CN112641367B - Lifting auxiliary mechanism for glass curtain wall cleaning robot - Google Patents
Lifting auxiliary mechanism for glass curtain wall cleaning robot Download PDFInfo
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- CN112641367B CN112641367B CN202011518062.3A CN202011518062A CN112641367B CN 112641367 B CN112641367 B CN 112641367B CN 202011518062 A CN202011518062 A CN 202011518062A CN 112641367 B CN112641367 B CN 112641367B
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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
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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
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Abstract
The invention discloses a lifting auxiliary mechanism for a glass curtain wall cleaning robot, which comprises a cleaning robot body, wherein the cleaning robot body comprises a cleaning box and a walking box, the walking box is arranged above the cleaning box, a lifting auxiliary mechanism for the cleaning robot body to walk is arranged in the walking box, the lifting auxiliary mechanism comprises a main transmission mechanism, a rear walking mechanism and a front walking mechanism, the main transmission mechanism, the rear walking mechanism and the front walking mechanism are in gear engagement transmission, two ends of a main transmission shaft of the main transmission mechanism penetrate through the walking box and are connected with a crank-link mechanism, two ends of a secondary transmission shaft of the rear walking mechanism and the front walking mechanism penetrate through the walking box and are also connected with a crank-link mechanism, the execution tail end of the crank-link mechanism is fixedly connected with a walking arm, and the lifting auxiliary mechanism drives the cleaning robot body to rapidly cross obstacles on a glass curtain wall, the obstacle crossing capability of the cleaning robot body is improved.
Description
Technical Field
The invention belongs to the technical field of glass curtain wall cleaning, and particularly relates to a lifting auxiliary mechanism for a glass curtain wall cleaning robot.
Background
Along with the economic development and the improvement of the urbanization rate, the usable building area of a city is smaller and smaller, in order to save land, the number of high-rise buildings in the city is larger and larger, the daylighting property based on the glass curtain wall is better, and more attractive decoration effect can be brought, so that the outer surfaces of most of the high-rise buildings are decorated by the glass curtain wall at present, and meanwhile, heavier glass curtain wall cleaning tasks are brought, and the existing glass curtain wall cleaning robot has the following defects in the using process;
1. when the existing glass curtain wall cleaning robot touches an obstacle protruding from the glass curtain wall, the existing cleaning robot cannot carry out avoidance operation and only can be far away from the part with the obstacle, and the part with the fault obstacle cannot be cleaned, so that the cleaning of the curtain wall cannot be covered with the area of the obstacle; the curtain wall is not thoroughly cleaned, and dead corners are left;
2. in the existing glass curtain wall cleaning robot, a plurality of cleaning mechanisms need to be provided with a plurality of sets of driving mechanisms to clean the glass curtain wall, so that the structure is complex and the cost is high;
3. the existing glass curtain wall cleaning robot usually cleans a plurality of cleaning discs for a plurality of times at the same rotation angle, and has poor cleaning capability;
4. the existing multi-foot type glass curtain wall cleaning robot is inconvenient to reverse and has great limitation in the using process.
Disclosure of Invention
The invention aims to provide a lifting auxiliary mechanism for a glass curtain wall cleaning robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a lifting auxiliary mechanism for a glass curtain wall cleaning robot comprises a cleaning robot body, wherein the cleaning robot body comprises a cleaning box and a walking box, and the walking box is arranged above the cleaning box;
the cleaning robot comprises a walking box, and is characterized in that a lifting auxiliary mechanism for cleaning the walking of a robot body is arranged in the walking box, the lifting auxiliary mechanism comprises a main transmission mechanism, a rear walking mechanism and a front walking mechanism, the rear walking mechanism and the front walking mechanism are consistent in structure and are respectively arranged on two sides of the main transmission mechanism, the rear walking mechanism and the front walking mechanism are in gear engagement transmission, two ends of a main transmission shaft of the main transmission mechanism penetrate through the walking box and are connected with a crank-link mechanism, two ends of a secondary transmission shaft of the rear walking mechanism and the front walking mechanism penetrate through the walking box and are also connected with a crank-link mechanism, and the execution tail end of the crank-link mechanism is fixedly connected with a walking arm;
the inside of wasing the case is separated into by supreme down and is washd chamber, drive chamber, the fixed chamber of pivot and anti-propulsion chamber through three baffles, the inside of wasing the chamber is provided with the wash rack to glass curtain wall abluent, the inside of drive chamber and the both ends that are located down the baffle are provided with cylinder one respectively, the piston rod of cylinder one runs through down the baffle setting, and is provided with pneumatic chuck at cylinder one's piston rod end, the fixed pneumatic cylinder that is provided with on the inside of anti-propulsion chamber and the top surface that is located the baffle, the piston rod of pneumatic cylinder runs through and washs the roof surface and is connected with walking bottom of the case face.
As a still further scheme of the invention: the main transmission mechanism comprises a motor mounting table arranged in the walking box, a motor III is arranged in the motor mounting table, an output shaft of the motor III penetrates through the motor mounting table and is connected with a gear IV, a main transmission shaft is arranged in the walking box and is positioned right below the gear IV, a driving wheel is arranged on the main transmission shaft through key connection, and the gear IV is in meshed connection with the driving wheel;
the rear traveling mechanism comprises an auxiliary transmission shaft arranged inside the traveling box, a driven wheel is arranged on the auxiliary transmission shaft through key connection, a connecting shaft is arranged between the auxiliary transmission shaft and the main transmission shaft, a fifth gear is arranged on the connecting shaft, and the driving wheel and the driven wheel are respectively located on two sides of the fifth gear and are meshed with the fifth gear.
As a still further scheme of the invention: the walking arm is of a cuboid cavity structure, guide rods are fixedly arranged on two sides in the cuboid cavity, a push rod is connected to the top surface of the walking arm through threads, the bottom end of the push rod is arranged in the cavity of the walking arm, a sleeve is connected to the bottom end of the push rod through threads, the tail end of the sleeve is connected with a guide plate, the guide plate is connected to the guide rods through holes in two ends in a sliding mode, a pneumatic sucker is fixedly arranged on the bottom surface of the guide plate, and a notch for the pneumatic sucker to penetrate through is formed in the bottom surface of the walking arm;
the connecting plates are fixedly arranged on two sides of the top end of the sleeve, the connecting plates are connected to the guide rods in a sliding mode, springs are arranged between the connecting plates on two sides of the sleeve and the guide plates, and the springs are sleeved on the guide rods.
As a still further scheme of the invention: the cleaning cavity comprises a motor I and an actuating mechanism, the motor I is fixedly arranged on the plate surface of a lower partition plate of the driving cavity through a motor mounting seat, the actuating mechanism comprises a guide rod I and a guide rod II which are symmetrically arranged at two sides of the inner part of the cleaning cavity along the longitudinal direction, penetrating chutes are horizontally formed in the side surfaces of the guide rod I and the guide rod II, the output end of the motor I penetrates through the lower partition plate and is connected with a rotating impeller in the cleaning cavity, the rotating impeller is positioned at the central position in the cleaning cavity and is of a 'T' -shaped mechanism, a connecting rod I and a connecting rod II are respectively hinged at two sides of the rotating impeller, the other end of the connecting rod I is hinged with a pushing block I, the other end of the connecting rod II is hinged with a pushing block II, and the pushing block I and the pushing block II are connected in the chutes of the guide rod I and the guide rod II in a sliding manner through sliding manner by sliding blocks at two ends, two ends of the first pushing block and the second pushing block are respectively provided with a spur rack;
the inside of washing chamber and the both sides that are located actuating mechanism are provided with the wash rack respectively, be provided with the double gear with spur rack looks adaptation on the wash rack, it is connected with the upper gear meshing of double gear respectively with the spur rack that promotes two both ends of piece one and promotion piece.
As a still further scheme of the invention: the cleaning frame comprises a fastening block, the fastening block is fixedly arranged inside the cleaning cavity along the longitudinal direction, two ends of the fastening block are fixedly provided with rotating shaft fixing plates, and a cleaning mechanism is arranged on each rotating shaft fixing plate;
the cleaning mechanism comprises a first cleaning disc, a second cleaning disc, a double-layer gear, a first rotating shaft, a second rotating shaft and a first gear, wherein the first rotating shaft and the second rotating shaft are respectively arranged at two ends of a rotating shaft fixing plate, the first rotating shaft is fixedly provided with the second cleaning disc, the first rotating shaft is provided with the first gear through a key connection, the double-layer gear is arranged on the second rotating shaft through the key connection, the second rotating shaft is fixedly provided with the first cleaning disc, and the lower layer gear of the double-layer gear is connected with the first gear through a gear belt.
As a still further scheme of the invention: and soft bristles are arranged on the bottom surfaces of the first cleaning disc and the second cleaning disc.
As a still further scheme of the invention: a bearing fixing seat and a rotating shaft III are fixedly arranged in the rotating shaft fixing cavity, the rotating shaft III is arranged on the bearing fixing seat in the rotating shaft fixing cavity, a gear II is arranged on the rotating shaft III through a key connection, a motor II is arranged on one side, located on the bearing fixing seat, in the rotating shaft fixing cavity through a motor mounting seat, the output end of the motor II is connected with the gear III, and the gear III is in meshed connection with the gear II;
the top end of the third rotating shaft penetrates through the upper partition plate, the top end of the third rotating shaft is connected with a rotary table, and the hydraulic cylinder is fixedly arranged on the rotary table.
As a still further scheme of the invention: a circular groove for mounting the rotary table is formed in the plate surface of the upper partition plate, and the rotary table is rotatably connected into the circular groove of the upper partition plate.
As a still further scheme of the invention: the center position of deflector top surface has seted up spherical groove, telescopic bottom is provided with the ball with spherical groove looks adaptation, the ball of sleeve bottom rotates to be connected in the spherical groove of deflector.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts a six-foot crawling type lifting auxiliary mechanism to drive a cleaning robot body to move, namely, a driving gear four is meshed with a driving gear through a motor three, a driving gear four is driven to rotate, the driving gear drives crank link mechanisms at two ends to move, meanwhile, a driven gear is driven to rotate through a driving gear five, so that auxiliary transmission shafts on a rear walking mechanism and a front walking mechanism drive the crank link mechanisms at two ends to synchronously move, namely, when the crank link mechanisms on the rear walking mechanism and the front walking mechanism drive pneumatic suckers on walking arms to adsorb glass curtain walls, the crank link mechanisms on the main transmission mechanism drive the pneumatic suckers on the walking arms to release the glass curtain walls, otherwise, when the crank link mechanisms on the main transmission mechanism drive the pneumatic suckers on the walking arms to adsorb the glass curtain walls, the crank link mechanisms on the rear walking mechanism and the front walking mechanism drive the pneumatic suckers on the walking arms to release the adsorption of the glass curtain walls, the cleaning robot body can walk on the glass curtain wall, so that the lifting auxiliary mechanism drives the cleaning robot body to rapidly cross the obstacle on the glass curtain wall, the obstacle crossing capability of the cleaning robot body is improved, and the stability of the cleaning process of the cleaning robot body is enhanced;
2. according to the glass curtain wall cleaning device, two groups of cleaning frames and four cleaning mechanisms are arranged in the cleaning box, so that the cleaning capacity of the cleaning box on the glass curtain wall is greatly improved, and the four cleaning mechanisms can be cleaned synchronously through one actuating mechanism, namely, the rotating impeller is driven to rotate by the motor I, so that the rotating impeller drives the connecting rod I and the connecting rod II on two sides to move longitudinally, and further drives the pushing block I and the pushing block II to move in the sliding grooves of the guide rod I and the guide rod II, and the straight racks at two ends of the pushing block I and the pushing block II are respectively in meshing transmission with the upper gears of the double-layer gears, so that the cleaning disc I and the cleaning disc II are cleaned synchronously, the condition that a plurality of traditional cleaning mechanisms need to be driven by a plurality of actuating mechanisms is eliminated, the cleaning mechanism is more compact in structure and high in practicability, and the production cost is saved;
3. in the working process of the cleaning mechanism, the cleaning cavity is divided into four quadrants by taking the rotary impeller as the center, when the pushing block I and the pushing block are pushed towards two sides, the cleaning disc I and the cleaning disc II in the first quadrant are clockwise rotated for cleaning, the cleaning disc I and the cleaning disc II in the second quadrant are anticlockwise rotated for cleaning, the cleaning disc I and the cleaning disc II in the third quadrant are clockwise rotated for cleaning, the cleaning disc I and the cleaning disc II in the first quadrant are anticlockwise rotated for cleaning, on the contrary, when the pushing block I and the pushing block move towards the center, the cleaning disc I and the cleaning disc II in the first quadrant are anticlockwise rotated for cleaning, the cleaning disc I and the cleaning disc II in the second quadrant are clockwise rotated for cleaning, the cleaning disc I and the cleaning disc II in the third quadrant are anticlockwise rotated for cleaning, and the cleaning disc I and the cleaning disc II in the first quadrant are clockwise rotated for cleaning, the cleaning robot body can ensure various clockwise or anticlockwise rotary cleaning of the first cleaning disc and the second cleaning disc on the cleaning path in the advancing process, and the cleaning capability of the cleaning mechanism is greatly improved;
4. according to the glass curtain wall cleaning robot, the pneumatic suckers are driven by the first air cylinder to move downwards to adsorb a glass curtain wall, the pneumatic suckers on the six traveling arms on the traveling box loosen the glass curtain wall, the hydraulic cylinder drives the piston rod to push the traveling box upwards, the third motor driving gear is in meshing transmission with the second gear, so that the third rotating shaft is driven to rotate, the traveling box is reversed on the cleaning box, the flexibility of the cleaning robot body is high, the reversing is convenient, and the glass curtain wall can be continuously cleaned.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a perspective view of a lift assist mechanism for a glass curtain wall cleaning robot.
Fig. 2 is a perspective view of a walking box in a lifting auxiliary mechanism for a glass curtain wall cleaning robot.
Fig. 3 is a top view of a walking box in a lifting auxiliary mechanism for a glass curtain wall cleaning robot.
Fig. 4 is a schematic structural diagram of a walking arm in a lifting auxiliary mechanism for a glass curtain wall cleaning robot.
Fig. 5 is a schematic structural view of a cleaning tank in a lifting assist mechanism for a glass curtain wall cleaning robot.
Fig. 6 is a schematic structural diagram of a cleaning cavity in a lifting auxiliary mechanism for a glass curtain wall cleaning robot.
Fig. 7 is a schematic structural diagram of a first guide rod in a lifting auxiliary mechanism for a glass curtain wall cleaning robot.
In the figure: 1. cleaning the robot body; 101. a cleaning tank; 102. a walking box; 2. a cleaning chamber; 202. a first motor; 203. rotating the impeller; 204. a first connecting rod; 205. a second connecting rod; 206. a first pushing block; 207. a second pushing block; 208. a first guide rod; 209. a second guide rod; 210. a slider; 211. straight rack; 3. a cleaning frame; 301. a fastening block; 302. a rotating shaft fixing plate; 303. a cleaning mechanism; 3031. cleaning a first disc; 3032. a second cleaning disc; 3033. a double-layer gear; 3034. a first rotating shaft; 3035. a second rotating shaft; 3036. a first gear; 4. a drive chamber; 401. a first cylinder; 5. a rotating shaft fixing cavity; 501. a bearing fixing seat; 502. a rotating shaft III; 503. a second gear; 504. a third gear; 505. a second motor; 6. a reverse push chamber; 601. a hydraulic cylinder; 7. a main transmission mechanism; 701. a motor mounting table; 702. a third motor; 703. a fourth gear; 704. a main drive shaft; 705. a driving wheel; 706. a crank link mechanism; 8. a rear traveling mechanism; 801. a connecting shaft; 802. a fifth gear; 803. a secondary drive shaft; 804. a driven wheel; 805. a front travel mechanism; 9. a traveling arm; 901. a push rod; 902. a sleeve; 903. a guide bar; 904. a guide plate; 905. a spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 7, in an embodiment of the present invention, an auxiliary lifting mechanism for a glass curtain wall cleaning robot includes a cleaning robot body 1, the cleaning robot body 1 includes a cleaning box 101 and a traveling box 102, the traveling box 102 is disposed above the cleaning box 101, an auxiliary lifting mechanism for cleaning the cleaning robot body 1 is disposed inside the traveling box 102, the auxiliary lifting mechanism includes a main transmission mechanism 7, a rear transmission mechanism 8 and a front transmission mechanism 805, the rear transmission mechanism 8 and the front transmission mechanism 805 have the same structure and are respectively disposed on two sides of the main transmission mechanism 7, the rear transmission mechanism 8 and the front transmission mechanism 805 are in meshing transmission through gears, two ends of a main transmission shaft 704 of the main transmission mechanism 7 penetrate through the traveling box 102 and are connected to a crank link mechanism 706, two ends of a sub transmission shaft 803 of the rear transmission mechanism 8 and the front transmission mechanism 805 penetrate through the traveling box 102 and are also connected to a crank link mechanism 102 A mechanism 706, wherein the executing end of the crank link mechanism 706 is fixedly connected with a traveling arm 9, when the cleaning robot body 1 travels, a motor three 702 drives a gear four 703 to mesh with a driving wheel 705 for transmission, so as to drive the driving shaft 704 to rotate, so that the driving shaft 704 drives the crank link mechanisms 706 at two ends to move, and simultaneously, the driving wheel 705 drives a driven wheel 804 to rotate through a gear five 802, so that the auxiliary driving shafts 803 on the rear traveling mechanism 8 and the front traveling mechanism 805 drive the crank link mechanisms 706 at two ends to move synchronously, that is, when the crank link mechanisms 706 on the rear traveling mechanism 8 and the front traveling mechanism 805 drive the pneumatic suction cups on the traveling arm 9 to suck the glass curtain wall, the crank link mechanism 706 on the main transmission mechanism 7 drives the pneumatic suction cups on the traveling arm 9 to release the glass curtain wall, otherwise, when the crank link mechanism 706 on the main transmission mechanism 7 drives the pneumatic suction cups on the traveling arm 9 to suck the glass curtain wall, the crank link mechanism 706 on the rear traveling mechanism 8 and the front traveling mechanism 805 drives the pneumatic suction cups on the traveling arms 9 to loosen the adsorption of the glass curtain wall, so that the cleaning robot body 1 travels on the glass curtain wall, and the lifting auxiliary mechanism drives the cleaning robot body 1 to rapidly cross the obstacles on the glass curtain wall.
The inside of the cleaning box 101 is divided into a cleaning cavity 2, a driving cavity 4, a rotating shaft fixing cavity 5 and a reverse propelling cavity 6 from bottom to top through three partition plates, a cleaning frame 3 for cleaning the glass curtain wall is arranged inside the cleaning cavity 2, so that the glass curtain wall is cleaned, a first cylinder 401 is respectively arranged inside the driving cavity 4 and at two ends of the lower partition plate, a piston rod of the first cylinder 401 penetrates through the lower partition plate, a pneumatic sucking disc is arranged at the tail end of the piston rod of the first cylinder 401, a hydraulic cylinder 601 is fixedly arranged inside the reverse propelling cavity 6 and on the top surface of the upper partition plate, a piston rod of the hydraulic cylinder 601 penetrates through the top surface of the cleaning box 101 and is connected with the bottom surface of the walking box 102, a bearing fixing seat 501 and a rotating shaft three 502 are fixedly arranged inside the rotating shaft fixing cavity 5, and the rotating shaft three 502 is arranged on the bearing fixing seat 501 in the rotating shaft fixing cavity 5, be provided with two gears 503 through the key-type connection on the three 502 of pivot, the one side that 5 inside just lie in bearing fixing base 501 of pivot is provided with two motors 505 through the motor mount pad, the output of two motors 505 is connected with three 504 of gears, three 504 of gears are connected with two 503 meshing of gears, adsorb the glass curtain wall through the pneumatic sucking disc of a 401 drive cylinder lapse, make the pneumatic sucking disc on six walking arms 9 on the walking case 102 loosen the glass curtain wall, pneumatic cylinder 601 drive piston rod upwards promotes walking case 102, three 504 of motor 505 drive gears and two 503 meshing transmissions of gears to drive three 502 rotations of pivot, realize the switching-over of walking case 102 on wasing case 101, make washing machine people body 1 flexibility high, the switching-over is convenient.
The main transmission mechanism 7 comprises a motor mounting table 701 arranged inside the walking box 102, a motor three 702 is arranged in the motor mounting table 701, an output shaft of the motor three 702 penetrates through the motor mounting table 701 to be connected with a gear four 703, a main transmission shaft 704 is arranged inside the walking box 102 and located right below the gear four 703, a driving wheel 705 is arranged on the main transmission shaft 704 through key connection, the gear four 703 is in meshing connection with the driving wheel 705, the rear walking mechanism 8 comprises an auxiliary transmission shaft 803 arranged inside the walking box 102, a driven wheel 804 is arranged on the auxiliary transmission shaft 803 through key connection, a connecting shaft 801 is arranged between the auxiliary transmission shaft 803 and the main transmission shaft 704, a gear five 802 is arranged on the connecting shaft 801, and the driving wheel 705 and the driven wheel 804 are respectively located on two sides of the gear five 802 and are in meshing connection with the gear five 802.
Walking arm 9 is cuboid cavity structure, and is provided with guide bar 903 in the inside both sides of cuboid cavity is fixed, there is push rod 901 through threaded connection on the top surface of walking arm 9, the bottom setting of push rod 901 is inside walking arm 9's cavity, and has sleeve 902 through threaded connection in push rod 901's bottom, sleeve 902's end is connected with deflector 904, deflector 904 is through the through-hole sliding connection at both ends on guide bar 903, makes deflector 904 more stable in the ascending removal in vertical side, the fixed pneumatic suction cup that is provided with on deflector 904's the bottom surface, set up the notch that supplies pneumatic suction cup to pass on walking arm 9's the bottom surface.
Fixed the setting connecting plate in the top both sides of sleeve 902, and connecting plate sliding connection is on guide bar 903, be provided with spring 905 between the connecting plate of sleeve 902 both sides and the deflector 904, spring 905 cup joints on guide bar 903, and through spring 905's elastic force, make spring 905 apply forward pressure to deflector 904, guarantees that pneumatic sucking disc is more firm to glass curtain's absorption.
The cleaning cavity 2 comprises a first motor 202 and an executing mechanism, the first motor 202 is fixedly arranged on the plate surface of a lower partition plate of the driving cavity 4 through a motor mounting seat, the executing mechanism comprises a first guide rod 208 and a second guide rod 209 which are symmetrically arranged at two sides in the cleaning cavity 2 along the longitudinal direction, penetrating chutes are horizontally formed in the side surfaces of the first guide rod 208 and the second guide rod 209, an output end of the first motor 202 penetrates through the lower partition plate and is connected with a rotating impeller 203 in the cleaning cavity 2, the rotating impeller 203 is positioned at the central position in the cleaning cavity 2, the rotating impeller 203 is an 8-shaped mechanism, two sides of the rotating impeller 203 are respectively hinged with a first connecting rod 204 and a second connecting rod 205, the other end of the first connecting rod 204 is hinged with a first pushing block 206, the other end of the second connecting rod 205 is hinged with a second pushing block 207, the first pushing block 206 and the second pushing block 207 are slidably connected in the chutes of the first guide rod 208 and the second guide rod 209 through sliding blocks 210 at two ends, the two ends of the first pushing block 206 and the second pushing block 207 are respectively provided with a spur rack 211, the two sides of the actuating mechanism inside the cleaning cavity 2 are respectively provided with a cleaning frame 3, the cleaning frame 3 is provided with a double-layer gear 3033 matched with the spur racks 211, the spur racks 211 at the two ends of the first pushing block 206 and the second pushing block 207 are respectively engaged with an upper-layer gear of the double-layer gear 3033, that is, the first motor 202 drives the rotary impeller 203 to rotate, so that the rotary impeller 203 drives the first connecting rod 204 and the second connecting rod 205 at the two sides to move longitudinally, the first pushing block 206 and the second pushing block 207 are driven to move in the chutes of the first guide rod 208 and the second guide rod 209, the spur racks 211 at the two ends of the first pushing block 206 and the second pushing block 207 are respectively engaged with the upper-layer gear of the double-layer gear 3033 to realize synchronous cleaning of the first cleaning disc 3031 and the second cleaning disc 3032, and the conventional multiple cleaning mechanisms need multiple sets of actuating mechanisms to drive, the cleaning mechanism 303 is more compact in structure and high in practicability, and the production cost is saved.
The cleaning frame 3 comprises a fastening block 301, the fastening block 301 is fixedly arranged inside the cleaning cavity 2 along the longitudinal direction, two ends of the fastening block 301 are fixedly provided with a rotating shaft fixing plate 302, a cleaning mechanism 303 is arranged on the rotating shaft fixing plate 302, the cleaning mechanism 303 comprises a cleaning disc I3031, a cleaning disc II 3032, a double-layer gear 3033, a rotating shaft I3034, a rotating shaft II 3035 and a gear I3036, the rotating shaft I3034 and the rotating shaft II 3035 are respectively arranged at two ends of the rotating shaft fixing plate 302, the cleaning disc II 3032 is fixedly arranged at the tail end of the rotating shaft I3034, the rotating shaft I3034 is provided with the gear I3036 through a key connection, the double-layer gear 3033 is arranged on the rotating shaft II 3035 through a key connection, the cleaning disc I3031 is fixedly arranged at the tail end of the rotating shaft II 3035, the lower layer gear of the double-layer gear 3033 is connected with the gear I3036 through a gear belt, in the cleaning process, the cleaning cavity 2 is divided into four quadrants by taking the rotary impeller 203 as the center, when the first pushing block 206 and the second pushing block 207 push to two sides, the first cleaning disc 3031 and the second cleaning disc 3032 in the first quadrant rotate clockwise for cleaning, the first cleaning disc 3031 and the second cleaning disc 3032 in the second quadrant rotate anticlockwise for cleaning, the first cleaning disc 3031 and the second cleaning disc 3032 in the third quadrant rotate clockwise for cleaning, the first cleaning disc 3031 and the second cleaning disc 3032 in the first quadrant rotate anticlockwise for cleaning, conversely, when the first pushing block 206 and the second pushing block 207 move towards the center, the first cleaning disc 3031 and the second cleaning disc 3032 in the first quadrant rotate anticlockwise for cleaning, the first cleaning disc 3031 and the second cleaning disc 3032 in the second quadrant rotate clockwise for cleaning, the first cleaning disc 3031 and the second cleaning disc 3032 in the third quadrant rotate anticlockwise for cleaning, the first cleaning disc 3031 and the second cleaning disc 3032 in the first quadrant rotate clockwise for cleaning, the cleaning robot body 1 can ensure that the cleaning disc 3031 and the cleaning disc 3032 on the cleaning path are cleaned in a clockwise or anticlockwise rotating mode in the advancing process, and the cleaning capability of the cleaning mechanism 303 is greatly improved.
Soft bristles are arranged on the bottom surfaces of the first cleaning disc 3031 and the second cleaning disc 3032.
The top of the third rotating shaft 502 penetrates through the upper partition plate, the top of the third rotating shaft 502 is connected with a rotary table, the hydraulic cylinder 601 is fixedly arranged on the rotary table, a circular groove for mounting the rotary table is formed in the plate surface of the upper partition plate, and the rotary table is rotatably connected in the circular groove of the upper partition plate, so that the hydraulic cylinder 601 can rotate more stably in the reverse thrust cavity 6.
The center position of the top surface of the guide plate 904 is provided with a spherical groove, the bottom end of the sleeve 902 is provided with a ball matched with the spherical groove, and the ball at the bottom end of the sleeve 902 is rotatably connected in the spherical groove of the guide plate 904.
The working principle is as follows: the four driving gears 703 are engaged with the driving wheel 705 through the third motor 702 to drive the main driving shaft 704 to rotate, so that the main driving shaft 704 drives the crank-link mechanisms 706 at two ends to move, and simultaneously the driving wheel 705 drives the driven wheel 804 to rotate through the fifth gear 802, so that the auxiliary driving shafts 803 on the rear walking mechanism 8 and the front walking mechanism 805 drive the crank-link mechanisms 706 at two ends to synchronously move, that is, when the crank-link mechanisms 706 on the rear walking mechanism 8 and the front walking mechanism 805 drive the pneumatic suction cups on the walking arms 9 to suck the glass curtain wall, the crank-link mechanism 706 on the main driving mechanism 7 drives the pneumatic suction cups on the walking arms 9 to release the glass curtain wall, otherwise, when the crank-link mechanism 706 on the rear walking mechanism 8 and the front walking mechanism 7 drives the pneumatic suction cups on the walking arms 9 to suck the glass curtain wall, the pneumatic suction cups on the walking arms 9 are driven by the crank-link mechanisms 706 on the rear walking mechanism 8 and the front walking mechanism 805 to release the glass curtain wall suction cups, the cleaning robot body 1 can walk on the glass curtain wall, the rotating impeller 203 is driven to rotate by the motor I202, the rotating impeller 203 drives the connecting rod I204 and the connecting rod II 205 on two sides to move longitudinally, so that the pushing block I206 and the pushing block II 207 are driven to move in the sliding chutes of the guide rod I208 and the guide rod II 209, when the pushing block I206 and the pushing block II 207 push towards two sides, the cleaning disc I3031 and the cleaning disc II 3032 in the first quadrant are cleaned in a clockwise rotating mode, the cleaning disc I3031 and the cleaning disc II 3032 in the second quadrant are cleaned in a counterclockwise rotating mode, the cleaning disc I3031 and the cleaning disc II 3032 in the third quadrant are cleaned in a clockwise rotating mode, on the contrary, when the pushing block I206 and the pushing block II 207 move towards the center, the cleaning disc I3031 and the cleaning disc II 3032 in the first quadrant are cleaned in a counterclockwise rotating mode, the first cleaning disc 3031 and the second cleaning disc 3032 in the second quadrant are cleaned in a clockwise rotating mode, the first cleaning disc 3031 and the second cleaning disc 3032 in the third quadrant are cleaned in a counterclockwise rotating mode, the first cleaning disc 3031 and the second cleaning disc 3032 in the first quadrant are cleaned in a clockwise rotating mode, in the cleaning process, the pneumatic suction disc is driven by the first air cylinder 401 to move downwards to adsorb the glass curtain wall, the pneumatic suction discs on the six walking arms 9 on the walking box 102 loosen the glass curtain wall, the piston rod is driven by the hydraulic cylinder 601 to push the walking box 102 upwards, the third driving gear 504 and the second gear 503 of the motor 505 are in meshed transmission, the third rotating shaft 502 is driven to rotate, and reversing of the walking box 102 on the cleaning box 101 is achieved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. A lifting auxiliary mechanism for a glass curtain wall cleaning robot comprises a cleaning robot body (1), and is characterized in that the cleaning robot body (1) comprises a cleaning box (101) and a walking box (102), wherein the walking box (102) is arranged above the cleaning box (101);
a lifting auxiliary mechanism for cleaning the robot body (1) to walk is arranged in the walking box (102), the lifting auxiliary mechanism comprises a main transmission mechanism (7), a rear walking mechanism (8) and a front walking mechanism (805), the rear walking mechanism (8) and the front walking mechanism (805) have the same structure and are respectively arranged at the two sides of the main transmission mechanism (7), the main transmission mechanism (7), the rear walking mechanism (8) and the front walking mechanism (805) are in meshing transmission through gears, two ends of a main transmission shaft (704) of the main transmission mechanism (7) penetrate through the walking box (102) and are connected with a crank connecting rod mechanism (706), the two ends of a secondary transmission shaft (803) of the rear walking mechanism (8) and the front walking mechanism (805) are also connected with a crank link mechanism (706) through the walking box (102), the execution tail end of the crank connecting rod mechanism (706) is fixedly connected with a walking arm (9);
the glass curtain wall cleaning device is characterized in that a cleaning cavity (2), a driving cavity (4), a rotating shaft fixing cavity (5) and a reverse pushing cavity (6) are formed in the cleaning box (101) from bottom to top through three partition plates, a cleaning frame (3) for cleaning a glass curtain wall is arranged in the cleaning cavity (2), a first air cylinder (401) is arranged in the driving cavity (4) and located at two ends of the lower partition plate respectively, a piston rod of the first air cylinder (401) penetrates through the lower partition plate, a pneumatic sucker is arranged at the tail end of the piston rod of the first air cylinder (401), a hydraulic cylinder (601) is fixedly arranged in the reverse pushing cavity (6) and located on the top surface of the upper partition plate, and a piston rod of the hydraulic cylinder (601) penetrates through the top surface of the cleaning box (101) and is connected with the bottom surface of the walking box (102);
the main transmission mechanism (7) comprises a motor mounting table (701) arranged inside the walking box (102), a motor III (702) is arranged in the motor mounting table (701), an output shaft of the motor III (702) penetrates through the motor mounting table (701) to be connected with a gear IV (703), a main transmission shaft (704) is arranged inside the walking box (102) and located right below the gear IV (703), a driving wheel (705) is arranged on the main transmission shaft (704) through key connection, and the gear IV (703) is meshed with the driving wheel (705);
the rear walking mechanism (8) comprises an auxiliary transmission shaft (803) arranged inside the walking box (102), a driven wheel (804) is arranged on the auxiliary transmission shaft (803) through key connection, a connecting shaft (801) is arranged between the auxiliary transmission shaft (803) and the main transmission shaft (704), a fifth gear (802) is arranged on the connecting shaft (801), and the driving wheel (705) and the driven wheel (804) are respectively located on two sides of the fifth gear (802) and are meshed with the fifth gear (802).
2. The lifting auxiliary mechanism for the glass curtain wall cleaning robot is characterized in that the walking arm (9) is of a cuboid cavity structure, guide rods (903) are fixedly arranged on two sides inside the cuboid cavity, a push rod (901) is connected to the top surface of the walking arm (9) through threads, the bottom end of the push rod (901) is arranged inside the cavity of the walking arm (9), a sleeve (902) is connected to the bottom end of the push rod (901) through threads, the tail end of the sleeve (902) is connected with a guide plate (904), the guide plate (904) is slidably connected to the guide rods (903) through holes at two ends, a pneumatic suction cup is fixedly arranged on the bottom surface of the guide plate (904), and a notch for the pneumatic suction cup to pass through is formed in the bottom surface of the walking arm (9);
the fixed connecting plate that sets up in top both sides of sleeve (902), and connecting plate sliding connection is on guide bar (903), be provided with spring (905) between the connecting plate of sleeve (902) both sides and deflector (904), spring (905) cup joint on guide bar (903).
3. The lifting auxiliary mechanism for the glass curtain wall cleaning robot is characterized in that the cleaning cavity (2) comprises a first motor (202) and an actuating mechanism, the first motor (202) is fixedly installed on the plate surface of a lower partition plate of the driving cavity (4) through a motor installation seat, the actuating mechanism comprises a first guide rod (208) and a second guide rod (209) which are symmetrically arranged at two sides in the cleaning cavity (2) along the longitudinal direction, a through sliding chute is horizontally formed in the side surfaces of the first guide rod (208) and the second guide rod (209), the output end of the first motor (202) penetrates through the lower partition plate and is connected with a rotating impeller (203) in the cleaning cavity (2), the rotating impeller (203) is located at the central position in the cleaning cavity (2), the rotating impeller (203) is in an 8-shaped mechanism, and a first connecting rod (204) and a second connecting rod (205) are respectively hinged to two sides of the rotating impeller (203), the other end of the first connecting rod (204) is hinged with a first pushing block (206), the other end of the second connecting rod (205) is hinged with a second pushing block (207), the first pushing block (206) and the second pushing block (207) are connected in sliding grooves of the first guide rod (208) and the second guide rod (209) in a sliding mode through sliding blocks (210) at two ends, and two ends of the first pushing block (206) and the second pushing block (207) are respectively provided with a straight rack (211);
the cleaning device is characterized in that cleaning frames (3) are respectively arranged in the cleaning cavity (2) and on two sides of the actuating mechanism, double-layer gears (3033) matched with the straight racks (211) are arranged on the cleaning frames (3), and the straight racks (211) at two ends of the first pushing block (206) and the second pushing block (207) are respectively in meshed connection with upper-layer gears of the double-layer gears (3033).
4. The lifting auxiliary mechanism for the glass curtain wall cleaning robot is characterized in that the cleaning frame (3) comprises a fastening block (301), the fastening block (301) is fixedly arranged inside the cleaning cavity (2) along the longitudinal direction, two ends of the fastening block (301) are fixedly provided with rotating shaft fixing plates (302), and a cleaning mechanism (303) is arranged on each rotating shaft fixing plate (302);
the cleaning mechanism (303) comprises a first cleaning disc (3031), a second cleaning disc (3032), a double-layer gear (3033), a first rotating shaft (3034), a second rotating shaft (3035) and a first gear (3036), wherein the first rotating shaft (3034) and the second rotating shaft (3035) are respectively arranged at two ends of a rotating shaft fixing plate (302), the second cleaning disc (3032) is fixedly arranged at the tail end of the first rotating shaft (3034), the first gear (3036) is arranged on the first rotating shaft (3034) through a key connection, the double-layer gear (3033) is arranged on the second rotating shaft (3035) through a key connection, the first cleaning disc (3031) is fixedly arranged at the tail end of the second rotating shaft (3035), and the lower gear of the double-layer gear (3033) is connected with the first gear (3036) through a gear belt.
5. The lifting auxiliary mechanism for the glass curtain wall cleaning robot as claimed in claim 4, wherein soft bristles are arranged on the bottom surfaces of the first cleaning disc (3031) and the second cleaning disc (3032).
6. The lifting auxiliary mechanism for the glass curtain wall cleaning robot is characterized in that a bearing fixing seat (501) and a rotating shaft III (502) are fixedly arranged inside the rotating shaft fixing cavity (5), the rotating shaft III (502) is arranged on the bearing fixing seat (501) in the rotating shaft fixing cavity (5), a gear II (503) is arranged on the rotating shaft III (502) through a key connection, a motor II (505) is arranged inside the rotating shaft fixing cavity (5) and on one side of the bearing fixing seat (501) through a motor mounting seat, the output end of the motor II (505) is connected with the gear III (504), and the gear III (504) is meshed with the gear II (503);
the top end of the third rotating shaft (502) penetrates through the upper partition plate, the top end of the third rotating shaft (502) is connected with a rotating disc, and the hydraulic cylinder (601) is fixedly arranged on the rotating disc.
7. The lifting auxiliary mechanism for the glass curtain wall cleaning robot as claimed in claim 6, wherein a circular groove for installing the turntable is formed on the plate surface of the upper partition plate, and the turntable is rotatably connected in the circular groove of the upper partition plate.
8. The lifting auxiliary mechanism for the glass curtain wall cleaning robot as claimed in claim 2, wherein a spherical groove is formed in the center of the top surface of the guide plate (904), the bottom end of the sleeve (902) is provided with a ball matched with the spherical groove, and the ball at the bottom end of the sleeve (902) is rotatably connected in the spherical groove of the guide plate (904).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011518062.3A CN112641367B (en) | 2020-12-21 | 2020-12-21 | Lifting auxiliary mechanism for glass curtain wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011518062.3A CN112641367B (en) | 2020-12-21 | 2020-12-21 | Lifting auxiliary mechanism for glass curtain wall cleaning robot |
Publications (2)
| Publication Number | Publication Date |
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| CN112641367A CN112641367A (en) | 2021-04-13 |
| CN112641367B true CN112641367B (en) | 2022-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011518062.3A Active CN112641367B (en) | 2020-12-21 | 2020-12-21 | Lifting auxiliary mechanism for glass curtain wall cleaning robot |
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| CN (1) | CN112641367B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114345781B (en) * | 2021-11-10 | 2022-11-04 | 秦皇岛职业技术学院 | Automatic cleaning device for organization and construction information display board |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106913277B (en) * | 2017-04-17 | 2019-06-04 | 河北工业大学 | A kind of double leval jib glass-cleaning robot |
| CN107928536A (en) * | 2017-12-29 | 2018-04-20 | 南京工程学院 | Spider-shaped glass outer wall clears up robot |
| CN108618690A (en) * | 2018-06-15 | 2018-10-09 | 诸暨市利缇物联网科技有限公司 | A kind of high-altitude glass cleaning device |
| CN108903817A (en) * | 2018-06-28 | 2018-11-30 | 廖志敏 | Floor brush for floor sweeping robot |
| CN111938521B (en) * | 2018-07-25 | 2021-07-30 | 南京溧水高新产业股权投资有限公司 | Sticker water removing mechanism for ceramic tile floor and using method |
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2020
- 2020-12-21 CN CN202011518062.3A patent/CN112641367B/en active Active
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| CN112641367A (en) | 2021-04-13 |
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