CN111700550A - Curtain wall cleaning robot - Google Patents

Curtain wall cleaning robot Download PDF

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Publication number
CN111700550A
CN111700550A CN202010611007.2A CN202010611007A CN111700550A CN 111700550 A CN111700550 A CN 111700550A CN 202010611007 A CN202010611007 A CN 202010611007A CN 111700550 A CN111700550 A CN 111700550A
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China
Prior art keywords
curtain wall
cleaning
cleaning mechanism
machine body
connecting rod
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Granted
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CN202010611007.2A
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Chinese (zh)
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CN111700550B (en
Inventor
陈海初
余猛
谢恒�
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Foshan University
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Foshan University
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Manipulator (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

The invention provides a curtain wall cleaning robot, which comprises a first cleaning mechanism, a second cleaning mechanism and an obstacle crossing driving assembly, wherein the obstacle crossing driving assembly comprises a first connecting rod, a second connecting rod and a power device, one end of the first connecting rod and one end of the second connecting rod are hinged with the power device and swing through the power device, the other end of the first connecting rod is hinged with the first cleaning mechanism, the other end of the second connecting rod is hinged with the second cleaning mechanism, the first cleaning mechanism and the second cleaning mechanism respectively comprise a machine body, a water supply pipe, an ultrasonic atomizer, a driving mechanism, a vacuum adsorption assembly and a wiping assembly, the vacuum adsorption assembly is used for adsorbing the robot on a wall surface, and the wiping assembly is arranged in the middle of the bottom end of the machine body and used for cleaning the curtain wall surface; the device not only realizes the crossing of the barrier through the obstacle crossing driving component, but also realizes the cleaning operation of the large-area building outer wall and the glass curtain wall surface.

Description

Curtain wall cleaning robot
Technical Field
The invention relates to the technical field of curtain wall robots, in particular to a curtain wall cleaning robot.
Background
With the acceleration of the urbanization process in China and the increasing of urban buildings, particularly high-rise buildings, the outer walls of the buildings, particularly glass curtain walls, are easily dirtied under the influence of increasingly severe environmental pollution. The outer wall of a building and the glass curtain wall need to be cleaned regularly for providing comfortable urban work and living environment for people.
The curtain wall robot belongs to one kind of mobile service robot, and may be used in cleaning outer wall of building and glass curtain wall. The curtain wall robot has the advantages that the cleaning cost of a high-rise building is greatly reduced, the labor environment of workers is improved, the labor productivity is improved, and the curtain wall robot has important social and economic significance and wide application prospect. However, when the existing curtain wall robot touches an obstacle, the cleaning work cannot be carried out across the obstacle, so that the cleaning range of a single robot is relatively small.
Disclosure of Invention
In order to solve the problem that the cleaning robot in the prior art cannot cross obstacles, the invention provides a curtain wall cleaning robot, which has the following specific technical scheme:
a curtain wall cleaning robot comprises a first cleaning mechanism, a second cleaning mechanism and an obstacle crossing driving assembly, wherein the obstacle crossing driving assembly comprises a first connecting rod, a second connecting rod and a power device, one end of the first connecting rod and one end of the second connecting rod are hinged with the power device and swing through the power device, the other end of the first connecting rod is hinged with the first cleaning mechanism, the other end of the second connecting rod is hinged with the second cleaning mechanism, the first cleaning mechanism and the second cleaning mechanism respectively comprise a machine body, a water supply pipe, an ultrasonic atomizer, a driving mechanism, a vacuum adsorption assembly and a wiping assembly, the vacuum adsorption assembly is used for adsorbing the robot on a curtain wall surface, a water inlet of the ultrasonic atomizer is communicated with the water supply pipe, and the ultrasonic atomizer is installed at the front part of the machine body, the driving mechanism is installed on the machine body and used for driving the robot to walk and turn, and the wiping component is installed in the middle of the bottom end of the machine body and used for cleaning the curtain wall.
Preferably, a curtain cleaning machines people includes sewage scraper blade, sewage recovery pipeline and sewage accepting groove, clean the subassembly including preceding clean the subassembly and clean the subassembly after and before, preceding clean the subassembly and install in the middle part of organism, clean the rear portion of subassembly installation in the organism after, the sewage scraper blade is installed and is located on the organism and cleans the subassembly after and clean between the subassembly, the sewage accepting groove is installed on the organism and the water inlet of sewage accepting groove and the one end intercommunication of sewage recovery pipeline, the other end of sewage recovery pipeline and the delivery port intercommunication of sewage scraper blade.
Preferably, the front wiping component and the rear wiping component are cleaning brushes.
Preferably, the vacuum adsorption component comprises a vacuum chuck and a vacuum generator, the vacuum chuck is adsorbed on the wall surface of the curtain wall, the vacuum generator is installed on the machine body, and the vacuum chuck is communicated with the vacuum generator through a connecting pipe.
Preferably, one end of each of the first cleaning mechanism and the second cleaning mechanism is provided with an obstacle sensor for sensing an obstacle.
Preferably, the driving mechanism comprises a wheel and a first motor for driving the wheel to rotate.
Preferably, the driving mechanism comprises a track and a second motor for driving the track to rotate.
The beneficial technical effects obtained by the invention comprise:
clean water enters the ultrasonic atomizer through the water supply pipe, then is atomized into water mist through the ultrasonic atomizer and is sprayed on the wall surface of the curtain wall, the water mist is condensed on the wall surface of the curtain wall, water drops after condensation are attached on the wall surface of the curtain wall, at the moment, the driving mechanism drives the robot to move forwards and turn, so that the cleaning component cleans the wall surface of the curtain wall, in addition, when the curtain wall works, after the first cleaning mechanism can also absorb through the vacuum absorption component, the second cleaning mechanism takes the first cleaning mechanism as a circle center fixed end, through the driving mechanism on the second cleaning mechanism, the cleaning operation in the circumferential area is realized, and similarly, after the water mist is also absorbed through the vacuum absorption component through the second cleaning mechanism, the first cleaning mechanism takes the second cleaning mechanism as a circle center fixed end, through the driving mechanism and the cleaning component on the first cleaning mechanism, when cleaning operation is required to be carried out from a barrier or a glass frame to another area, the second cleaning mechanism adsorbs through the vacuum adsorption component, the first cleaning mechanism stops vacuum adsorption, the first connecting rod is driven by the power device to lift and rotate the first cleaning mechanism, the barrier is crossed to enable the first cleaning mechanism to reach the other area, the first connecting rod is driven by the power device to descend and adsorb with curtain walls of the other area, then the vacuum adsorption of the second cleaning mechanism is stopped by taking the first cleaning mechanism as a circle center, the second connecting rod is lifted and rotated by the second cleaning mechanism, the first connecting rod is driven by the power device to descend to enable the second cleaning mechanism to reach a new glass area to be cleaned and complete adsorption, and then the cleaning operation of the area is completed through the first cleaning mechanism and the second cleaning mechanism together, the cleaning operation of the outer wall and the glass curtain wall surface of the large-area building is realized.
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Drawings
FIG. 1 is a schematic view of the overall structure of a curtain wall cleaning robot in the embodiment of the invention;
FIG. 2 is a first schematic structural diagram of a barrier-crossing structure of a curtain wall cleaning robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a barrier-crossing structure of the curtain wall cleaning robot in the embodiment of the invention;
fig. 4 is a schematic view of the working process of the curtain wall cleaning robot in the embodiment of the invention.
In the figure: 10. a first cleaning mechanism; 20. a second cleaning mechanism; 30. an obstacle crossing drive assembly; 31. a first link; 32. a second link; 33. a power plant; 40. a body; 50. a water supply pipe; 60. an ultrasonic atomizer; 70. a drive mechanism; 80. a wiping component; 81. a front wiping component; 82. a rear wiping component; 90. a sewage scraper; 100. a sewage recovery pipeline; 110. a sewage holding tank; 120. an obstacle sensor; 130. and (4) a vacuum adsorption component.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof.
The invention relates to a curtain wall cleaning robot, which explains the following embodiments according to the attached drawings:
the first embodiment is as follows:
a curtain wall cleaning robot is characterized by comprising a first cleaning mechanism 10, a second cleaning mechanism 20 and an obstacle crossing driving assembly 30, wherein the obstacle crossing driving assembly 30 comprises a first connecting rod 31, a second connecting rod 32 and a power device 33, one end of the first connecting rod 31 and one end of the second connecting rod 32 are hinged to the power device 33 and swing through the power device 33, the other end of the first connecting rod 31 is hinged to the first cleaning mechanism 10, the other end of the second connecting rod 32 is hinged to the second cleaning mechanism 20, the first cleaning mechanism 10 and the second cleaning mechanism 20 respectively comprise a machine body 40, a vacuum adsorption assembly 130, a water supply pipe 50, an ultrasonic atomizer 60, a driving mechanism 70, a wiping assembly 80 and a vacuum adsorption assembly 130, the robot is adsorbed on a wall surface, a water inlet of the ultrasonic atomizer 60 is communicated with the water supply pipe 50, the ultrasonic atomizer 60 is installed at the front of the machine body 40, the driving mechanism 70 is installed on the machine body 40 and is used for driving the robot to walk and turn, and the wiping component 80 is installed at the middle of the bottom end of the machine body 40 and is used for cleaning curtain walls.
When in use, as shown in fig. 1-4, clean water enters the ultrasonic atomizer 60 through the water supply pipe 50, and is atomized into water mist through the ultrasonic atomizer 60 and sprayed onto the wall surface of the curtain wall, the water mist is condensed on the wall surface of the curtain wall, and the condensed water drops adhere to the wall surface of the curtain wall, at this time, the driving mechanism 70 drives the robot to move forward and turn, so that the wiping component 80 cleans the wall surface of the curtain wall, in addition, when the curtain wall works, after the first cleaning mechanism 10 can also adsorb through the vacuum adsorption component 130, the second cleaning mechanism 20 uses the first cleaning mechanism 10 as a circle center fixed end, and uses the driving mechanism 70 on the second cleaning mechanism 20 to realize cleaning operation in a circumferential area, and similarly, after the second cleaning mechanism 20 can also adsorb through the vacuum adsorption component 130, the first cleaning mechanism 10 uses the second cleaning mechanism 20 as a circle center fixed end, when cleaning operation is required to be performed to another area across an obstacle or a glass frame, the second cleaning mechanism 20 performs suction through the vacuum suction component 130, the first cleaning mechanism 10 stops vacuum suction, the power device 33 drives the first link 31 to lift and rotate the first cleaning mechanism 10, the obstacle is crossed to enable the first cleaning mechanism 10 to reach the other area, the power device 33 drives the first link 31 to descend and absorb curtain walls of the other area, then the vacuum suction of the second cleaning mechanism 20 is stopped by taking the first cleaning mechanism 10 as a circle center, the second link 32 mechanism lifts and rotates the second cleaning mechanism 20, the power device 33 drives the first link 31 to descend to enable the second cleaning mechanism 10 to reach a new glass area to be cleaned, and the adsorption is completed, and the cleaning operation of the area is completed through the first cleaning mechanism 10 and the second cleaning mechanism 20, so that the cleaning operation of crossing the obstacle and cleaning the large-area building outer wall and the glass curtain wall surface are realized.
Further, the curtain wall cleaning robot further comprises a sewage scraping plate 90, a sewage recovery pipeline 100 and a sewage accommodating groove 110, wherein the wiping component 80 comprises a front wiping component 81 and a rear wiping component 82, the front wiping component 81 is installed in the middle of the machine body 40, the rear wiping component 82 is installed at the rear part of the machine body 40, the sewage scraping plate 90 is installed on the machine body 40 and is located between the front wiping component 81 and the rear wiping component 82, the sewage accommodating groove 110 is installed on the machine body 40, a water inlet of the sewage accommodating groove 110 is communicated with one end of the sewage recovery pipeline 100, the other end of the sewage recovery pipeline 100 is communicated with a water outlet of the sewage scraping plate 90, the front wiping component 81 is located in the middle of the machine body 40, the rear wiping component 82 is located at the rear part of the machine body 40, and when the robot moves forward, the front wiping component 81 performs the first wiping, i.e. wet water-borne wiping, to wipe off dust, dirt and stains adhering to the wall surface of the curtain wall. The residual sewage is collected by the sewage scraper 90 and enters the sewage housing tub 110 through the sewage recovery pipe 100. After the residual sewage is recovered, the rear wiping component 82 performs drying wiping on the wall surface of the curtain wall, and further completes the cleaning work of the wall surface of the curtain wall. Due to the fact that the front wiping component 81, the rear wiping component 82 and the ultrasonic atomizer 60 are arranged, the robot atomizes and wets the wall surface in the advancing process, and then cleans the wall surface of the curtain wall twice, so that two processes of wet cleaning and dry cleaning can be achieved, and dust and dirt on the wall surface of the curtain wall can be effectively removed. The driving mechanism 70 is used for driving the robot to move forward and turn, and the specific structure thereof is conventional in the art, and a person skilled in the art of can select the driving mechanism 70 with different structures as required, which is not described herein again.
Example two:
a curtain wall cleaning robot is characterized by comprising a first cleaning mechanism 10, a second cleaning mechanism 20 and an obstacle crossing driving assembly 30, wherein the obstacle crossing driving assembly 30 comprises a first connecting rod 31, a second connecting rod 32 and a power device 33, one end of the first connecting rod 31 and one end of the second connecting rod 32 are hinged to the power device 33 and swing through the power device 33, the other end of the first connecting rod 31 is hinged to the first cleaning mechanism 10, the other end of the second connecting rod 32 is hinged to the second cleaning mechanism 20, the first cleaning mechanism 10 and the second cleaning mechanism 20 respectively comprise a machine body 40, a vacuum adsorption assembly 130, a water supply pipe 50, an ultrasonic atomizer 60, a driving mechanism 70, a wiping assembly 80 and a vacuum adsorption assembly 130, the robot is adsorbed on a wall surface, a water inlet of the ultrasonic atomizer 60 is communicated with the water supply pipe 50, the ultrasonic atomizer 60 is installed at the front of the machine body 40, the driving mechanism 70 is installed on the machine body 40 and is used for driving the robot to walk and turn, and the wiping component 80 is installed at the middle of the bottom end of the machine body 40 and is used for cleaning curtain walls.
When in use, as shown in fig. 1-4, clean water enters the ultrasonic atomizer 60 through the water supply pipe 50, and is atomized into water mist through the ultrasonic atomizer 60 and sprayed onto the wall surface of the curtain wall, the water mist is condensed on the wall surface of the curtain wall, and the condensed water drops adhere to the wall surface of the curtain wall, at this time, the driving mechanism 70 drives the robot to move forward and turn, so that the wiping component 80 cleans the wall surface of the curtain wall, in addition, when the curtain wall works, after the first cleaning mechanism 10 can also adsorb through the vacuum adsorption component 130, the second cleaning mechanism 20 uses the first cleaning mechanism 10 as a circle center fixed end, and uses the driving mechanism 70 on the second cleaning mechanism 20 to realize cleaning operation in a circumferential area, and similarly, after the second cleaning mechanism 20 can also adsorb through the vacuum adsorption component 130, the first cleaning mechanism 10 uses the second cleaning mechanism 20 as a circle center fixed end, when cleaning operation is required to be performed to another area across an obstacle or a glass frame, the second cleaning mechanism 20 performs suction through the vacuum suction component 130, the first cleaning mechanism 10 stops vacuum suction, the power device 33 drives the first link 31 to lift and rotate the first cleaning mechanism 10, the obstacle is crossed to enable the first cleaning mechanism 10 to reach the other area, the power device 33 drives the first link 31 to descend and absorb curtain walls of the other area, then the vacuum suction of the second cleaning mechanism 20 is stopped by taking the first cleaning mechanism 10 as a circle center, the second link 32 mechanism lifts and rotates the second cleaning mechanism 20, the power device 33 drives the first link 31 to descend to enable the second cleaning mechanism 10 to reach a new glass area to be cleaned, and the adsorption is completed, and the cleaning operation of the area is completed through the first cleaning mechanism 10 and the second cleaning mechanism 20, so that the cleaning operation of crossing the obstacle and cleaning the large-area building outer wall and the glass curtain wall surface are realized.
Further, the curtain wall cleaning robot further comprises a sewage scraping plate 90, a sewage recovery pipeline 100 and a sewage accommodating groove 110, wherein the wiping component 80 comprises a front wiping component 81 and a rear wiping component 82, the front wiping component 81 is installed in the middle of the machine body 40, the rear wiping component 82 is installed at the rear part of the machine body 40, the sewage scraping plate 90 is installed on the machine body 40 and is located between the front wiping component 81 and the rear wiping component 82, the sewage accommodating groove 110 is installed on the machine body 40, a water inlet of the sewage accommodating groove 110 is communicated with one end of the sewage recovery pipeline 100, the other end of the sewage recovery pipeline 100 is communicated with a water outlet of the sewage scraping plate 90, the front wiping component 81 is located in the middle of the machine body 40, the rear wiping component 82 is located at the rear part of the machine body 40, and when the robot moves forward, the front wiping component 81 performs the first wiping, i.e. wet water-borne wiping, to wipe off dust, dirt and stains adhering to the wall surface of the curtain wall. The residual sewage is collected by the sewage scraper 90 and enters the sewage housing tub 110 through the sewage recovery pipe 100. After the residual sewage is recovered, the rear wiping component 82 performs drying wiping on the wall surface of the curtain wall, and further completes the cleaning work of the wall surface of the curtain wall. Due to the fact that the front wiping component 81, the rear wiping component 82 and the ultrasonic atomizer 60 are arranged, the robot atomizes and wets the wall surface in the advancing process, and then cleans the wall surface of the curtain wall twice, so that two processes of wet cleaning and dry cleaning can be achieved, and dust and dirt on the wall surface of the curtain wall can be effectively removed. The driving mechanism 70 is used for driving the robot to move forward and turn, and the specific structure thereof is conventional in the art, and a person skilled in the art of can select the driving mechanism 70 with different structures as required, which is not described herein again.
Further, the front wiping component 81 and the rear wiping component 82 are cleaning brushes, so that the cleaning is more efficient.
Further, vacuum adsorption component 130 includes vacuum chuck and vacuum generator, vacuum chuck adsorbs on the curtain wall, vacuum generator installs on organism 40, vacuum chuck passes through the connecting pipe and communicates with vacuum generator, and vacuum adsorption component 130 passes through the negative pressure and adsorbs on the curtain wall.
Further, an obstacle sensor 120 for sensing an obstacle is disposed at one end of each of the first cleaning mechanism 10 and the second cleaning mechanism 20, and when the obstacle sensor senses an obstacle, the obstacle crossing operation is performed, so that the working efficiency is improved.
Example three:
a curtain wall cleaning robot is characterized by comprising a first cleaning mechanism 10, a second cleaning mechanism 20 and an obstacle crossing driving assembly 30, wherein the obstacle crossing driving assembly 30 comprises a first connecting rod 31, a second connecting rod 32 and a power device 33, one end of the first connecting rod 31 and one end of the second connecting rod 32 are hinged to the power device 33 and swing through the power device 33, the other end of the first connecting rod 31 is hinged to the first cleaning mechanism 10, the other end of the second connecting rod 32 is hinged to the second cleaning mechanism 20, the first cleaning mechanism 10 and the second cleaning mechanism 20 respectively comprise a machine body 40, a vacuum adsorption assembly 130, a water supply pipe 50, an ultrasonic atomizer 60, a driving mechanism 70, a wiping assembly 80 and a vacuum adsorption assembly 130, the robot is adsorbed on a wall surface, a water inlet of the ultrasonic atomizer 60 is communicated with the water supply pipe 50, the ultrasonic atomizer 60 is installed at the front of the machine body 40, the driving mechanism 70 is installed on the machine body 40 and is used for driving the robot to walk and turn, and the wiping component 80 is installed at the middle of the bottom end of the machine body 40 and is used for cleaning curtain walls.
When in use, as shown in fig. 1-4, clean water enters the ultrasonic atomizer 60 through the water supply pipe 50, and is atomized into water mist through the ultrasonic atomizer 60 and sprayed onto the wall surface of the curtain wall, the water mist is condensed on the wall surface of the curtain wall, and the condensed water drops adhere to the wall surface of the curtain wall, at this time, the driving mechanism 70 drives the robot to move forward and turn, so that the wiping component 80 cleans the wall surface of the curtain wall, in addition, when the curtain wall works, after the first cleaning mechanism 10 can also adsorb through the vacuum adsorption component 130, the second cleaning mechanism 20 uses the first cleaning mechanism 10 as a circle center fixed end, and uses the driving mechanism 70 on the second cleaning mechanism 20 to realize cleaning operation in a circumferential area, and similarly, after the second cleaning mechanism 20 can also adsorb through the vacuum adsorption component 130, the first cleaning mechanism 10 uses the second cleaning mechanism 20 as a circle center fixed end, when cleaning operation is required to be performed to another area across an obstacle or a glass frame, the second cleaning mechanism 20 performs suction through the vacuum suction component 130, the first cleaning mechanism 10 stops vacuum suction, the power device 33 drives the first link 31 to lift and rotate the first cleaning mechanism 10, the obstacle is crossed to enable the first cleaning mechanism 10 to reach the other area, the power device 33 drives the first link 31 to descend and absorb curtain walls of the other area, then the vacuum suction of the second cleaning mechanism 20 is stopped by taking the first cleaning mechanism 10 as a circle center, the second link 32 mechanism lifts and rotates the second cleaning mechanism 20, the power device 33 drives the first link 31 to descend to enable the second cleaning mechanism 10 to reach a new glass area to be cleaned, and the adsorption is completed, and the cleaning operation of the area is completed through the first cleaning mechanism 10 and the second cleaning mechanism 20, so that the cleaning operation of crossing the obstacle and cleaning the large-area building outer wall and the glass curtain wall surface are realized.
Further, the curtain wall cleaning robot further comprises a sewage scraping plate 90, a sewage recovery pipeline 100 and a sewage accommodating groove 110, wherein the wiping component 80 comprises a front wiping component 81 and a rear wiping component 82, the front wiping component 81 is installed in the middle of the machine body 40, the rear wiping component 82 is installed at the rear part of the machine body 40, the sewage scraping plate 90 is installed on the machine body 40 and is located between the front wiping component 81 and the rear wiping component 82, the sewage accommodating groove 110 is installed on the machine body 40, a water inlet of the sewage accommodating groove 110 is communicated with one end of the sewage recovery pipeline 100, the other end of the sewage recovery pipeline 100 is communicated with a water outlet of the sewage scraping plate 90, the front wiping component 81 is located in the middle of the machine body 40, the rear wiping component 82 is located at the rear part of the machine body 40, and when the robot moves forward, the front wiping component 81 performs the first wiping, i.e. wet water-borne wiping, to wipe off dust, dirt and stains adhering to the wall surface of the curtain wall. The residual sewage is collected by the sewage scraper 90 and enters the sewage housing tub 110 through the sewage recovery pipe 100. After the residual sewage is recovered, the rear wiping component 82 performs drying wiping on the wall surface of the curtain wall, and further completes the cleaning work of the wall surface of the curtain wall. Due to the fact that the front wiping component 81, the rear wiping component 82 and the ultrasonic atomizer 60 are arranged, the robot atomizes and wets the wall surface in the advancing process, and then cleans the wall surface of the curtain wall twice, so that two processes of wet cleaning and dry cleaning can be achieved, and dust and dirt on the wall surface of the curtain wall can be effectively removed. The driving mechanism 70 is used for driving the robot to move forward and turn, and the specific structure thereof is conventional in the art, and a person skilled in the art of can select the driving mechanism 70 with different structures as required, which is not described herein again.
Further, the front wiping component 81 and the rear wiping component 82 are cleaning brushes, so that the cleaning is more efficient.
Further, vacuum adsorption component 130 includes vacuum chuck and vacuum generator, vacuum chuck adsorbs on the curtain wall, vacuum generator installs on organism 40, vacuum chuck passes through the connecting pipe and communicates with vacuum generator, and vacuum adsorption component 130 passes through the negative pressure and adsorbs on the curtain wall.
Further, an obstacle sensor 120 for sensing an obstacle is disposed at one end of each of the first cleaning mechanism 10 and the second cleaning mechanism 20, and when the obstacle sensor senses an obstacle, the obstacle crossing operation is performed, so that the working efficiency is improved.
Further, the driving is a wheel type driving mechanism 70, which includes a wheel and a first motor for driving the wheel to rotate, the wheel is installed at the bottom of the machine body 40, the first motor is installed on the machine body 40, and an output shaft of the first motor is connected with an axis of the wheel through a coupling. By using the wheel type driving mechanism 70, the moving speed of the robot can be increased, and the walking steering control of the robot can be simplified.
Further, the driving mechanism 70 is a crawler driving mechanism 70, which includes a crawler and a second motor for driving the crawler to rotate. The caterpillar is installed at both sides of the bottom of the body 40, and the second motor is installed above the body 40, and its output shaft is connected to a driving gear engaged with the caterpillar through a coupling. By adopting the crawler-type driving mechanism 70, the adaptability of the automatic cleaning robot to the wall surface of the curtain wall can be improved, the contact area of the automatic cleaning robot and the wall surface of the curtain wall is increased, and the wall surface of the curtain wall is prevented from being damaged.
In summary, the invention discloses a curtain wall cleaning robot, which has the following beneficial technical effects:
clean water enters the ultrasonic atomizer 60 through the water supply pipe 50, and is atomized into water mist through the ultrasonic atomizer 60 and sprayed onto the wall surface of the curtain wall, the water mist is condensed on the wall surface of the curtain wall, the condensed water beads are attached to the wall surface of the curtain wall, at the moment, the driving mechanism 70 drives the robot to move forwards and turn, so that the wiping component 80 cleans the wall surface of the curtain wall, in addition, when the curtain wall works, after the first cleaning mechanism 10 can also absorb water through the vacuum absorption component, the second cleaning mechanism 20 takes the first cleaning mechanism 10 as a circle center fixed end, and cleaning operation in a circumferential region is realized through the driving mechanism 70 on the second cleaning mechanism 20, and similarly, after the water mist is absorbed through the vacuum absorption component through the second cleaning mechanism 20, the first cleaning mechanism 10 takes the second cleaning mechanism 20 as a circle center fixed end, and passes through the driving mechanism 70 and the wiping component 80 on the first cleaning mechanism 10, when cleaning operation is required to be executed to another area across an obstacle or a glass frame, the second cleaning mechanism 20 performs adsorption through the vacuum adsorption component, the first cleaning mechanism 10 stops vacuum adsorption, the power device 33 drives the first connecting rod 31 to lift and rotate the first cleaning mechanism 10, the obstacle is spanned to enable the first cleaning mechanism 10 to reach the other area, the power device 33 drives the first connecting rod 31 to descend and adsorb to curtain walls of the other area, then the vacuum adsorption of the second cleaning mechanism 20 is stopped by taking the first cleaning mechanism 10 as a circle center, the second connecting rod 32 mechanism lifts and rotates the second cleaning mechanism 20, the power device 33 drives the first connecting rod 31 to descend to enable the second cleaning mechanism 10 to reach a new glass area to be cleaned and complete adsorption, and then the cleaning operation of the area is completed through the first cleaning mechanism 10 and the second cleaning mechanism 20 together, the cleaning operation of the outer wall and the glass curtain wall surface of the large-area building is realized.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.

Claims (7)

1. A curtain wall cleaning robot is characterized by comprising a first cleaning mechanism, a second cleaning mechanism and an obstacle crossing driving assembly, wherein the obstacle crossing driving assembly comprises a first connecting rod, a second connecting rod and a power device, one end of the first connecting rod and one end of the second connecting rod are hinged with the power device and swing through the power device, the other end of the first connecting rod is hinged with the first cleaning mechanism, the other end of the second connecting rod is hinged with the second cleaning mechanism, the first cleaning mechanism and the second cleaning mechanism respectively comprise a machine body, a water supply pipe, an ultrasonic atomizer, a driving mechanism, a vacuum adsorption assembly and a wiping assembly, the vacuum adsorption assembly is used for adsorbing the robot on a curtain wall surface, a water inlet of the ultrasonic atomizer is communicated with the water supply pipe, and the ultrasonic atomizer is installed on the front portion of the machine body, the driving mechanism is installed on the machine body and used for driving the robot to walk and turn, and the wiping component is installed in the middle of the bottom end of the machine body and used for cleaning the curtain wall.
2. The curtain wall cleaning robot according to claim 1, wherein the curtain wall cleaning robot comprises a sewage scraper, a sewage recovery pipeline and a sewage accommodating groove, the wiping component comprises a front wiping component and a rear wiping component, the front wiping component is mounted in the middle of the machine body, the rear wiping component is mounted at the rear of the machine body, the sewage scraper is mounted on the machine body and located between the front wiping component and the rear wiping component, the sewage accommodating groove is mounted on the machine body, a water inlet of the sewage accommodating groove is communicated with one end of the sewage recovery pipeline, and the other end of the sewage recovery pipeline is communicated with a water outlet of the sewage scraper.
3. The curtain wall cleaning robot of claim 2, wherein the front wiping component and the rear wiping component are cleaning brushes.
4. The curtain wall cleaning robot as claimed in claim 1, wherein the vacuum suction assembly comprises a vacuum suction cup and a vacuum generator, the vacuum suction cup is sucked on the wall surface of the curtain wall, the vacuum generator is mounted on the machine body, and the vacuum suction cup is communicated with the vacuum generator through a connecting pipe.
5. The curtain wall cleaning robot according to claim 1, wherein one end of each of the first cleaning mechanism and the second cleaning mechanism is provided with an obstacle sensor for sensing an obstacle.
6. The curtain wall cleaning robot according to any one of claims 1 to 5, wherein the driving mechanism comprises wheels and a first motor for driving the wheels to rotate.
7. The curtain wall cleaning robot of any one of claims 1-5, wherein the drive mechanism comprises a track and a second motor that drives the track to rotate.
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CN112285503A (en) * 2020-10-26 2021-01-29 国网江苏省电力有限公司电力科学研究院 GIS/GIL partial discharge detection device
CN114403738A (en) * 2022-01-20 2022-04-29 北京国家速滑馆经营有限责任公司 Be used for abluent arm of curtain and equipment

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CN105962856A (en) * 2016-05-22 2016-09-28 武汉市享昱科技有限公司 Double-suction-cup connecting rod type wall face cleaning robot
CN106828655A (en) * 2017-02-22 2017-06-13 武汉科技大学 With multivariant climbing robot
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CN112285503B (en) * 2020-10-26 2023-04-14 国网江苏省电力有限公司电力科学研究院 GIS/GIL partial discharge detection device
CN114403738A (en) * 2022-01-20 2022-04-29 北京国家速滑馆经营有限责任公司 Be used for abluent arm of curtain and equipment

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