and the second horizontal push motor 2032 it
Between be provided with the second disconnecting relay 2072 and second resistance ruler 2082 parallel, master controller 201 passes through the second disconnecting relay
The opening and closing of 2072 the second horizontal push motors 2032 of control, master controller 201 are accurately controlled by second resistance ruler 2082
Make the traveling process of the second horizontal push motor 2032.Second contact-making switch 2042 and the second obstacle detecting sensor 2052 difference
It is electrical connected with master controller 201, when the second cleaning round brush 501 is likely encountered obstacle, the second contact-making switch 2042 and second
Obstacle detecting sensor 2052 is for detecting obstacle and feeding back to master controller 201, and master controller 201 is to the second round brush motor
2022 and second horizontal push motor 2032 carry out accordingly control realize avoidance.
It is additionally provided on rack 1 and the second parallel balanced type washer 5 of the first balanced type washer 4, the second balance
Formula washer 5 is identical with technical effect with the working principle of the first balanced type washer 4.Second balanced type washer 5 includes the
Two cleaning round brush 501, the second extendable weight case 502, the second horizontal moving guide rail face 503, the second extendable weight connecting rod 504；The
Two balanced type washers 5 are arranged among rack 1 by horizontal moving guide rail face 503, clean round brush 501 and extendable weight case
502 move toward one another along horizontal moving guide rail face 503；Motion guide rail 101 on horizontal moving guide rail face 503 and rack 1 matches
It closes, the second horizontal push motor 2032 drives motion guide rail 101 of the second horizontal moving guide rail face 503 in rack 1 back and forth to transport
It is dynamic.
Water tank 1010 is provided in rack 1, water tank 1010 is connected with spraying system, and spraying system is used to spray to glass curtain wall
Mist, spraying system is just to glass curtain wall atomized water spray after glass curtain wall cleaning equipment booting of the present invention；Rack 1 and elevator motor
703 are connected by the wirerope in reel that is connected with elevator motor 703, can be set between controller 701 and elevator motor 703
Set an elevator frequency converter 702；Master controller 201 sends control instruction, master controller to from controller 701 by communication network
201 by from controller 701 to elevator motor 703 carry out control have reached drive the ascending motion of glass curtain wall cleaning equipment or
Descending motion, the presetting glass curtain wall cleaning equipment ascending motion of the present invention of master controller 201 or descending motion when work are main
Controller 201 by communication network to from controller 701 feed back presetting glass curtain wall cleaning equipment ascending motion of the present invention or
Person's descending motion, from controller 701 according to the control instruction of master controller 201 control the ascending motion of glass curtain wall cleaning equipment or
Person's descending motion.
Hard disk video recorder 10 is used for the image information shot with video-corder of recording camera 9, from controller 701, remote controller 8,
Recording camera 9, hard disk video recorder 10 are communicated wirelessly by wireless communication networks and master controller 201, according to actually making
With situation also from controller 701, remote controller 8, recording camera 9, hard disk video recorder 10 by the way that cable modem can also be used
News mode and master controller 201 carry out wire communication.
The method that single brush glass curtain wall cleaning equipment of present embodiment is controlled, comprising the following steps:
S1: the distance from the wall of round brush and round brush scrubs revolving speed in the presetting glass curtain wall cleaning equipment of master controller 201；
The presetting glass curtain wall cleaning equipment ascending motion of master controller 201 or descending motion；
S2: master controller 201 controls first level push-rod electric machine 2031 and drives the first cleaning 401 stretch out motion of round brush, control
It makes the second horizontal push motor 2032 and drives the second cleaning 501 stretch out motion of round brush, master controller 201 controls the first round brush motor
2021 drive first cleaning round brush 401 carry out rotary rollings, control the second round brush motor 2022 drive second cleaning round brush 501 into
Row rotary rolling；Then master controller 201 control glass curtain wall cleaning equipment execute in S1 step presetting ascending motion or
Descending motion；
S3: it is fed back immediately after the first cleaning round brush 401 encounters obstacle if the first obstacle detecting sensor 2051 detects
To master controller 201, then master controller 201 controls glass curtain wall cleaning equipment and stops executing upper elevator presetting in S1 step
Dynamic or descending motion, the first round brush motor 2021 of control, which drive the first cleaning round brush 401 to stop operating, controls first level pushes away
Bar motor 2031 drives the first cleaning horizontal retraction movement of round brush 401；If the first obstacle detecting sensor 2051 does not detect
Obstacle is encountered to the first cleaning round brush 401, then master controller 201 controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion；
S4: if the first obstacle detecting sensor 2051 detects that the first cleaning round brush 401 has been recovered to safe distance and has stood
Feed back to master controller 201, then master controller 201 control glass curtain wall cleaning equipment execute S2 step in ascending motion or
Person's descending motion；If the first obstacle detecting sensor 2051 do not detect the first cleaning round brush 401 be recovered to safety away from
From then first cleaning of the control of master controller 201 round brush 4012 continues to withdraw；
S5: if the first obstacle detecting sensor 2051 detects that the first cleaning round brush 401 completes Obstacle Negotiation, master control
Device 201 processed controls the stop motion of glass curtain wall cleaning equipment, and master controller 201 controls first level push-rod electric machine 2031 and drives the
One cleaning 401 stretch out motion of the round brush distance from the wall presetting into S1 step；
S6: if master controller 201 controls first level push-rod electric machine 2031 and drives the first cleaning 401 stretch out motion of round brush
The presetting distance from the wall into S1 step, then master controller 201 controls the first round brush motor 2021 and drives the first cleaning round brush
401 carry out rotary rollings, master controller 201 control glass curtain wall cleaning equipment execute in S1 step presetting ascending motion or
Person's descending motion；
S7: it is fed back immediately after the second cleaning round brush 501 encounters obstacle if the second obstacle detecting sensor 2052 detects
To master controller 201, then master controller 201 controls glass curtain wall cleaning equipment and stops executing upper elevator presetting in S1 step
Dynamic or descending motion, the second round brush motor 2022 of control, which drive the second cleaning round brush 501 to stop operating, controls the second level pushes away
Bar motor 2032 drives the second cleaning horizontal retraction movement of round brush 501；If the second obstacle detecting sensor 2052 does not detect
Obstacle is encountered to the second cleaning round brush 501, then master controller 201 controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion；
S8: if the second obstacle detecting sensor 2052 detects that the second cleaning round brush 501 has been recovered to safe distance and has stood
Feed back to master controller 201, then master controller 201 control glass curtain wall cleaning equipment execute S2 step in ascending motion or
Person's descending motion；If the second obstacle detecting sensor 2052 do not detect the second cleaning round brush 501 be recovered to safety away from
From then second cleaning of the control of master controller 201 round brush 501 continues to withdraw；
S9: if the second obstacle detecting sensor 2052 detects that the second cleaning round brush 501 completes Obstacle Negotiation, master control
Device 201 processed controls the stop motion of glass curtain wall cleaning equipment, and master controller 201 controls the second horizontal push motor 2032 and drives the
Two cleaning 501 stretch out motions of the round brush distance from the wall presetting into S1 step；
S10: if master controller 201 controls the second horizontal push motor 2032 and the second cleaning round brush 501 is driven to stretch out fortune
The distance from the wall presetting into S1 step is moved, then master controller 201 controls the second round brush motor 2022 and drives the second cleaning rolling
Brush 501 carries out rotary rolling, and master controller 201 controls glass curtain wall cleaning equipment and executes ascending motion presetting in S1 step
Or descending motion.
Preferred embodiment 3
Attached drawing 1E, Fig. 1 F are the structural schematic diagram and control flow chart of three brush glass curtain wall cleaning equipments of the invention；Fig. 4 A,
4B, 4C, 4D are the structural schematic diagrams of three brush glass curtain wall cleaning equipments of the invention；
Glass curtain wall cleaning equipment includes rack 1, the control system being arranged on rack 12, at least a pair of of setting in machine
Crawler belt sucker 3 on frame 1, at least one the first balanced type washer 4 on rack 1 is set；Wherein: crawler belt sucker 3
Traveling crawler 301 on be provided at least one column flexible glue sucker 302, balanced type cleaning brush 4.Row is provided on crawler belt sucker 3
Walk crawler belt 301, be provided with flexible glue sucker 302 on traveling crawler 301, glass curtain wall cleaning equipment under wirerope lifting along
The walking of glass curtain wall vertical direction, flexible glue sucker 302 are used for attracted with glass curtain wall.
Control system 2 is pushed away including master controller 201, at least one first round brush motor 2021, at least one first level
Bar motor 2031, at least one first contact-making switch 2041, at least one first obstacle detecting sensor 2051；Master controller
201 respectively with the first round brush motor 2021, first level push-rod electric machine 2031, the first contact-making switch 2041, the first obstacle detection
Sensor 2051 is electrical connected.
Control system 2 further includes 2022,2032, one second, second horizontal push motors of a second round brush motor
2042, second obstacle detecting sensors 2052 of contact-making switch；Master controller 201 respectively with the second round brush motor 2022,
Two horizontal push motors 2032, the second contact-making switch 2042, the second obstacle detecting sensor 2052 are electrical connected；
Control system 2 also further includes 2033, one, 2023, third horizontal push motors of a third round brush motor
The three third obstacle detecting sensors 2053 of contact-making switch 2043, one；Master controller 201 respectively with third round brush motor 2023,
Third horizontal push motor 2033, third contact-making switch 2043, third obstacle detecting sensor 2053 are electrical connected.
Third frequency converter 2063 is provided between master controller 201 and third round brush motor 2023, master controller 201 passes through
Third frequency converter 2063 controls third round brush motor 2023；Master controller 201 and third horizontal push motor 2033 it
Between be provided with third disconnecting relay 2073 and 3rd resistor ruler 2083 parallel, master controller 201 passes through third disconnecting relay
The opening and closing of 2073 control third horizontal push motors 2033, master controller 201 are accurately controlled by 3rd resistor ruler 2083
The traveling process of third horizontal push motor 2033 processed.Third contact-making switch 2043 and third obstacle detecting sensor 2053 are distinguished
It is electrical connected with master controller 201, when third cleaning round brush 601 is likely encountered obstacle, third contact-making switch 2043 and third
Obstacle detecting sensor 2053 is for detecting obstacle and feeding back to master controller 201, and master controller 201 is to third round brush motor
2023 and third horizontal push motor 2033 carry out accordingly control realize avoidance.
The second balanced type washer 5 and third parallel with the first balanced type washer 4 is additionally provided on rack 1 to balance
Formula washer 6, the second balanced type washer 5, third balanced type washer 6 and the first balanced type washer 4 working principle and
Technical effect is identical.Second balanced type washer 5 includes the second cleaning round brush 501, second the 502, second level of extendable weight case
Motion guide rail face 503, the second extendable weight connecting rod 504；Second balanced type washer 5 is arranged by horizontal moving guide rail face 503
Among rack 1, cleans round brush 501 and extendable weight case 502 is moved toward one another along horizontal moving guide rail face 503；Horizontal movement
Guide pass 503 is matched with the motion guide rail 101 in rack 1, and the second horizontal push motor 2032 drives the second horizontal movement to lead
Motion guide rail 101 of the rail level 503 in rack 1 moves back and forth.Third balanced type washer 6 includes third cleaning round brush 601, the
Three extendable weight casees 602, third horizontal moving guide rail face 603, third extendable weight connecting rod 604；Third balanced type washer 6 is logical
Third horizontal moving guide rail face 603 is crossed to be arranged among rack 1, third clean round brush 601 and third extendable weight case 602 along
Third horizontal moving guide rail face 603 moves toward one another；Motion guide rail 101 on third horizontal moving guide rail face 603 and rack 1 matches
It closes, third horizontal push motor 2033 drives motion guide rail 101 of the third horizontal moving guide rail face 603 in rack 1 back and forth to transport
It is dynamic.
Water tank 1010 is provided in rack 1, water tank 1010 is connected with spraying system, and spraying system is used to spray to glass curtain wall
Mist, spraying system is just to glass curtain wall atomized water spray after glass curtain wall cleaning equipment booting of the present invention；Rack 1 and elevator motor
703 are connected by the wirerope in reel that is connected with elevator motor 703, can be set between controller 701 and elevator motor 703
Set an elevator frequency converter 702；Master controller 201 sends control instruction, master controller to from controller 701 by communication network
201 by from controller 701 to elevator motor 703 carry out control have reached drive the ascending motion of glass curtain wall cleaning equipment or
Descending motion, the presetting glass curtain wall cleaning equipment ascending motion of the present invention of master controller 201 or descending motion when work are main
Controller 201 by communication network to from controller 701 feed back presetting glass curtain wall cleaning equipment ascending motion of the present invention or
Person's descending motion, from controller 701 according to the control instruction of master controller 201 control the ascending motion of glass curtain wall cleaning equipment or
Person's descending motion.
Hard disk video recorder 10 is used for the image information shot with video-corder of recording camera 9, from controller 701, remote controller 8,
Recording camera 9, hard disk video recorder 10 are communicated wirelessly by wireless communication networks and master controller 201, according to actually making
With situation also from controller 701, remote controller 8, recording camera 9, hard disk video recorder 10 by the way that cable modem can also be used
News mode and master controller 201 carry out wire communication.
The method that single brush glass curtain wall cleaning equipment of present embodiment is controlled, comprising the following steps:
S1: the distance from the wall of round brush and round brush scrubs revolving speed in the presetting glass curtain wall cleaning equipment of master controller 201；
The presetting glass curtain wall cleaning equipment ascending motion of master controller 201 or descending motion；
S2: master controller 201 controls first level push-rod electric machine 2031 and drives the first cleaning 401 stretch out motion of round brush, control
It makes the second horizontal push motor 2032 and drives the second cleaning 501 stretch out motion of round brush, control 2033 band of third horizontal push motor
Dynamic third cleans 601 stretch out motion of round brush, and master controller 201 controls the first round brush motor 2021 and drives the first cleaning round brush 401
Carry out rotary rolling, the second round brush motor 2022 of control drives the second cleaning round brush 501 to carry out rotary rolling, control third round brush
Motor 2023 drives third cleaning round brush 601 to carry out rotary rolling；Then master controller 201 controls glass curtain wall cleaning equipment and executes
Presetting ascending motion or descending motion in S1 step；
S3: it is fed back immediately after the first cleaning round brush 401 encounters obstacle if the first obstacle detecting sensor 2051 detects
To master controller 201, then master controller 201 controls glass curtain wall cleaning equipment and stops executing upper elevator presetting in S1 step
Dynamic or descending motion, the first round brush motor 2021 of control, which drive the first cleaning round brush 401 to stop operating, controls first level pushes away
Bar motor 2031 drives the first cleaning horizontal retraction movement of round brush 401；If the first obstacle detecting sensor 2051 does not detect
Obstacle is encountered to the first cleaning round brush 401, then master controller 201 controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion；
S4: if the first obstacle detecting sensor 2051 detects that the first cleaning round brush 401 has been recovered to safe distance and has stood
Feed back to master controller 201, then master controller 201 control glass curtain wall cleaning equipment execute S2 step in ascending motion or
Person's descending motion；If the first obstacle detecting sensor 2051 do not detect the first cleaning round brush 401 be recovered to safety away from
From then first cleaning of the control of master controller 201 round brush 4012 continues to withdraw；
S5: if the first obstacle detecting sensor 2051 detects that the first cleaning round brush 401 completes Obstacle Negotiation, master control
Device 201 processed controls the stop motion of glass curtain wall cleaning equipment, and master controller 201 controls first level push-rod electric machine 2031 and drives the
One cleaning 401 stretch out motion of the round brush distance from the wall presetting into S1 step；
S6: if master controller 201 controls first level push-rod electric machine 2031 and drives the first cleaning 401 stretch out motion of round brush
The presetting distance from the wall into S1 step, then master controller 201 controls the first round brush motor 2021 and drives the first cleaning round brush
401 carry out rotary rollings, master controller 201 control glass curtain wall cleaning equipment execute in S1 step presetting ascending motion or
Person's descending motion；
S7: it is fed back immediately after the second cleaning round brush 501 encounters obstacle if the second obstacle detecting sensor 2052 detects
To master controller 201, then master controller 201 controls glass curtain wall cleaning equipment and stops executing upper elevator presetting in S1 step
Dynamic or descending motion, the second round brush motor 2022 of control, which drive the second cleaning round brush 501 to stop operating, controls the second level pushes away
Bar motor 2032 drives the second cleaning horizontal retraction movement of round brush 501；If the second obstacle detecting sensor 2052 does not detect
Obstacle is encountered to the second cleaning round brush 501, then master controller 201 controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion；
S8: if the second obstacle detecting sensor 2052 detects that the second cleaning round brush 501 has been recovered to safe distance and has stood
Feed back to master controller 201, then master controller 201 control glass curtain wall cleaning equipment execute S2 step in ascending motion or
Person's descending motion；If the second obstacle detecting sensor 2052) do not detect the second cleaning round brush 501) it has been recovered to safety
Distance, then master controller 201) control the second cleaning round brush 501 continues to withdraw；
S9: if the second obstacle detecting sensor 2052 detects that the second cleaning round brush 501 completes Obstacle Negotiation, master control
Device 201 processed controls the stop motion of glass curtain wall cleaning equipment, and master controller 201 controls the second horizontal push motor 2032 and drives the
Two cleaning 501 stretch out motions of the round brush distance from the wall presetting into S1 step；
S10: if master controller 201 controls the second horizontal push motor 2032 and the second cleaning round brush 501 is driven to stretch out fortune
The distance from the wall presetting into S1 step is moved, then master controller 201 controls the second round brush motor 2022 and drives the second cleaning rolling
Brush 501 carries out rotary rolling, and master controller 201 controls glass curtain wall cleaning equipment and executes ascending motion presetting in S1 step
Or descending motion；
S11: it is fed back immediately after third cleaning round brush 601 encounters obstacle if third obstacle detecting sensor 2053 detects
To master controller 201, then master controller 201 controls glass curtain wall cleaning equipment and stops executing upper elevator presetting in S1 step
Dynamic or descending motion, control third round brush motor 2023, which drive third cleaning round brush 601 to stop operating, controls third level pushes away
Bar motor 2033 drives third to clean the horizontal retraction movement of round brush 601；If third obstacle detecting sensor 2053 does not detect
Obstacle is encountered to third cleaning round brush 601, then master controller 201 controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion；
S12: if third obstacle detecting sensor 2053 detects that third cleaning round brush 601 has been recovered to safe distance and has stood
Feed back to master controller 201, then master controller 201 control glass curtain wall cleaning equipment execute S2 step in ascending motion or
Person's descending motion；If third obstacle detecting sensor 2051 do not detect third cleaning round brush 601 be recovered to safety away from
From then master controller 201 controls third cleaning round brush 601 and continues to withdraw；
S13: if third obstacle detecting sensor 2053 detects third, cleaning round brush 601 completes Obstacle Negotiation, leads
Controller 201 controls the stop motion of glass curtain wall cleaning equipment, and master controller 201 controls third horizontal push motor 2033 and drives
Third cleans 601 stretch out motion of the round brush distance from the wall presetting into S1 step；
S14: if master controller 201 controls third horizontal push motor 2033 and third cleaning round brush 601 is driven to stretch out fortune
The distance from the wall presetting into S1 step is moved, then master controller 201 controls third round brush motor 2023 and drives third cleaning rolling
Brush 601 carries out rotary rolling, and master controller 201 controls glass curtain wall cleaning equipment and executes ascending motion presetting in S1 step
Or descending motion.
Claims (10)
1. a kind of glass curtain wall cleaning equipment, which is characterized in that including rack (1), the control system being arranged on rack (1)
(2), at least a pair of crawler belt sucker (3) being arranged on rack (1), at least one be arranged on rack (1) it is first flat
Weighing apparatus formula washer (4)；Wherein: the flexible glue sucker (302) of at least one column is provided on the traveling crawler (301) of crawler belt sucker (3).
2. glass curtain wall cleaning equipment according to claim 1, which is characterized in that control system (2) includes master controller
(201), at least one first round brush motor (2021), at least one first level push-rod electric machine (2031), at least one first
Contact-making switch (2041), at least one first obstacle detecting sensor (2051)；Master controller (201) is electric with the first round brush respectively
Machine (2021), first level push-rod electric machine (2031), the first contact-making switch (2041), the first obstacle detecting sensor (2051) electricity
Property be connected.
3. glass curtain wall cleaning equipment according to claim 1, which is characterized in that control system (2) further includes one
Two round brush motors (2022), a second horizontal push motor (2032), second contact-making switch (2042), second barrier
Hinder detection sensor (2052)；Master controller (201) respectively with the second round brush motor (2022), the second horizontal push motor
(2032), the second contact-making switch (2042), the second obstacle detecting sensor (2052) are electrical connected；
Control system (2) also further includes a third round brush motor (2023), a third horizontal push motor (2033), one
Third contact-making switch (2043), a third obstacle detecting sensor (2053)；Master controller (201) is electric with third round brush respectively
Machine (2023), third horizontal push motor (2033), third contact-making switch (2043), third obstacle detecting sensor (2053) electricity
Property be connected.
4. glass curtain wall cleaning equipment according to claim 2, which is characterized in that master controller (201) and the first round brush
Be provided between motor (2021) the first frequency converter (2061), master controller (201) and first level push-rod electric machine (2031) it
Between be provided with the first disconnecting relay (2071) and first resistor ruler (2081) parallel.
5. glass curtain wall cleaning equipment according to claim 3, which is characterized in that master controller (201) and the second round brush
Be provided between motor (2022) the second frequency converter (2062), master controller (201) and the second horizontal push motor (2032) it
Between be provided with the second disconnecting relay (2072) and second resistance ruler (2082) parallel；
It is provided between master controller (201) and third round brush motor (2023) third frequency converter (2063), master controller (201)
It is provided with third disconnecting relay (2073) and 3rd resistor ruler (2083) parallel between third horizontal push motor (2033).
6. glass curtain wall cleaning equipment according to claim 1, which is characterized in that the first balanced type washer (4) includes
First cleaning round brush (401), the first extendable weight case (402), first level motion guide rail face (403), the first extendable weight connect
Bar (404)；Balanced type cleaning brush (4) is arranged among rack (1) by horizontal moving guide rail face (403), cleans round brush (401)
It is moved toward one another with extendable weight case (402) along horizontal moving guide rail face (403)；Horizontal moving guide rail face (403) and rack (1)
On motion guide rail (101) match, first level push-rod electric machine (2031) drive horizontal moving guide rail face (4031) along rack
(1) motion guide rail (101) on moves back and forth.
7. glass curtain wall cleaning equipment according to claim 6, which is characterized in that rack is additionally provided with second on (1)
Balanced type washer (5), third balanced type washer (6)；
Second balanced type washer (5) includes the second cleaning round brush (501), the second extendable weight case (502), the second horizontal movement
Guide pass (503), the second extendable weight connecting rod (504)；Second balanced type washer (5) passes through horizontal moving guide rail face (503)
It is arranged among rack (1), cleans round brush (501) and extendable weight case (502) and transported in opposite directions along horizontal moving guide rail face (503)
It is dynamic；Horizontal moving guide rail face (503) is matched with the motion guide rail (101) on rack (1), the second horizontal push motor (2032)
Motion guide rail (101) of the second horizontal moving guide rail face (503) on rack (1) is driven to move back and forth；
Third balanced type washer (6) includes third cleaning round brush (601), third extendable weight case (602), third horizontal movement
Guide pass (603), third extendable weight connecting rod (604)；Third balanced type washer (6) passes through horizontal moving guide rail face (603)
It is arranged among rack (1), third cleans round brush (601) and third extendable weight case (602) along horizontal moving guide rail face
(603) it moves toward one another；Third horizontal moving guide rail face (603) is matched with the motion guide rail (101) on rack (1), third water
Flat push-rod electric machine (2033) drives the motion guide rail (101) of third horizontal moving guide rail face (603) on rack (1) back and forth to transport
It is dynamic.
8. a kind of method controlled above-mentioned glass curtain wall cleaning equipment, which comprises the following steps:
S1: the distance from the wall of round brush and round brush scrubs revolving speed in the presetting glass curtain wall cleaning equipment of master controller (201)；It is main
The presetting glass curtain wall cleaning equipment ascending motion of controller (201) or descending motion；
S2: master controller (201) controls first level push-rod electric machine (2031) and drives first cleaning round brush (401) stretch out motion,
Master controller (201) controls the first round brush motor (2021) and the first cleaning round brush (401) is driven to carry out rotary rolling；Then main control
Device (201) controls glass curtain wall cleaning equipment and executes ascending motion or descending motion presetting in S1 step；
S3: it is fed back immediately after the first cleaning round brush (401) encounters obstacle if the first obstacle detecting sensor (2051) detects
Master controller (201) are given, then master controller (201) control glass curtain wall cleaning equipment stops executing presetting upper in S1 step
Elevator is dynamic or descending motion, the first round brush motor (2021) of control drive the first cleaning round brush (401) to stop operating, control water
Flat push-rod electric machine (2031) drives first cleaning round brush (401) horizontal retraction movement；If the first obstacle detecting sensor
(2051) do not detect that the first cleaning round brush (401) encounters obstacle, then master controller (201) controls glass curtain wall cleaning equipment
Execute ascending motion or descending motion presetting in S1 step；
S4: if the first obstacle detecting sensor (2051) detects that the first cleaning round brush (401) has been recovered to safe distance and has stood
Master controller (201) are fed back to, then master controller (201) control glass curtain wall cleaning equipment executes the upper elevator in S2 step
Dynamic or descending motion；If the first obstacle detecting sensor (2051) does not detect that the first round brush (4011) has been recovered to peace
Full distance, then the first cleaning round brush (401) of master controller (201) control continue to withdraw；
S5: if the first obstacle detecting sensor (2051) detects that the first cleaning round brush (401) completes Obstacle Negotiation, master control
Device (201) processed controls the stop motion of glass curtain wall cleaning equipment, and master controller (201) controlled level push-rod electric machine (2031) drives
First cleaning round brush (401) the stretch out motion distance from the wall presetting into S1 step；
S6: if master controller (201) controlled level push-rod electric machine (2031) drives first cleaning round brush (401) stretch out motion extremely
Presetting distance from the wall in S1 step, then master controller (201) controls the first round brush motor (2021) and drives the first cleaning rolling
It brushes (401) and carries out rotary rolling, master controller (201) controls glass curtain wall cleaning equipment and executes rising presetting in S1 step
Movement or descending motion.
9. the method according to claim 8 controlled glass curtain wall cleaning equipment, which is characterized in that
S1: the distance from the wall of round brush and round brush scrubs revolving speed in the presetting glass curtain wall cleaning equipment of master controller (201)；It is main
The presetting glass curtain wall cleaning equipment ascending motion of controller (201) or descending motion；
S2: the first cleaning of master controller (201) control first level push-rod electric machine (2031) drive round brush (401) stretch out motion,
It controls the second horizontal push motor (2032) and drives second cleaning round brush (501) stretch out motion, master controller (201) control first
Round brush motor (2021) drives that the first cleaning round brush (401) carries out rotary rolling, the second round brush motor (2022) of control drives the
Two cleanings round brush (501) carry out rotary rolling；Then master controller (201) control glass curtain wall cleaning equipment executes pre- in S1 step
The ascending motion or descending motion of setting；
S3: it is fed back immediately after the first cleaning round brush (401) encounters obstacle if the first obstacle detecting sensor (2051) detects
Master controller (201) are given, then master controller (201) control glass curtain wall cleaning equipment stops executing presetting upper in S1 step
Elevator is dynamic or descending motion, the first round brush motor (2021) of control drive the first cleaning round brush (401) to stop operating, controls the
One horizontal push motor (2031) drives first cleaning round brush (401) horizontal retraction movement；If the first obstacle detecting sensor
(2051) do not detect that the first cleaning round brush (401) encounters obstacle, then master controller (201) controls glass curtain wall cleaning equipment
Execute ascending motion or descending motion presetting in S1 step；
S4: if the first obstacle detecting sensor (2051) detects that the first cleaning round brush (401) has been recovered to safe distance and has stood
Master controller (201) are fed back to, then master controller (201) control glass curtain wall cleaning equipment executes the upper elevator in S2 step
Dynamic or descending motion；If the first obstacle detecting sensor (2051) does not detect that the first cleaning round brush (401) is recovered to
Safe distance, then the first cleaning round brush (4012) of master controller (201) control continue to withdraw；
S5: if the first obstacle detecting sensor (2051) detects that the first cleaning round brush (401) completes Obstacle Negotiation, master control
Device (201) processed controls the stop motion of glass curtain wall cleaning equipment, and master controller (201) controls first level push-rod electric machine (2031)
The distance from the wall for driving the first cleaning round brush (401) stretch out motion presetting into S1 step；
S6: if master controller (201) control first level push-rod electric machine (2031) drives the first cleaning round brush (401) to stretch out fortune
The distance from the wall presetting into S1 step is moved, then it is clear to control the first round brush motor (2021) drive first for master controller (201)
It washes round brush (401) and carries out rotary rolling, master controller (201) controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion；
Further include:
S7: it is fed back immediately after the second cleaning round brush (501) encounters obstacle if the second obstacle detecting sensor (2052) detects
Master controller (201) are given, then master controller (201) control glass curtain wall cleaning equipment stops executing presetting upper in S1 step
Elevator is dynamic or descending motion, the second round brush motor (2022) of control drive the second cleaning round brush (501) to stop operating, controls the
Two horizontal push motors (2032) drive second cleaning round brush (501) horizontal retraction movement；If the second obstacle detecting sensor
(2052) do not detect that the second cleaning round brush (501) encounters obstacle, then master controller (201) controls glass curtain wall cleaning equipment
Execute ascending motion or descending motion presetting in S1 step；
S8: if the second obstacle detecting sensor (2052) detects that the second cleaning round brush (501) has been recovered to safe distance and has stood
Master controller (201) are fed back to, then master controller (201) control glass curtain wall cleaning equipment executes the upper elevator in S2 step
Dynamic or descending motion；If the second obstacle detecting sensor (2052) does not detect that the second cleaning round brush (501) is recovered to
Safe distance, then the second cleaning round brush (501) of master controller (201) control continue to withdraw；
S9: if the second obstacle detecting sensor (2052) detects that the second cleaning round brush (501) completes Obstacle Negotiation, master control
Device (201) processed controls the stop motion of glass curtain wall cleaning equipment, and master controller (201) controls the second horizontal push motor (2032)
The distance from the wall for driving the second cleaning round brush (501) stretch out motion presetting into S1 step；
S10: if master controller (201) controls the second horizontal push motor (2032) and the second cleaning round brush (501) is driven to stretch out
Distance from the wall presetting in S1 step is moved to, then master controller (201) controls the second round brush motor (2022) and drives second
It cleans round brush (501) and carries out rotary rolling, master controller (201) controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion.
10. the method according to claim 8 controlled glass curtain wall cleaning equipment, which is characterized in that
S1: the distance from the wall of round brush and round brush scrubs revolving speed in the presetting glass curtain wall cleaning equipment of master controller (201)；It is main
The presetting glass curtain wall cleaning equipment ascending motion of controller (201) or descending motion；
S2: the first cleaning of master controller (201) control first level push-rod electric machine (2031) drive round brush (401) stretch out motion,
It controls the second horizontal push motor (2032) and drives second cleaning round brush (501) stretch out motion, control third horizontal push motor
(2033) third is driven to clean round brush (601) stretch out motion, master controller (201) controls the first round brush motor (2021) and drives the
One cleaning round brush (401) carries out rotary rolling, the second round brush motor (2022) of control drives the second cleaning round brush (501) to be revolved
Tumbler is dynamic, control third round brush motor (2023) drives third cleaning round brush (601) to carry out rotary rolling；Then master controller
(201) control glass curtain wall cleaning equipment executes ascending motion or descending motion presetting in S1 step；
S3: it is fed back immediately after the first cleaning round brush (401) encounters obstacle if the first obstacle detecting sensor (2051) detects
Master controller (201) are given, then master controller (201) control glass curtain wall cleaning equipment stops executing presetting upper in S1 step
Elevator is dynamic or descending motion, the first round brush motor (2021) of control drive the first cleaning round brush (401) to stop operating, controls the
One horizontal push motor (2031) drives first cleaning round brush (401) horizontal retraction movement；If the first obstacle detecting sensor
(2051) do not detect that the first cleaning round brush (401) encounters obstacle, then master controller (201) controls glass curtain wall cleaning equipment
Execute ascending motion or descending motion presetting in S1 step；
S4: if the first obstacle detecting sensor (2051) detects that the first cleaning round brush (401) has been recovered to safe distance and has stood
Master controller (201) are fed back to, then master controller (201) control glass curtain wall cleaning equipment executes the upper elevator in S2 step
Dynamic or descending motion；If the first obstacle detecting sensor (2051) does not detect that the first cleaning round brush (401) is recovered to
Safe distance, then the first cleaning round brush (4012) of master controller (201) control continue to withdraw；
S5: if the first obstacle detecting sensor (2051) detects that the first cleaning round brush (401) completes Obstacle Negotiation, master control
Device (201) processed controls the stop motion of glass curtain wall cleaning equipment, and master controller (201) controls first level push-rod electric machine (2031)
The distance from the wall for driving the first cleaning round brush (401) stretch out motion presetting into S1 step；
S6: if master controller (201) control first level push-rod electric machine (2031) drives the first cleaning round brush (401) to stretch out fortune
The distance from the wall presetting into S1 step is moved, then it is clear to control the first round brush motor (2021) drive first for master controller (201)
It washes round brush (401) and carries out rotary rolling, master controller (201) controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion；
S7: it is fed back immediately after the second cleaning round brush (501) encounters obstacle if the second obstacle detecting sensor (2052) detects
Master controller (201) are given, then master controller (201) control glass curtain wall cleaning equipment stops executing presetting upper in S1 step
Elevator is dynamic or descending motion, the second round brush motor (2022) of control drive the second cleaning round brush (501) to stop operating, controls the
Two horizontal push motors (2032) drive second cleaning round brush (501) horizontal retraction movement；If the second obstacle detecting sensor
(2052) do not detect that the second cleaning round brush (501) encounters obstacle, then master controller (201) controls glass curtain wall cleaning equipment
Execute ascending motion or descending motion presetting in S1 step；
S8: if the second obstacle detecting sensor (2052) detects that the second cleaning round brush (501) has been recovered to safe distance and has stood
Master controller (201) are fed back to, then master controller (201) control glass curtain wall cleaning equipment executes the upper elevator in S2 step
Dynamic or descending motion；If the second obstacle detecting sensor (2052) does not detect that the second cleaning round brush (501) is recovered to
Safe distance, then the second cleaning round brush (501) of master controller (201) control continue to withdraw；
S9: if the second obstacle detecting sensor (2052) detects that the second cleaning round brush (501) completes Obstacle Negotiation, master control
Device (201) processed controls the stop motion of glass curtain wall cleaning equipment, and master controller (201) controls the second horizontal push motor (2032)
The distance from the wall for driving the second cleaning round brush (501) stretch out motion presetting into S1 step；
S10: if master controller (201) controls the second horizontal push motor (2032) and the second cleaning round brush (501) is driven to stretch out
Distance from the wall presetting in S1 step is moved to, then master controller (201) controls the second round brush motor (2022) and drives second
It cleans round brush (501) and carries out rotary rolling, master controller (201) controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion；
Further include:
S11: it is fed back immediately after third cleaning round brush (601) encounters obstacle if third obstacle detecting sensor (2053) detects
Master controller (201) are given, then master controller (201) control glass curtain wall cleaning equipment stops executing presetting upper in S1 step
Elevator is dynamic or descending motion, control third round brush motor (2023) drive third cleaning round brush (601) to stop operating, controls the
Three horizontal push motors (2033) drive third to clean round brush (601) horizontal retraction movement；If third obstacle detecting sensor
(2053) do not detect that third cleaning round brush (601) encounters obstacle, then master controller (201) controls glass curtain wall cleaning equipment
Execute ascending motion or descending motion presetting in S1 step；
S12: if third obstacle detecting sensor (2053) detects that third cleaning round brush (601) has been recovered to safe distance and has stood
Master controller (201) are fed back to, then master controller (201) control glass curtain wall cleaning equipment executes the upper elevator in S2 step
Dynamic or descending motion；If third obstacle detecting sensor (2051) does not detect that third cleaning round brush (601) is recovered to
Safe distance, then master controller (201) control third cleaning round brush (601) continues to withdraw；
S13: it if third obstacle detecting sensor (2053) detects that Obstacle Negotiation is completed in third cleaning round brush (601), leads
Controller (201) controls the stop motion of glass curtain wall cleaning equipment, and master controller (201) controls third horizontal push motor
(2033) distance from the wall for driving third cleaning round brush (601) stretch out motion presetting into S1 step；
S14: if master controller (201) control third horizontal push motor (2033) drives third cleaning round brush (601) to stretch out
Distance from the wall presetting in S1 step is moved to, then master controller (201) control third round brush motor (2023) drives third
It cleans round brush (601) and carries out rotary rolling, master controller (201) controls presetting in glass curtain wall cleaning equipment execution S1 step
Ascending motion or descending motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810620501.8A CN109267757A (en) | 2018-06-15 | 2018-06-15 | A kind of glass curtain wall cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810620501.8A CN109267757A (en) | 2018-06-15 | 2018-06-15 | A kind of glass curtain wall cleaning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109267757A true CN109267757A (en) | 2019-01-25 |
Family
ID=65152741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810620501.8A Pending CN109267757A (en) | 2018-06-15 | 2018-06-15 | A kind of glass curtain wall cleaning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109267757A (en) |
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|---|---|---|---|---|
| KR20020011074A (en) * | 2001-07-16 | 2002-02-07 | 이상우 | automatic washing device for outside wall of building and window glasses |
| CN1519087A (en) * | 2003-01-21 | 2004-08-11 | 西安恒生科技股份有限公司 | Primary-secondary type robot of accreting on wall |
| CN102631173A (en) * | 2012-04-16 | 2012-08-15 | 北京理工大学 | Track sucker type wall surface cleaning robot |
| CN205234407U (en) * | 2015-11-30 | 2016-05-18 | 南通大学 | Glass cleaning device |
| CN206342432U (en) * | 2016-09-27 | 2017-07-21 | 深圳亮亮洗墙机器人有限公司 | A kind of cleaning head for exterior wall cleaning machine |
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2018
- 2018-06-15 CN CN201810620501.8A patent/CN109267757A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020011074A (en) * | 2001-07-16 | 2002-02-07 | 이상우 | automatic washing device for outside wall of building and window glasses |
| CN1519087A (en) * | 2003-01-21 | 2004-08-11 | 西安恒生科技股份有限公司 | Primary-secondary type robot of accreting on wall |
| CN102631173A (en) * | 2012-04-16 | 2012-08-15 | 北京理工大学 | Track sucker type wall surface cleaning robot |
| CN205234407U (en) * | 2015-11-30 | 2016-05-18 | 南通大学 | Glass cleaning device |
| CN206342432U (en) * | 2016-09-27 | 2017-07-21 | 深圳亮亮洗墙机器人有限公司 | A kind of cleaning head for exterior wall cleaning machine |
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Application publication date: 20190125 |
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| WD01 | Invention patent application deemed withdrawn after publication |