CN110101334B - Suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine - Google Patents
Suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine Download PDFInfo
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- CN110101334B CN110101334B CN201910504020.5A CN201910504020A CN110101334B CN 110101334 B CN110101334 B CN 110101334B CN 201910504020 A CN201910504020 A CN 201910504020A CN 110101334 B CN110101334 B CN 110101334B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 131
- 239000011521 glass Substances 0.000 title claims abstract description 51
- 239000000725 suspension Substances 0.000 title claims abstract description 27
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 239000010865 sewage Substances 0.000 claims abstract description 32
- 238000005507 spraying Methods 0.000 claims abstract description 31
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 29
- 239000000741 silica gel Substances 0.000 claims abstract description 29
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 29
- 238000007790 scraping Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 93
- 239000010959 steel Substances 0.000 claims description 93
- 239000012459 cleaning agent Substances 0.000 claims description 46
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 40
- 239000007788 liquid Substances 0.000 claims description 20
- 239000007921 spray Substances 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 12
- 239000003599 detergent Substances 0.000 claims description 9
- 210000000245 forearm Anatomy 0.000 claims description 8
- 238000012806 monitoring device Methods 0.000 claims description 8
- 239000000523 sample Substances 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 239000012780 transparent material Substances 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims description 3
- 241000252254 Catostomidae Species 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000026058 directional locomotion Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 13
- 238000009434 installation Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 5
- 241000239290 Araneae Species 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 239000008399 tap water Substances 0.000 description 3
- 235000020679 tap water Nutrition 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 238000010626 work up procedure Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped 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
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- 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
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 suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, which comprises a roller brush cleaning system, a sucker walking system, a sling transmission system and a control system, wherein the roller brush cleaning system is connected with the sucker walking system; the roller brush cleaning system comprises a roller, a silica gel scraping plate, a spraying device, a sewage collector and a transmission device; the roller is provided with a hairbrush, and two ends of the roller are arranged on the roller bracket; the roller bracket is provided with a driving mechanism which is connected with the roller hairbrush through a transmission device; a silica gel scraping plate is respectively arranged above and below the roller; the sucker walking system can enable the invention to cross an obstacle; the sling transmission system can control the roller bracket to move up and down; the control system is connected with a driving mechanism of the roller brush cleaning system, a sucker walking system and a sling transmission system. The invention has simple and convenient installation, saves labor and ensures that the curtain wall cleaning work is efficient and safe; the invention achieves the effects of manual, clean, safe, flexible, strong practicality and real-time monitoring of cleaning effect.
Description
Technical Field
The invention relates to a glass curtain wall cleaning device, in particular to a suspension adsorption type glass/photovoltaic curtain wall surface automatic cleaning machine.
Background
In the building industry, as the lighting property of glass is good, the heat preservation and the moisture prevention are realized, the glass is attractive and transparent, and the personalized building space is easy to build, so that glass building components are favored by architects, more and more high-rise buildings adopt glass curtain wall structures or adopt glass shells to cover so as to increase the aesthetic feeling of the buildings; meanwhile, along with the development and promotion of solar photovoltaic and building integrated technology, more and more building glass outer facades adopt solar photovoltaic and curtain wall integrated structures, and the photovoltaic curtain wall is widely applied. In order to keep the appearance of the glass curtain wall neat and beautiful, and in order to keep the power generation efficiency of the photovoltaic curtain wall, the surfaces of the glass and the photovoltaic curtain wall need to be cleaned.
In the currently published technology for cleaning building curtain walls and related research results, for example, related patent CN106917514a: the spider man lifting rope device directly depends on a hanging basket, a sliding plate and a pulley to fix outer wall cleaning personnel on a safety rope, belongs to high-altitude dangerous operation, has low working efficiency, and endangers safety of oneself and pedestrians; in addition, the hanging basket suspension arm and the auxiliary support rod adopt stable triangular structures, but corresponding debugging cannot be carried out according to the change of building structures, so that the hanging basket suspension arm and the auxiliary support rod have certain limitations. As in related patent CN103536242a: a window cleaning machine directly fixes a host computer on the ground, utilizes high pressure to convey water to the top end of a suspension arm, controls a cleaning brush to move back and forth to clean stains in all directions of glass through a rotary telescopic cylinder, and solves the personal safety problem of workers in the spider man lifting rope device, but still has the problems of loud noise, uncleanness in cleaning, high price, incapability of taking into account stains in curtain wall gaps and the like. As in related patent CN106725075a: a window inserting machine with a camera shooting function relies on turbine type fan blades to enter air from the bottom and then to exit air from the back, so that a negative pressure environment is formed at the bottom inlet, the window inserting machine can be tightly adsorbed on the surface of glass, and meanwhile, the heat dissipation effect can be achieved. Although the structure is compact, the window cleaning effect is good, but the camera shooting function is not combined with the control system, only the camera shooting function can be provided, and the real-time monitoring of the cleaning effect can not be realized. As in related patent CN106245924B: a glass curtain wall surface cleaning device controls a hairbrush to move up and down to clean the surface of a curtain wall through the extension and shortening of a hydraulic cylinder piston, and a blower is adopted to blow and dry, but sewage recovery cannot be solved, dirt left after the sewage is blown and dried cannot be guaranteed on the surface of the glass, and the blower is power-consuming, so that the cleaning effect cannot be guaranteed and the cleaning effect is not economical and cost-effective. As in related patent CN107773145a: a glass curtain wall cleaning robot adopts a cable, a sucker and a brush to clean the surface of a curtain wall, so that the problems of surface drying and sewage treatment cannot be solved, and particularly, the sucker cannot be guaranteed not to be separated in a hanging manner, so that the glass curtain wall cleaning robot cannot continuously work when a cleaning device encounters obstacles, or the sucker is separated from the surface of the curtain wall in a hanging manner, so that the glass is broken.
Disclosure of Invention
In order to solve the technical problems, the invention provides the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine which is good in safety, complete in function and good in adaptability.
The technical scheme adopted by the invention is as follows: a suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine comprises a roller brush cleaning system, a sucker walking system, a sling transmission system and a control system; the method is characterized in that: the roller brush cleaning system comprises a roller, a silica gel scraping plate, a spraying device, a sewage collector and a transmission device; the brush is sleeved on the cylindrical side surface of the roller, and two ends of the roller are arranged on the roller bracket; the roller bracket is provided with a driving mechanism which is connected with the roller through a transmission device and can drive the roller to rotate; a silica gel scraping plate is respectively arranged above and below the roller, and the silica gel scraping plate below the roller is connected with a sewage collector; the spraying device is arranged above the roller, and a spraying opening of the spraying device can spray the hairbrush;
the sucker walking system comprises a sucker walking system bracket, a mechanical arm and a vacuum sucker; the sucker walking system support is fixedly connected with the roller support, a plurality of mechanical arms are respectively arranged on two sides of the sucker walking system support, vacuum suckers are arranged at the ends of the mechanical arms, and the mechanical arms can support the sucker walking system;
the sling transmission system is connected with the roller bracket through a steel cable and can control the roller bracket to move up and down;
the control system is connected with a driving mechanism of the roller brush cleaning system, a mechanical arm of the sucker walking system and a sling transmission system and has a remote control function.
In the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, the mechanical arm comprises a front arm, a middle arm, a large arm and a ball head, the ball head comprises a ball seat and a ball body, the ball body is arranged in the ball seat, a fixed rod is arranged on the ball seat, the diameter of a hole of the fixed rod on the ball seat is larger than that of the fixed rod, the fixed rod is fixedly arranged on a sucker walking system bracket, the ball seat is connected with the large arm, a transverse pile and a longitudinal pile are arranged on the ball seat, the transverse pile and the longitudinal pile are respectively connected with one ends of two screw rod motors, the other ends of the two screw rod motors are connected with the sucker walking system bracket, the screw rod motor connected with the longitudinal pile controls the large arm to horizontally move along the surface of the curtain wall, and the screw rod motor connected with the transverse pile controls the large arm to vertically move up and down along the surface of the curtain wall; the middle arm is hinged with the large arm, the middle arm is connected with the large arm through a pen-holder type motor, the front arm is hinged with the middle arm, a screw type motor is arranged in the front arm, the distance from glass to equipment can be adjusted, directional movement can be carried out in a certain range when the glass encounters an obstacle, and a vacuum chuck is arranged at the front end of the front arm; the screw rod motor connected with the ball head, the pen-holder motor connected with the middle arm and the screw rod motor in the forearm are respectively connected with the control system.
In the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, the roller brush cleaning system comprises two rollers which are arranged in parallel and positioned in the same vertical plane, the brushes are uniformly and densely sleeved on the cylindrical surfaces of the rollers, two ends of the two rollers are arranged on the roller brackets, the driving mechanism adopts a motor and is arranged on a roller bracket, the transmission device adopts a belt transmission device, the output shaft of the driving mechanism is provided with a driving belt wheel with double grooves, the two rollers are respectively provided with a driven belt wheel with single grooves, and the driving belt wheel is connected with the driven belt wheel through a belt;
in the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, the spraying device comprises a clear water connecting pipe and a cleaning agent connecting pipe, and the cleaning agent connecting pipe is positioned above the upper roller; the clear water connecting pipe is positioned above the lower roller; the bottom of the side wall of the clean water connecting pipe and the cleaning agent connecting pipe is distributed is provided with a clean water spray opening and a cleaning agent spray opening.
In the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, a silica gel scraping plate is arranged above the rollers, between the two rollers and below the rollers respectively, the section of the silica gel scraping plate above the rollers is arched, a sewage tray and a sewage drain are arranged at the bottom of the silica gel scraping plate below the rollers, and the sewage drain is connected through a sewage drain pipe.
In the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, the sling transmission system comprises a steel structure frame, a variable speed motor, a gear set, a shaft wheel set, a steel rope and two fixed pulley blocks; the gear set comprises a gear I and a gear II which are meshed with each other, a bevel gear I and a bevel gear II which are meshed with each other, and a bevel gear III and a bevel gear IV which are meshed with each other, wherein the bevel gear I and the bevel gear II are arranged on the same rotating shaft, the bevel gear III and the bevel gear II are arranged on the same rotating shaft, a driven belt pulley is arranged on the rotating shaft of the gear I, and the driven belt pulley is connected with a driving belt pulley on an output shaft of the gear motor through a belt; the rotating shaft of the bevel gear IV is provided with three shaft wheels II, the rotating shafts of the gear I and the gear II are respectively provided with a shaft wheel I, one ends of steel ropes are respectively connected to the shaft wheels I, the other ends of the steel ropes are connected with a fan-shaped lifting hook of the roller bracket by bypassing the corresponding fixed pulley block, and a plurality of steel rope holes are formed in the fan-shaped lifting hook at equal intervals.
In the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, the steel structure frame is made of rectangular steel plates or channel steel in a welding or bolting mode, and the bottom of the steel structure frame is provided with guide wheels; the top of the steel structure frame is provided with a cleaning liquid storage tank, the cleaning liquid storage tank is connected with one end of a cleaning agent liquid feeding pipeline, the other end of the cleaning agent liquid feeding pipeline bypasses a corresponding shaft wheel II and a fixed pulley block to be connected with a cleaning agent connecting pipe of the spraying device, and the cleaning agent liquid storage tank is made of transparent materials.
In the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, the cantilever is arranged at the top of the steel structure frame, the gravity balance bracket is arranged at the bottom of the steel structure frame, and the extending direction of the gravity balance bracket is opposite to the extending direction of the cantilever.
In the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, the guide wheels comprise four transverse guide wheels and four longitudinal guide wheels; the longitudinal guide wheels comprise guide wheels and screw rods, and are inserted into guide wheel mounting holes of the steel structure frame through the screw rods; the screw is in threaded connection with the adjusting plate, and the steel structure frame is supported on the adjusting plate; the two coaxial transverse guide wheels positioned on the same side of the steel structure frame are connected through a rotating shaft, the belt pulley is fixedly connected to the rotating shaft, the motor is installed at the bottom of the steel structure frame, the driving belt pulley is arranged on an output shaft of the motor, the belt pulley is connected with the driving belt pulley through a belt, and the motor is connected with the control system.
In the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine, the control system comprises a real-time monitoring device, a radar device, a limit switch and a control module; the real-time monitoring device is provided with two cameras which are respectively arranged at the top end of the roller brush cleaning system mounting bracket and the bottom of the sucker traveling system mounting bracket, and is used for monitoring whether the surface of the curtain wall is cleaned; the radar device comprises four groups of ultrasonic probes which are respectively arranged at the top end of a roller brush cleaning system mounting bracket, the bottom of a sucker traveling system mounting bracket and the left and right sides of the sucker traveling system mounting bracket and are used for detecting whether the surfaces of upper, lower, left and right curtain walls of the roller cleaning system and the sucker traveling system are provided with barriers or are suspended; the limit switch comprises a control box, a hanging chain and a steel rope sleeve; the control box is connected to the steel plate with the fixed pulley block through a bolt, and is connected with a steel rope sleeve through a hanging chain, and the steel rope sleeve is sleeved on a steel rope driven by the fixed pulley block; the control boxes of the real-time monitoring device, the radar device and the limit switch are respectively connected with the control module; the control module is installed on the steel structure frame, and the control module is connected with a motor of the roller brush cleaning system, a motor on a mechanical arm of the sucker walking system, a variable speed motor of the sling transmission system, a driving motor of the steel structure frame, a radar device and a camera device respectively, and has a remote control function.
The working principle of the invention is as follows: and (3) placing the steel structure frame of the automatic cleaning machine on a guide rail paved in advance, adjusting the horizontal distance between the cleaning machine and the curtain wall, proportioning the cleaning agent, adding the cleaning agent into a cleaning agent liquid storage tank, and connecting a tap water pipe into a clean water supply pipe. Starting a variable speed motor of a sling transmission system to drive a gear set to rotate, and enabling a left steel rope and a right steel rope of a suspension roller cleaning system to realize up-down expansion through a shaft wheel and a fixed pulley which are coaxial with the gear set; meanwhile, the gear set drives three other shaft wheels to respectively wind the flexible power supply and signal wires, the clean water supply pipe and the cleaning agent supply pipe, and the winding speed is synchronous with the up-down stretching speed of the steel cable. The power supply and the signal wire are connected with the power supply and the signal wire access end which are respectively connected to the roller brush cleaning system and the sucker sucking system. The cleaning agent spraying port and the clean water spraying port of the cleaning agent feeding pipe and the clean water feeding pipe are respectively connected to the cleaning agent spraying port and the clean water spraying port of the roller brush cleaning system, the cleaning agent spraying port sprays the cleaning agent firstly, after the upper hairbrush wets, the surface of the curtain wall is scrubbed, meanwhile, the clean water spraying port sprays clean water, the lower hairbrush rinses the surface of the curtain wall, so that the surface of the curtain wall is washed and rinsed, the aim of cleaning is achieved, and sewage is collected to the ground through the sewage drainage pipeline for centralized treatment. The control module of the automatic control system realizes the synchronization of the up-down traveling speed of the sucker traveling system and the up-down telescopic speed of the steel cable through controlling the circuit control device of the sucker traveling system. The radar device senses the limit positions and special obstacles of the sucker walking system on the surface of the curtain wall, and feeds the limit positions and special obstacles back to a control module of the automatic control system: when the sucker walking system walks to the highest point or the lowest point, the control module respectively gives a control signal, and the limit switch automatically stops the cleaning machine from walking up and down, so that the steel structure frame and the sucker walking system are linked, and the cleaning machine horizontally moves; when the sucker walking system walks to the edge of the suspended curtain wall turning vertically by the sucker on one side, the radar device alarms, the cleaning machine is stopped from walking left and right, and the control module sends a control signal to the circuit control device of the sucker walking system, so that the middle arm of the mechanical arm device on the side is bent and retracted, and the safe operation of the cleaning machine is ensured. In addition, the control module is provided with a remote control program, and when the mechanical arm device of the sucker walking system encounters a special surface obstacle and cannot run continuously, the mechanical arm can be controlled by a remote person to cross the obstacle, so that the cleaning machine can run continuously.
Compared with the prior art, the invention has the beneficial effects that:
1) The cleaning machine is integrally assembled on site according to the cleaning requirement, is simple and convenient to install, saves labor in the cleaning process, and ensures that curtain wall cleaning work is efficient and safe; the invention achieves the effects of manual work, cleanness, safety, flexibility, strong practicability and real-time monitoring of the cleaning effect, and when the surface cleaning work of the glass/photovoltaic curtain wall is to be carried out, the device can improve the working efficiency:
2) According to the roller brush cleaning system, the two roller brushes enable cleaning and rinsing to be simultaneously carried out, the sealed brush cover prevents sewage from splashing everywhere, the three silica gel scrapers cling to the surface of the curtain wall, the sewage is scraped and collected, the surface of the curtain wall is scraped and dried through friction, the multiple functions enable the cleaning effect of the surface of the curtain wall to be smooth and clean as new, the cleaning process and the sewage collection treatment are carried out simultaneously, and the working efficiency is high.
3) The invention is provided with the camera for monitoring and feeding back the cleaning effect in real time, and judging whether secondary cleaning is needed or not, thereby ensuring the cleaning effect of the cleaning machine.
4) The roller, the roller brush and the scraping plate are designed to be arc-shaped or linear, and can be replaced according to different geometric shapes of the surface of the curtain wall, so that the adaptability of the cleaning machine to the geometric shapes of different building curtain walls is enhanced.
5) The steel cable and the sucker running system are linked to enable the roller brush to work up or down or to be suspended, the radar device is arranged to sense whether the sucker is suspended or not at the vertical turning edge of the curtain wall or not, and the special obstacle is fed back to the control system to retract the mechanical arm, and the safety of the cleaning machine is guaranteed due to the combined action of the steel cable, the sucker running system and the radar device.
6) The control system of the invention ensures that the sucker traveling system can flexibly and safely travel on the surface of the curtain wall and enables the cleaning machine to operate in a coordinated manner.
7) The invention can realize remote control, realize flexible control of the cleaning machine and ensure continuous and safe operation of the cleaning machine.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective view of a roller brush cleaning system of the present invention.
Fig. 3 is a perspective view of a roller and brush of the roller brush cleaning system of the present invention.
Fig. 4 is a perspective view of the suction cup travel system of the present invention.
Fig. 5 is a block diagram of a single mechanical arm of the suction cup travel system of the present invention.
Fig. 6 is a view showing the internal structure of the ball head according to the present invention.
Fig. 7 is a diagram of the motor profile in the mechanical arm of the present invention.
Fig. 8 is a perspective view of the sling drive system of the present invention.
Fig. 9 is a diagram of the motor and gear set configuration of the sling drive system of the present invention.
Fig. 10 is a diagram of the axle-wheel set of the sling drive system of the present invention.
Fig. 11 is a block diagram of the fixed sheave assembly of the sling drive system of the present invention.
Fig. 12 is a longitudinal guide wheel structure diagram of the present invention.
Fig. 13 is a structural view of a guide wheel of a steel structure frame of the present invention driven by a motor.
Fig. 14 is a block diagram of an imaging device and a radar device according to the present invention.
Fig. 15 is a position structure diagram of a limit switch of the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
1-11, the suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine provided by the invention is shown in FIG. 1 in a perspective view, and comprises a roller brush cleaning system 1, a sucker walking system 2, a control system 3 and a sling transmission system 4.
As shown in fig. 2 and 3, the roller brush cleaning system 1 comprises two rollers 801, 802, a transmission system, three silica gel scrapers 1001, 1002, 1003, a cleaning agent and a clean water spray device. The roller 801 and the roller 802 are vertically and parallelly arranged, the roller 801 is positioned above the roller 802, the upper roller 801 and the lower roller 802 are respectively sleeved with the hairbrush 701 and the hairbrush 702, two ends of the roller 801 and the roller 802 are respectively arranged on the roller bracket 13, the roller 801 and the roller 802 are respectively arranged in the closed hairbrush cover 12, and the hairbrush cover 12 is fixedly arranged on the roller bracket 13. The roller bracket 13 on be equipped with motor 14, be equipped with double-grooved driving pulley 901 on the output shaft of motor 14, be equipped with single-grooved driven pulley 902, driven pulley 903 on cylinder 801 and the cylinder 802 respectively, driving pulley 901 passes through the belt and is connected with driven pulleys 902, 903, motor 14 rotates, can drive cylinder 801 and cylinder 802 through belt drive and rotate, washs glass/photovoltaic curtain wall.
The upper part of the roller 801, the lower part of the roller 802 and between the two rollers are respectively provided with a silica gel scraper 1001, a silica gel scraper 1003 and a silica gel scraper 1002, the section of the silica gel scraper 1001 is arch-shaped, the silica gel scraper 1002 separates the roller 801 from the roller 802, the two ends of the silica gel scraper 1002 are provided with sewage channels, sewage is guided to the silica gel scraper 1003 by the sewage channels at the two ends of the middle silica gel scraper 1002, and the bottom of the silica gel scraper 1003 is connected with a sewage collector. The shapes of the silica gel scraper 1001, the silica gel scraper 1003, the silica gel scraper 1002, the roller 801 and the roller 802 can be designed according to the shape of the glass curtain wall, so that the cleaning equipment can be more attached to the surface of the curtain wall, and the glass curtain wall can adapt to buildings with different geometric appearances.
The cleaning agent and clean water spraying device comprises a clean water connecting pipe 1501, a cleaning agent connecting pipe 1502 and spraying ports which are uniformly arranged on the connecting pipes. The cleaning agent connection pipe 1502 and the clear water connection pipe 1501 extend into the brush cover and are respectively positioned above the roller 801 and the roller 802, the cleaning agent connection pipe 1502 and the clear water connection pipe 1501 are parallel to the roller 801 and the roller 802, the cleaning agent spraying ports 1101 are uniformly arranged at the bottoms of the side walls of the cleaning agent connection pipe 1502, and cleaning agent can be sprayed to the roller 801. The bottom of the clear water connecting pipe 1501 is uniformly provided with clear water spraying ports 1102 which can spray clear water to the roller 802. After the cleaning agent is sprayed out from the cleaning agent spraying port 1101, the upper roller 801 starts to work, and meanwhile, the clear water spraying port 1102 sprays clear water to rinse the roller 802. The bottom of the silica gel scraper 1003 below the roller 802 is provided with a sewage tray and a sewage outlet, and the sewage outlet is connected through a sewage pipe 28 to guide sewage to the ground.
As shown in fig. 4-7, the suction cup travelling system 2 comprises a suction cup travelling system bracket 16, a mechanical arm 17 and a vacuum suction cup 18. The sucker walking system support 16 is fixedly connected with the roller support 13, and two mechanical arms are respectively arranged on two sides of the sucker walking system support 16. The robotic arm includes a forearm 1701, a middle arm 1702, a large arm 1703, and a ball head 1704. As shown in FIG. 6, the internal structure of the ball head 1704 is shown in FIG. 6, the ball head 1704 comprises a ball seat 1704A and a ball 1704D, the ball 1704D is arranged in the ball seat 1704A, the ball 1704D is provided with a fixed rod 1704C, the diameter of a fixed rod hole on the ball seat 1704A is larger than that of the fixed rod 1704C, the fixed rod 1704C is fixedly arranged on a sucker running system bracket 16, the ball seat 1704A is connected with a large arm, a transverse pile 1706 and a longitudinal pile 1705 are arranged on the ball seat 1704A, one ends of two lead screw motors 1707 and 1708 are respectively connected with the transverse pile 1706 and the longitudinal pile 1705, the other ends of the two lead screw motors 1707 and 1708 are connected with the sucker running system bracket 16, the lead screw motor 1708 connected with the longitudinal pile 1705 controls the large arm to horizontally move along the surface of the curtain wall, and the lead screw motor 1707 connected with the transverse pile 1706 controls the large arm to vertically move up and down along the surface of the curtain wall. The middle arm 1702 is hinged with the large arm 1703, the middle arm 1702 is connected with the large arm 1703 through a pen-holder motor 1709, the mechanical arm can be supported through the expansion and contraction of the pen-holder motor 1709, and the mechanical arm can be controlled to straighten or bend inwards when encountering obstacles. The forearm 1701 is hinged to the middle arm 1702, a screw motor 1710 is provided in the forearm 1701, the distance from the glass to the equipment can be adjusted within a certain range, and when encountering an obstacle, the glass can move directionally within a certain range, and the front end of the forearm is provided with a vacuum chuck 18. The lead screw motors 1707 and 1708, the pen motor 1709, and the lead screw motor 1710 in the forearm 1701, which are connected by ball stud, are connected to a control system, respectively. The forearm 1701, middle arm 1702, large arm 1703 and ball head 1704 of the whole mechanical arm cooperate together to flexibly walk continuously and cooperatively on the glass/photovoltaic curtain wall like the four limbs of a spider. The suction cup running system is firmly fixed on the glass or the photovoltaic curtain wall through the attachment of the vacuum suction cup 18.
As shown in fig. 8-10, the sling transmission system comprises a steel cable, three fixed pulley blocks, a shaft-wheel set, a variable speed motor 22, a gear set and a steel structure frame; the variable speed motor 22, the gear set, the fixed pulley block and the shaft pulley set are fixedly arranged on a steel structure frame, the gear set comprises a gear I2301 and a gear II 2302 which are meshed with each other, a bevel gear I2303 and a bevel gear II 2304 which are meshed with each other, a bevel gear III 2305 and a bevel gear IV 2306 which are meshed with each other, the bevel gear I2303 and the gear II 2302 are arranged on the same rotating shaft, the bevel gear III 2305 and the bevel gear II 2304 are arranged on the same rotating shaft 25, a driven pulley is arranged on the rotating shaft of the gear I2301 and is connected with a driving pulley on an output shaft of the variable speed motor 22 through a belt, and the variable speed motor 22 can drive the gear set to rotate. Three shaft wheels II are arranged on the rotating shaft of the bevel gear IV 2306, namely a shaft wheel II 2101, a shaft wheel II 2102 and a shaft wheel II 2103. The three groups of fixed pulley blocks comprise 9 fixed pulleys, namely fixed pulleys 2001, fixed pulleys 2002, fixed pulleys 2003, fixed pulleys 2004, fixed pulleys 2005, fixed pulleys 2006, fixed pulleys 2007, fixed pulleys 2008 and fixed pulleys 2009, and each group comprises three fixed pulleys; two of the fixed pulley sets are used to transport two cables 1901, 1902 and one fixed pulley set is used to transport a cleaner feed pipe 2602, a fresh water feed pipe 27 and a power and signal line 29. The rotating shafts of the gear I2301 and the gear II 2302 are respectively provided with shaft wheels I2104 and 2105, one ends of a steel cable 1901 and a steel cable 1902 are respectively connected to the shaft wheels I2104 and 2105, and the other ends of the steel cable 1901 and the steel cable 1902 are connected with two fan-shaped lifting hooks 1903 and 1904 of the roller bracket by bypassing corresponding fixed pulley blocks. The wire 1902 stretches and contracts by winding of the pulley 2105, and changes the acting force direction by the three fixed pulleys 2001, 2002, 2003 of the set of fixed pulleys; the wire rope 1901 is wound by a pulley 2104 and the direction of the force is changed by three fixed pulleys 2004, 2005, 2006 of a set of fixed pulleys, in the same mechanism as the wire rope 1902. The wire rope 1901 and the wire rope 1902 together suspend the roller brush cleaning system, so that the roller cleaning system moves up and down along with the expansion and contraction of the wire rope. The other ends of the wire rope 1901 and wire rope 1902 are connected to a bracket 13 of the roller cleaning system by fan hooks 1903, 1904, respectively, as shown in fig. 2. The fan hooks 1903 and 1904 have a set of equidistant holes for adjusting the mounting deviation.
The other group of fixed pulleys comprises a fixed pulley 2007, a fixed pulley 2008 and a fixed pulley 2009, wherein the fixed pulley 2007, the fixed pulley 2008 and the fixed pulley 2009 are coaxially arranged and respectively correspond to a shaft wheel II 2101, a shaft wheel II 2102 and a shaft wheel II 2103, the fixed pulley 2007, the fixed pulley 2008 and the fixed pulley 2009 are matched with the shaft wheel II 2101, the shaft wheel II 2102 and the shaft wheel II 2103 and are respectively used for conveying a power supply and a signal line 29, a clean water supply pipeline 27 and a cleaning agent supply pipeline 2602, and the clean water supply pipeline 27 is connected with the clean water connecting pipe 1501. One end of the detergent supply pipe 2602 is connected with the detergent liquid storage tank 2601 through a variable speed pump, the detergent liquid storage tank 2601 is fixedly installed on the top of the steel structure frame 3001, and the other end is connected with the detergent adapter 1502.
The cleaning agent liquid storage tank 2601 is a barrel-shaped container made of transparent materials, the liquid level is visible, and a liquid level float valve is arranged. Detergent is delivered from a tank 2601, a variable speed pump and a detergent feed pipe 2602 to a detergent connection pipe 1502 and a detergent spray port 1101 of an upper drum 801 of the drum brush sweeping system. Clear water is fed from the tap water pipe, the variable speed pump and the clear water feed pipe 27 to the clear water connecting pipe 1501 and the clear water spray port 1102 of the lower drum 802 of the drum brush cleaning system. The clean water feed pipe 27 and the cleaning agent feed pipe 2602 are flexible pipes, are respectively wound on the axle wheels II 2102 and II 2103 of the axle wheel set of the sling transmission system, and are respectively connected to the connecting pipes 1501 and 1502 of the roller cleaning system by changing the action direction of the fixed pulleys 2008 and 2009. The power and signal wire 29 is wound on the axle wheel II 2101 of the axle wheel group, and then the acting force direction is changed by the fixed pulley 2007, and is respectively connected to the power wire and the control wire terminal of the roller brush cleaning system and the sucking disc travelling system.
As shown in fig. 11-12, the steel structure frame 3001 is assembled by welding or bolting a rectangular steel plate or channel steel made of stainless steel, and the top of the steel structure frame 3001 is provided with a cantilever 3002 and a cleaning agent liquid storage tank 2601, and the cleaning agent liquid storage tank 2601 is made of a transparent material, so that the liquid level can be monitored. The bottom of the steel structure frame 3001 is provided with a support 3003 for balancing gravity, four transverse guide wheels 3101 and four longitudinal guide wheels 3102. Transverse guide wheels 3101 and longitudinal guide wheels 3102 are mounted at the four corners of the bottom of the steel structural frame 3001, the guide wheels translating along the track laid on the roof. The transverse guide wheel 3101 is fixedly connected to the bottom of the steel structure frame 3001, and the transverse guide wheel 3101 is a main working guide wheel. The longitudinal guide wheel 3102 comprises a guide wheel and a screw rod, and is inserted into a guide wheel mounting hole of the steel structure frame 3001 through the screw rod; the screw is screwed to the adjustment plate 32, and the steel structural frame 3001 is supported on the adjustment plate 32. The adjusting plate 32 can adjust the installation height of the longitudinal guide wheel 3102 up and down, so as to realize the conversion between the transverse guide wheel 3101 and the longitudinal guide wheel 3102. When the cleaning machine is assembled and the horizontal distance between the cleaning machine and the curtain wall needs to be adjusted at the beginning of the cleaning work, the transverse guide wheel 3101 is suspended by the adjusting disc 32, so that the longitudinal guide wheel 3102 is lowered to a longitudinal track; when the transverse guide wheel 3101 is in the working track, the adjustment plate 32 lifts the longitudinal guide wheel 3102 to hang. The structure of the transverse guide wheel 3101 of the steel structure frame 3001 driven by the motor is shown in fig. 13. The bottom of the steel structure frame 3001 is provided with a longitudinal plate 3101A, the longitudinal plate 3101A is provided with a motor 3101B, two coaxial transverse guide wheels 3101 positioned on the same side of the steel structure frame 3001 are connected through a rotating shaft 3101C, a belt pulley 3101D is fixedly connected to the rotating shaft 3101C, an output shaft of the motor 3101B is provided with a driving belt pulley, the belt pulley 3101D is connected with the driving belt pulley through a belt 3101E, and the motor 3101B is connected with a control system. The motor 3101B drives the connecting rod 3101C to rotate through a belt transmission device, so as to drive the transverse guide wheel to roll forward.
As shown in fig. 14 and 15, the control system 3 includes a real-time monitoring device, a radar device 34, a control module 35, and a limit switch. The real-time monitoring device consists of a camera 3301, a camera 3302 and a control circuit thereof, is respectively arranged at the top end of a roller brush cleaning system mounting bracket and the bottom of a sucker traveling system mounting bracket, monitors whether the surface of a curtain wall is cleaned, and the camera 3301 and the camera 3302 are connected with a control module 35. The radar device comprises four groups of ultrasonic probes, namely an ultrasonic probe 3401 arranged at the top end of a mounting bracket of the roller brush cleaning system, an ultrasonic probe 3402 arranged at the bottom of the mounting bracket of the sucker traveling system, and two ultrasonic probes 3403 and 3404 arranged at the left end and the right end of the mounting bracket of the sucker traveling system, and is connected with a control module 35. The ultrasonic probes 3401-3404 are used for detecting whether the surfaces of the upper, lower, left and right curtain walls of the roller cleaning system and the sucker walking system are in obstacle or suspended, and feeding back the monitored conditions to the control module 35. The limit switch comprises a control box 3601, a hanging chain 3602 and a steel rope sling 3603; the control box 3601 is connected to a steel plate with a fixed pulley block through bolts, the control box 3601 is connected with a steel rope sling 3603 through a hanging chain 3602, and the steel rope sling 3603 is sleeved on a steel rope driven by the fixed pulley 2006. The moving distance of the cleaning machine is set according to the vertical height of curtain wall cleaning operation, when the cleaning machine ascends or descends to the distance limit, the steel rope sling 3603 triggers the limit switch through the hanging chain 3602 to cut off the power supply of the variable speed motor 22, so that the cleaning machine stops running, and potential safety hazards are prevented. The control module 35 of the control system 3 is mounted on the steel structural frame 3001. The control module 35 contains an integrated numerical control circuit from which six lines are drawn: the first strand is connected to the motor 14 of the roller brush cleaning system 1 for controlling and driving the roller to rotate. The second strand path is connected to screw rod type speed regulating motors 1707 and 1708, a pen rod motor 1709 and a screw rod motor 1710 of the mechanical arm of the sucker walking system 2, and is used for driving the mechanical arm to move in a coordinated manner. The third line is connected into a variable speed motor 22 of the sling transmission system and a control box 3601 of a limit switch, and is used for controlling the lifting of the roller brush cleaning system 1. The fourth strand of line is connected to a driving motor 3101B of the transverse guide wheel, and is used for controlling the transverse movement of the steel structure frame 3001. The fifth strand line is connected with ultrasonic probes 3401-3404 for detecting whether the surfaces of the upper, lower, left and right curtain walls of the roller cleaning system and the sucker running system are in obstruction or suspended, so that the safe operation of the cleaning machine is ensured. The sixth strand is coupled to cameras 3301 and 3302 for monitoring and feedback of cleaning effect.
When the automatic cleaning machine is used, the steel structure frame 3001 of the automatic cleaning machine is placed on a guide rail paved in advance, the horizontal distance between the cleaning machine and the curtain wall is adjusted, and when the cleaning machine is adjusted to a required working position, the guide wheels of the steel structure frame 3001 are fixed. The cleaning agent is proportioned and added into the cleaning agent liquid storage tank 2601, and the tap water pipe is connected into the clean water feed pipe. The gear set is driven to rotate by the variable speed motor 22 for starting the sling transmission system 4, and the left steel cable 1901 and the right steel cable 1902 for suspending the roller cleaning system 1 realize up-and-down expansion through the shaft wheels and the two groups of fixed pulleys which are coaxial with the gear set. Simultaneously, the gear set drives three other shaft wheels which respectively surround the flexible power supply and signal line 29, the clean water feed pipeline 27 and the cleaning agent feed pipeline 2602, and the winding speed is synchronous with the up-down stretching speed of the steel cable. The power and signal lines 29 are connected to the power and signal line access terminals of the roller brush cleaning system and the suction cup suction system, respectively. The cleaning agent liquid supply pipe 2602 and the clear water supply pipe 27 are respectively connected to the cleaning agent spraying port 1502 and the clear water spraying port 1501 of the roller brush cleaning system, the cleaning agent spraying port sprays the cleaning agent firstly, after the brush of the upper roller is soaked, the surface of the curtain wall is scrubbed, meanwhile, the clear water spraying port sprays clear water, the brush of the lower roller rinses the surface of the curtain wall, so that the purposes of washing and rinsing the surface of the curtain wall are achieved, the cleaning purpose is achieved, and sewage is collected to the ground through the sewage drainage pipeline for centralized treatment.
When the variable speed motor 22 of the sling transmission system is started, the steel cables 1901 and 1902 are driven to descend or ascend at corresponding speeds, and one strand path of the control module 35 enables the upward and downward traveling speed of the sucker traveling system 2 to be synchronous with the upward and downward traveling speed of the steel cables of the sling transmission system 4 through a circuit control device for controlling the sucker traveling system. When the sucker walking system 2 walks to the highest point or the lowest point, the control module 35 respectively gives control signals, the limit switch is linked with the variable speed motor 22 of the sling transmission system to stop the cleaning machine from walking up and down, and meanwhile, the steel structure frame 3001 is linked with the sucker walking system to realize left and right translation of the cleaning machine. When the sucker walking system 2 walks to the side of the sucker to enable the suspended curtain wall to vertically bend the edge, the radar device alarms, the cleaning machine is stopped from walking left and right, the control module 35 sends a control signal to the circuit control device of the sucker walking system, and the middle arm of the side mechanical arm device is bent and retracted, so that the safe operation of the cleaning machine is ensured. In addition, the control module 35 has a remote control program, and when the mechanical arm device of the sucker walking system encounters a special surface obstacle and cannot run continuously, the mechanical arm can be controlled by a remote operator to cross the obstacle, so that the cleaning machine can run continuously.
Claims (7)
1. A suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine comprises a roller brush cleaning system, a sucker walking system, a sling transmission system and a control system; the method is characterized in that: the roller brush cleaning system comprises a roller, a silica gel scraping plate, a spraying device, a sewage collector and a transmission device; the brush is sleeved on the cylindrical side surface of the roller, and two ends of the roller are arranged on the roller bracket; the roller bracket is provided with a driving mechanism which is connected with the roller through a transmission device and can drive the roller to rotate; a silica gel scraping plate is respectively arranged above and below the roller, and the silica gel scraping plate below the roller is connected with a sewage collector; the spraying device is arranged above the roller, and a spraying opening of the spraying device can spray the hairbrush;
the sucker walking system comprises a sucker walking system bracket, a mechanical arm and a vacuum sucker; the sucker walking system support is fixedly connected with the roller support, a plurality of mechanical arms are respectively arranged on two sides of the sucker walking system support, vacuum suckers are arranged at the ends of the mechanical arms, and the mechanical arms can support the sucker walking system;
the sling transmission system is connected with the roller bracket through a steel cable and can control the roller bracket to move up and down;
the control system is connected with a driving mechanism of the roller brush cleaning system, a mechanical arm of the sucker walking system and a sling transmission system and has a remote control function;
the spraying device comprises a clear water connecting pipe and a cleaning agent connecting pipe, and the cleaning agent connecting pipe is positioned above the upper roller; the clear water connecting pipe is positioned above the lower roller; the bottoms of the side walls of the clean water connecting pipe and the cleaning agent connecting pipe are provided with clean water spraying ports and cleaning agent spraying ports;
the sling transmission system comprises a steel structure frame, a variable speed motor, a gear set, a shaft wheel set, a steel rope and two fixed pulley blocks; the gear set comprises a gear I and a gear II which are meshed with each other, a bevel gear I and a bevel gear II which are meshed with each other, and a bevel gear III and a bevel gear IV which are meshed with each other, wherein the bevel gear I and the bevel gear II are arranged on the same rotating shaft, the bevel gear III and the bevel gear II are arranged on the same rotating shaft, a driven belt pulley is arranged on the rotating shaft of the gear I, and the driven belt pulley is connected with a driving belt pulley on an output shaft of the gear motor through a belt; three shaft wheels II are arranged on the rotating shaft of the bevel gear IV, shaft wheels I are respectively arranged on the rotating shafts of the gear I and the gear II, one ends of steel cables are respectively connected to the shaft wheels I, and the other ends of the steel cables are connected with fan-shaped lifting hooks of the roller bracket by bypassing the corresponding fixed pulley blocks; a plurality of steel rope holes are formed in the fan-shaped lifting hook at equal intervals;
the control system comprises a real-time monitoring device, a radar device, a limit switch and a control module; the real-time monitoring device is provided with two cameras which are respectively arranged at the top end of the roller brush cleaning system mounting bracket and the bottom of the sucker traveling system mounting bracket, and is used for monitoring whether the surface of the curtain wall is cleaned; the radar device comprises four groups of ultrasonic probes which are respectively arranged at the top end of a roller brush cleaning system mounting bracket, the bottom of a sucker traveling system mounting bracket and the left and right sides of the sucker traveling system mounting bracket and are used for detecting whether the surfaces of upper, lower, left and right curtain walls of the roller cleaning system and the sucker traveling system are provided with barriers or are suspended; the limit switch comprises a control box, a hanging chain and a steel rope sleeve; the control box is connected to the steel plate with the fixed pulley block through a bolt, and is connected with a steel rope sleeve through a hanging chain, and the steel rope sleeve is sleeved on a steel rope driven by the fixed pulley block; the control boxes of the real-time monitoring device, the radar device and the limit switch are respectively connected with the control module; the control module is installed on the steel structure frame, and the control module is connected with a motor of the roller brush cleaning system, a motor on a mechanical arm of the sucker walking system, a variable speed motor of the sling transmission system, a driving motor of the steel structure frame, a radar device and a camera device respectively, and has a remote control function.
2. The suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine according to claim 1, characterized in that: the mechanical arm comprises a front arm, a middle arm, a large arm and a ball head, wherein the ball head comprises a ball seat and a ball body, the ball body is arranged in the ball seat, the ball body is provided with a fixed rod, the diameter of a hole of the fixed rod on the ball seat is larger than that of the fixed rod, the fixed rod is fixedly arranged on a sucker running system bracket, the ball seat is connected with the large arm, a transverse pile and a longitudinal pile are arranged on the ball seat, the transverse pile and the longitudinal pile are respectively connected with one ends of two screw rod motors, the other ends of the two screw rod motors are connected with the sucker running system bracket, the screw rod motors connected with the longitudinal pile control the large arm to horizontally move along the surface of the curtain wall, and the screw rod motors connected with the transverse pile control the large arm to vertically move up and down along the surface of the curtain wall; the middle arm is hinged with the large arm, the middle arm is connected with the large arm through a pen-holder type motor, the front arm is hinged with the middle arm, a screw type motor is arranged in the front arm, the distance from glass to equipment can be adjusted, directional movement can be carried out in a certain range when the glass encounters an obstacle, and a vacuum chuck is arranged at the front end of the front arm; the screw rod motor connected with the ball head, the pen-holder motor connected with the middle arm and the screw rod motor in the forearm are respectively connected with the control system.
3. The suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine according to claim 1, characterized in that: the roller brush cleaning system comprises two rollers which are arranged in parallel and are positioned in the same vertical plane, the brushes are uniformly and densely sleeved on the cylindrical surfaces of the rollers, two ends of the two rollers are mounted on a roller support, a driving mechanism adopts a motor and is mounted on the roller support, a transmission device adopts a belt transmission device, a driving belt wheel with double grooves is arranged on an output shaft of the driving mechanism, driven belt wheels with single grooves are respectively arranged on the two rollers, and the driving belt wheels are connected with the driven belt wheels through belts.
4. The suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine according to claim 1, characterized in that: a silica gel scraping plate is arranged above the rollers, between the two rollers and below the rollers respectively, and the section of the silica gel scraping plate above the rollers is arched; the bottom of the silica gel scraper below the roller is provided with a sewage tray and a sewage outlet, and the sewage outlet is connected through a sewage pipeline.
5. The suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine according to claim 1, characterized in that: the steel structure frame is made by welding or bolting rectangular steel plates or channel steel, and the bottom of the steel structure frame is provided with guide wheels; the top of the steel structure frame is provided with a cleaning liquid storage tank which is connected with one end of a cleaning agent liquid feeding pipeline, and the other end of the cleaning agent liquid feeding pipeline bypasses a corresponding shaft wheel II and a fixed pulley block to be connected with a cleaning agent connecting pipe of the spraying device; the detergent liquid storage tank is made of transparent materials.
6. The suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine according to claim 5, characterized in that: the top of the steel structure frame is provided with a cantilever, the bottom of the steel structure frame is provided with a gravity balance bracket, and the extending direction of the gravity balance bracket is opposite to the extending direction of the cantilever.
7. The suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine according to claim 5, characterized in that: the guide wheels comprise four transverse guide wheels and four longitudinal guide wheels; the longitudinal guide wheels comprise guide wheels and screw rods, and are inserted into guide wheel mounting holes of the steel structure frame through the screw rods; the screw is in threaded connection with the adjusting plate, and the steel structure frame is supported on the adjusting plate; the two coaxial transverse guide wheels positioned on the same side of the steel structure frame are connected through a rotating shaft, the belt pulley is fixedly connected to the rotating shaft, the motor is installed at the bottom of the steel structure frame, the driving belt pulley is arranged on an output shaft of the motor, the belt pulley is connected with the driving belt pulley through a belt, and the motor is connected with the control system.
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| CN201910504020.5A CN110101334B (en) | 2019-06-12 | 2019-06-12 | Suspension adsorption type glass/photovoltaic curtain wall automatic cleaning machine |
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| CN110101334B true CN110101334B (en) | 2023-12-22 |
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| CN110558892B (en) * | 2019-08-27 | 2021-06-08 | 霍山知行信息科技有限公司 | Balcony window intelligence cleaning device |
| CN110682306A (en) * | 2019-10-21 | 2020-01-14 | 温州伊诺韦特科技有限公司 | Window cleaning robot with good cleaning effect and control system and method thereof |
| CN110876590B (en) * | 2019-11-22 | 2021-08-03 | 中国十七冶集团有限公司 | Large steel structure workshop wall panel cleaning device and using method |
| CN110916571B (en) * | 2019-12-07 | 2021-05-14 | 熊墨春 | Curtain wall cleaning equipment |
| CN111134564A (en) * | 2020-02-20 | 2020-05-12 | 广西信旺机电设备安装工程有限公司 | High-altitude glass vacuum automatic cleaning machine |
| CN114767000A (en) * | 2020-06-18 | 2022-07-22 | 苏州左右品牌管理有限公司 | External wall cleaning equipment and suspension mechanism for high-rise building |
| CN112021983A (en) * | 2020-09-14 | 2020-12-04 | 山东贝克特智能科技有限公司 | High-rise building glass self-cleaning device |
| CN112932316B (en) * | 2021-03-06 | 2022-04-12 | 山东阅航环保科技有限公司 | High-speed belt cleaning device of cavity glass for high-rise building |
| CN113229739A (en) * | 2021-04-19 | 2021-08-10 | 中交二公局第三工程有限公司 | Glass curtain wall cleaning system capable of cleaning and transversely moving again |
| CN114305253B (en) * | 2021-12-30 | 2023-04-28 | 广东博智林机器人有限公司 | Cleaning device and cleaning equipment |
| CN115281556B (en) * | 2022-08-04 | 2024-05-24 | 河南峰帆安装工程有限公司 | Self-adaptive special-shaped glass curtain wall cleaning device based on image processing |
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