CN114027744B

CN114027744B - Curtain wall cleaning, beautifying and practical training intelligent device for student practice

Info

Publication number: CN114027744B
Application number: CN202111482917.6A
Authority: CN
Inventors: 黄亮; 周芸; 陈璧; 陈斌; 陆晓峰; 贾思源; 张杨; 袁明; 蔡焕初; 陈锡宝
Original assignee: Shanghai Urban Construction Vocational College
Current assignee: Shanghai Urban Construction Vocational College
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2022-08-30
Anticipated expiration: 2041-12-07
Also published as: CN114027744A

Abstract

The invention belongs to the field of curtain wall cleaning, and particularly relates to a curtain wall cleaning, beautifying and practical training intelligent device for practical operation of students, which comprises a platform, a six-joint mechanical arm, an execution end mechanism and a water supply mechanism, wherein the intelligent six-joint mechanical arm in the prior art can move on the platform in two directions parallel to or vertical to a wall surface; according to the invention, the curtain wall of the building is effectively cleaned by the actuating end mechanism driven by the six-joint mechanical arm, and in the cleaning process, the actuating end mechanism can suck the sewage after the curtain wall is cleaned back to the sewage side of the water tank, so that the influence on the appearance of the sewage after the curtain wall is cleaned due to the fact that the sewage flows down along the curtain wall to form stains is avoided, the cleaning quality is reduced, the cleaning efficiency is improved, and the potential safety hazard caused by high-altitude operation in manual operation is avoided.

Description

Curtain wall cleaning, beautifying and practical training intelligent device for student practice

Technical Field

The invention belongs to the field of curtain wall cleaning, and particularly relates to a curtain wall cleaning, beautifying and practical training intelligent device for student practice.

Background

The outer wall of a high-rise building generates dirt and weathering due to the perennial exposure to the sun, the wind and the rain, the pollution of harmful gas, oil smoke and the like in the atmosphere and the erosion of chemical reaction, thereby not only influencing the standard and the market appearance of the building, but also damaging the building. Therefore, the cleaning of the outer wall of the building not only beautifies the environment, but also plays a role in protecting the building.

The cleaning of the building outer wall generally adopts a seat plate type single-person hanger suspension operation mode or a hanging basket mode. The suspension operation mode of the seat plate type single-person sling is that workers use a lifting plate (rope) to slide down to a designated position to carry out construction operation. The construction mode is convenient and flexible, occupies less resources and can reduce the influence on the daily work and life of the owners to the maximum extent. The hanging basket mode is that a hanging basket is erected on the roof to convey workers to a specified position for construction operation, and the construction mode is low in cleaning efficiency and high in cost. Because the two modes are both operated manually, the cleaning quality is difficult to ensure, and greater potential safety hazard exists due to high-altitude operation.

Based on the consideration of safety and efficiency, sometimes, an automatic cleaning mode which can replace manual work and is simple in execution structure design is adopted, and sewage for cleaning the wall surface can flow down along the curtain wall and form stream stains on the curtain wall in the cleaning process, so that the cleaning effect and the cleaning quality are influenced.

The invention designs a curtain wall cleaning, beautifying and practical training intelligent device for practical operation of students by utilizing a six-joint mechanical arm in the prior art so as to achieve the aim of efficiently cleaning curtain walls with high quality.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention discloses a curtain wall cleaning, beautifying and practical training intelligent device for student practice, which is realized by adopting the following technical scheme.

In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention conventionally use, which are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, or be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

A curtain wall cleaning, beautifying and practical training intelligent device for student practice comprises a platform, a six-joint mechanical arm, an execution end mechanism and a water supply mechanism, wherein the intelligent six-joint mechanical arm in the prior art can move on the platform in two directions parallel or vertical to the wall surface; an actuating end mechanism for cleaning the wall surface is arranged at the tail end of the six-joint mechanical arm; a water supply mechanism synchronously moves on the platform and the six-joint mechanical arm along the direction parallel to the wall surface; the execution end mechanism sucks water from the water purifying side of the water supply mechanism through a water purifying pipe of which the tail end is provided with a water pump B to clean the wall surface, and sucks sewage after cleaning the wall surface into the sewage side of the water supply mechanism through a sewage pipe of which the tail end is provided with a water pump A.

The actuating end mechanism comprises a base, a ring sleeve A, a ring sleeve B, an electric driving module, a cleaning seat, a vortex brush A, a vortex brush B, a ring plug, a spring A, a side baffle, a ring sleeve C, a sewage pipe, a water purification pipe, a joint mechanism and a spring B, wherein the ring sleeve A driven to rotate by the electric driving module is rotatably matched in a circular groove A arranged on the base at the tail end of the six-joint mechanical arm; a ring sleeve B with concentric axes is arranged in one end of the ring sleeve A through four fixing rods A which are uniformly distributed in the circumferential direction, and a cylindrical cleaning seat is arranged at the other end of the ring sleeve A.

The middle part of the end surface of the cleaning seat is provided with a through round groove B; an annular sedimentation cavity in the cleaning seat is communicated with one end face of the cleaning seat through a plurality of water suction grooves A which are uniformly distributed in the circumferential direction, and the sedimentation cavity is communicated with the other end face of the cleaning seat through a plurality of water suction grooves B which are uniformly distributed in the circumferential direction; the bottom of the sedimentation cavity is communicated with the end face of the cleaning seat where the water suction groove B is positioned through an annular slag discharge groove; the ring sleeve B is communicated with the circular groove B through a water purifying pipe, and an annular area between the ring sleeve B and the ring sleeve A is communicated with all the water suction grooves A through a sewage pipe with an annular channel; the ring sleeve A and the ring sleeve B are rotatably, hermetically and butt-jointed with a joint mechanism, and the joint mechanism is communicated with the water pump B through a purified water pipe and is communicated with the water pump B through a sewage pipe with an annular channel; the joint mechanism realizes the rotary sealing butt joint of a water purifying pipe at the water purifying side and the rotary sealing butt joint of a sewage pipe at the sewage side.

Two conical annular rubber side baffles which increase the notch area of the water absorption groove B and are matched with the wall surface are arranged in an annular area where all the water absorption grooves B are positioned on the end surface of the cleaning seat, and a vortex brush A which is coaxial with the circular groove B and is used for brushing the wall surface is arranged in a circular area surrounded by all the water absorption grooves B on the end surface of the cleaning seat; the vortex brush B which just compensates the gap is axially slid in an arc-shaped gap which is coaxial with the slag discharge groove and has the same diameter with the vortex brush A; the end surface of the vortex brush B is provided with a ring plug for opening and closing the slag discharging groove, and a spring A for resetting the ring plug is arranged in the settling cavity; the outer side of the cleaning seat is axially matched with a ring sleeve C which is matched with a wall surface and used for opening and closing a flushing tank communicated with the water suction tank A on the side wall of the cleaning seat in a sliding mode, and a spring B for resetting the ring sleeve C is nested on the cleaning seat.

The water supply mechanism comprises a water tank, a partition plate, a sliding plate, a sewage receiving box, a sewage scraping strip, a sliding rod, a connecting rod, a crank wheel, a rotating shaft, a shaft sleeve, a telescopic rod and a spring C, wherein the inside of the water tank is divided into a sewage side and a purified water side by the partition plate; a plurality of rows of filtering holes are uniformly distributed on the partition plate at intervals along the vertical direction; a sliding plate parallel to the partition plate vertically slides in a reciprocating manner in the sewage side; the sliding plate is provided with a plurality of rows of filtering holes which are uniformly distributed at intervals along the vertical direction and are in one-to-one correspondence with the rows of filtering holes, and the sewage receiving port of the sewage receiving box is opposite to the corresponding row of filtering holes; a dirt scraping strip for scraping off attachments at a corresponding row of filter holes on the partition board is arranged at the dirt receiving opening of each dirt receiving box through a plurality of fixing rods C; the dirt scraping strip is provided with two guide surfaces which guide the dirt scraped off the partition plate by the dirt scraping strip to enter the corresponding dirt receiving box through the dirt receiving port; the sliding rod arranged at the bottom of the sliding plate slides in the sliding groove at the bottom of the water tank in a sealing way; the outer bottom of the water tank is provided with a telescopic rod which can stretch out and draw back along the vertical direction, and a spring C for stretching and restoring the telescopic rod is arranged in the telescopic rod; the lower end of the telescopic rod is provided with a shaft sleeve, and a rotating shaft is rotatably matched in the shaft sleeve; the rotating shaft is provided with a crank wheel matched with the surface of the platform, and the crank wheel is hinged with the sliding rod through a connecting rod to form a crank-slider mechanism.

As a further improvement of the technology, a circular ring A is arranged on the outer side of the ring sleeve A, and the circular ring A rotates in a ring groove on the inner wall of the circular groove A; two guide blocks A are symmetrically arranged on the outer side of the ring sleeve C, and the two guide blocks A respectively slide in two guide grooves A on the outer side of the cleaning seat. The cooperation of the guide block A and the guide groove A plays a role in guiding the axial sliding of the ring sleeve C on the cleaning seat. The vortex brush B is provided with two guide blocks B which respectively slide in two guide grooves B on the inner wall of the gap of the vortex brush A; the vortex brush A is provided with a guide block C, and the guide block C slides in a guide groove C on the side wall of the vortex brush B. The matching of the guide block B and the guide groove B or the matching of the guide block C and the guide groove C plays a role in guiding the sliding of the scroll brush B in the notch of the scroll brush A. The spring A and the spring B are both compression springs; one end of the spring A is connected with the annular plug, and the other end of the spring A is connected with the top in the settling chamber; one end of the spring B is connected with the end face of the ring sleeve C, and the other end of the spring B is connected with a circular ring B arranged on the outer side of the cleaning seat.

As a further improvement of the technology, the six-joint mechanical arm slides on the sliding seat along the direction vertical to the wall surface, and the sliding seat slides on the platform along the direction parallel to the wall surface; the bottom of the six-joint mechanical arm is provided with a trapezoidal guide block B which slides in a trapezoidal guide groove B on the sliding seat. The trapezoidal guide block B is matched with the trapezoidal guide groove B to play a role in guiding the six-joint mechanical arm to slide on the sliding seat. The bottom of the sliding seat is provided with a trapezoidal guide block A which slides in a trapezoidal guide groove A on the platform. The trapezoidal guide block A and the trapezoidal guide groove A are matched to play a role in guiding the sliding of the sliding seat on the platform. In teaching training, a sliding seat is manually driven to slide on a platform, and a six-joint mechanical arm is manually driven to slide on the sliding seat; in practical application, the sliding seat is driven by a driving structure in the prior art to slide on the platform, and the six-joint mechanical arm is driven by the driving structure in the prior art to slide on the sliding seat.

As a further improvement of the technology, two guide blocks D are symmetrically arranged at two side ends of the sliding plate and respectively slide in two guide grooves D on the inner wall of the water tank. The cooperation of guide way D and guide block D plays the guide effect to the slip of slide in the water tank. A sliding seal sleeve matched with the sliding rod is arranged on the inner wall of the sliding chute; the telescopic rod consists of an outer sleeve and an inner rod which are sleeved with each other; two guide blocks E are symmetrically arranged on the inner rod and respectively slide in two guide grooves E on the inner wall of the outer sleeve. The cooperation of guide block E and guide way E plays the guide effect to the slip of interior pole in the overcoat, guarantees simultaneously that interior pole can not break away from the overcoat under the effect of the spring C who is in compression state all the time. The spring C is a compression spring; one end of the spring C is connected with the end surface of the inner rod, and the other end of the spring C is connected with the inner wall of the outer sleeve.

As a further improvement of the technology, the top of the settling chamber is densely provided with brush hairs for preventing the dregs in the sewage from entering the water suction tank A; the round groove B is provided with an outward-expanding conical surface which guides purified water to diffuse to the periphery at the notch on one side of the water suction groove B; and water leakage grooves which allow the purified water from the circular groove B to quickly diffuse to the periphery are densely distributed on the vortex brush A and the vortex brush B.

As a further improvement of the technology, the passage area of the water suction groove B is gradually reduced from the sedimentation cavity to the end face of the cleaning seat, the notch of the water suction groove B on the end face of the cleaning seat is ensured to be under the action of the water pump A to form larger negative pressure, and the water suction groove B is favorable for fully sucking and recovering sewage after the wall surface is cleaned.

As a further improvement of the present technique, the electric drive module is mounted in a base; the gear a mounted on the output shaft of the electric drive module meshes with the gear B mounted on the collar a.

As a further improvement of the technology, the joint mechanism comprises a ring sleeve D, fixed rods B and a ring sleeve E, wherein the ring sleeve E with the same circular axis is installed in the ring sleeve D through the four fixed rods B which are uniformly distributed in the circumferential direction.

As a further improvement of the technology, the ring sleeve B is rotationally matched with the ring sleeve E through a rotary sealing ring; the ring sleeve D is in rotary fit with the ring sleeve A through a rotary sealing ring; the sewage pipe of the connecting joint mechanism and the water pump A is communicated with an annular area between the ring sleeve D and the ring sleeve E, and the purified water pipe of the connecting joint mechanism and the water pump B is communicated with the ring sleeve E.

Compared with the traditional curtain wall cleaning equipment, the curtain wall cleaning equipment has the advantages that the curtain wall of the building is effectively cleaned through the actuating end mechanism driven by the six-joint mechanical arm, and in the cleaning process, sewage after the curtain wall is cleaned can be sucked back to the sewage side of the water tank through the actuating end mechanism, so that the influence on the attractiveness and the cleaning quality of the sewage after the curtain wall is cleaned due to the fact that the sewage flows downwards along the curtain wall to form stains is avoided, the cleaning efficiency is improved, and the potential safety hazard caused by high-altitude operation in manual operation is avoided.

The actuating end mechanism sucks sewage after the curtain wall is cleaned by the actuating end mechanism, returns the sewage to the water tank, and circularly filters the sewage to the purified water side through a plurality of groups of filter holes on the partition plate, so that the utilization rate of the water is improved, and the cleaning efficiency of the curtain wall is further improved.

The filtering efficiency of the filtering holes on the partition plate can be blocked by a large amount of dirt attached to the filtering holes due to long-time filtering, the crank wheel interacting with the platform can rotate along with the movement of the water tank sewage treatment device on the platform, the crank wheel drives all the dirt scraping strips to scrape and clean the large amount of dirt attached to the sewage side of the partition plate through a series of transmission, the filtering holes on the partition plate can effectively filter the sewage on the sewage side in the water tank to the water purification side, the utilization rate of the water in the water tank is improved, and the requirement of continuously and continuously supplying the water purification of the execution end mechanism to the water purification side of the water tank is met.

The invention has simple structure and better use effect.

Drawings

Fig. 1 is an overall schematic view of the present invention.

Fig. 2 is a schematic partial cross-sectional view of the present invention.

Figure 3 is a schematic cross-sectional view of the actuator end unit in cooperation with a waste pipe and a clean water pipe.

FIG. 4 is a cross-sectional view of the ring A, ring B, coupling mechanism, sewage pipe and clean water pipe.

Figure 5 is a schematic cross-sectional view of an actuator mechanism.

FIG. 6 is a schematic cross-sectional view of the cleaning seat, the vortex brush A, the vortex brush B, the ring plug and the spring A in two views.

Fig. 7 is a cross-sectional view of the fitting of the loop a and the loop B.

Fig. 8 is a schematic cross-sectional view of the joint mechanism.

Figure 9 is a schematic cross-sectional view of a waste pipe.

Fig. 10 is a schematic cross-sectional view of the base.

FIG. 11 is a schematic view of a purge seat.

FIG. 12 is a schematic cross-sectional view of a purge seat.

Fig. 13 is a schematic view of the scroll brush a.

Fig. 14 is a schematic view of the scroll brush B.

Fig. 15 is a schematic sectional view of the water supply mechanism.

Fig. 16 is two partial sectional schematic views of the water supply mechanism.

Fig. 17 is a schematic sectional view of a water tank.

FIG. 18 is a schematic view of a separator plate.

FIG. 19 is a schematic view of the combination of the slide plate, the dirt collecting box and the dirt scraping strip.

Fig. 20 is a schematic view of the dirt receiving box, the fixing rod C and the dirt scraping strip.

Number designation in the figures: 1. a platform; 2. a trapezoidal guide groove A; 3. a slide base; 4. a trapezoidal guide groove B; 5. a trapezoidal guide block A; 6. a six-joint mechanical arm; 7. a trapezoidal guide block B; 8. an actuator mechanism; 9. a base; 10. a circular groove A; 11. a ring groove; 12. a ring sleeve A; 13. fixing a rod A; 14. a ring sleeve B; 15. a circular ring A; 16. a gear B; 17. a gear A; 18. an electric drive module; 19. cleaning a seat; 20. a circular groove B; 21. a conical surface; 22. a sedimentation chamber; 23. a water suction groove A; 24. a washing tank; 25. a water suction groove B; 26. a slag discharge groove; 27. a guide groove A; 28. brushing; 29. a vortex brush A; 30. a water leakage groove; 31. a notch; 32. a guide groove B; 33. a guide block C; 34. a scroll brush B; 35. a guide groove C; 36. a guide block B; 37. a ring plug; 38. a spring A; 39. side blocking; 40. c, sleeving a ring sleeve; 41. a guide block A; 42. a circular ring B; 43. a sewage pipe; 44. a water purifying pipe; 45. a joint mechanism; 46. a ring sleeve D; 47. fixing the rod B; 48. a loop E; 49. rotating the seal ring; 50. a spring B; 51. a water tank; 52. a guide groove D; 53. a chute; 54. a water pump A; 55. a water pump B; 56. a partition plate; 57. a filtration pore; 58. a slide plate; 59. a sewage receiving box; 60. a sewage receiving port; 61. fixing a rod C; 62. scraping dirt strips; 63. a guide surface; 64. a slide bar; 65. a sliding seal cartridge; 66. a connecting rod; 67. a crank wheel; 68. a rotating shaft; 69. a shaft sleeve; 70. a telescopic rod; 71. a jacket; 72. a guide groove E; 73. an inner rod; 74. a guide block E; 75. a spring C; 76. a guide block D; 77. a water supply mechanism.

Detailed Description

The drawings are schematic illustrations of the implementation of the present invention to facilitate understanding of the principles of structural operation. The specific product structure and the proportional size are determined according to the use environment and the conventional technology.

As shown in fig. 1 and 2, the intelligent six-joint mechanical arm comprises a platform 1, a six-joint mechanical arm 6, an execution end mechanism 8 and a water supply mechanism 77, wherein as shown in fig. 1 and 2, the intelligent six-joint mechanical arm 6 in the prior art can move on the platform 1 in two directions parallel to or vertical to a wall surface; the tail end of the six-joint mechanical arm 6 is provided with an actuating end mechanism 8 for cleaning the wall surface; a water supply mechanism 77 is arranged on the platform 1 and synchronously moves with the six-joint mechanical arm 6 along the direction parallel to the wall surface; the actuator 8 sucks water from the clean water side of the water supply mechanism 77 through the clean water pipe 44 having the water pump B55 attached to the end thereof to clean the wall surface, and the actuator 8 sucks sewage after cleaning the wall surface into the sewage side of the water supply mechanism 77 through the sewage pipe 43 having the water pump a54 attached to the end thereof.

As shown in fig. 3, 4 and 5, the actuating end mechanism 8 comprises a base 9, a ring sleeve a12, a ring sleeve B14, an electric drive module 18, a cleaning seat 19, a vortex brush a29, a vortex brush B34, a ring plug 37, a spring a38, a side stop 39, a ring sleeve C40, a sewage pipe 43, a water purifying pipe 44, a joint mechanism 45 and a spring B50, wherein the ring sleeve a12 driven by the electric drive module 18 to rotate is rotationally matched in a circular groove a10 arranged on the base 9 at the tail end of the six-joint mechanical arm 6 as shown in fig. 3, 7 and 10; a ring sleeve B14 with the same circular axis is arranged in one end of the ring sleeve A12 through four fixing rods A13 which are evenly distributed in the circumferential direction, and a cylindrical cleaning seat 19 is arranged at the other end of the ring sleeve A12.

As shown in fig. 11 and 12, the cleaning seat 19 has a through circular groove B20 in the middle of the end surface; the annular sedimentation cavity 22 in the cleaning seat 19 is communicated with one end face of the cleaning seat 19 through a plurality of water suction grooves A23 which are uniformly distributed in the circumferential direction, and the sedimentation cavity 22 is communicated with the other end face of the cleaning seat 19 through a plurality of water suction grooves B25 which are uniformly distributed in the circumferential direction; the bottom of the sedimentation cavity 22 is communicated with the end face of the cleaning seat 19 where the water suction groove B25 is positioned through the annular slag discharge groove 26; as shown in fig. 4, 5 and 9, the ring B14 is communicated with the circular groove B20 through the fresh water pipe 44, and the annular area between the ring B14 and the ring a12 is communicated with all the water suction grooves a23 through the sewage pipe 43 having an annular passage; the ring sleeve A12 and the ring sleeve B14 are in rotary sealing butt joint with a joint mechanism 45, and the joint mechanism 45 is communicated with the water pump B55 through a purified water pipe 44 and is communicated with the water pump B55 through a sewage pipe 43 with an annular channel; the joint mechanism 45 realizes the rotary sealing butt joint of the purified water pipe at the purified water side and the rotary sealing butt joint of the sewage pipe at the sewage side.

As shown in fig. 3, 5 and 12, two conical annular rubber side stoppers 39 which increase the notch area of the water suction groove B25 and are matched with the wall surface are installed in the annular region where all the water suction grooves B25 on the end surface of the cleaning seat 19 are located, and a vortex brush a29 which is coaxial with the circular groove B20 and is used for brushing the wall surface is installed in the circular region surrounded by all the water suction grooves B25 on the end surface of the cleaning seat 19; as shown in fig. 5, 13 and 14, a vortex brush B34 which just compensates the gap 31 axially slides in an arc-shaped gap 31 which is coaxial with the slag discharge groove 26 and has the same diameter as the vortex brush a 29; as shown in fig. 5 and 12, an annular plug 37 for opening and closing the slag discharge groove 26 is mounted on the end surface of the vortex brush B34, and a spring a38 for returning the annular plug 37 is mounted in the sedimentation chamber 22; the outer side of the cleaning seat 19 is axially matched with a ring sleeve C40 which is matched with a wall surface in a sliding way and used for opening and closing the flushing groove 24 communicated with the water suction groove A23 on the side wall of the cleaning seat 19, and a spring B50 for resetting the ring sleeve C40 is nested on the cleaning seat 19.

As shown in fig. 15 and 16, the water supply mechanism 77 includes a water tank 51, a partition plate 56, a sliding plate 58, a dirt receiving box 59, a dirt scraping strip 62, a sliding rod 64, a connecting rod 66, a crank wheel 67, a rotating shaft 68, a shaft sleeve 69, an expansion rod 70 and a spring C75, wherein as shown in fig. 15, 17 and 18, the inside of the water tank 51 is divided into two parts, namely a sewage side and a clean water side, by the partition plate 56; a plurality of rows of filtering holes 57 are uniformly distributed on the partition plate 56 at intervals along the vertical direction; a sliding plate 58 parallel to the partition plate 56 vertically slides in the sewage side in a reciprocating manner; as shown in fig. 15, 16 and 19, the sliding plate 58 is provided with dirt receiving boxes 59 which are uniformly distributed at intervals along the vertical direction and correspond to the rows of filtering holes 57 one by one, and dirt receiving ports 60 of the dirt receiving boxes 59 are opposite to the corresponding rows of filtering holes 57; as shown in fig. 16 and 20, a dirt scraping strip 62 for scraping off the attachments at the corresponding row of filter holes 57 on the partition plate 56 is mounted at the dirt receiving port 60 of each dirt receiving box 59 through a plurality of fixing rods C61; the dirt scraping strip 62 is provided with two guide surfaces 63 which guide the dirt scraped off the partition plate 56 by the dirt scraping strip to enter the corresponding dirt receiving box 59 through the dirt receiving opening 60; as shown in fig. 15, 16 and 17, the sliding rod 64 mounted at the bottom of the sliding plate 58 slides in the sliding slot 53 at the bottom of the water tank 51 in a sealing manner; the outer bottom of the water tank 51 is provided with a telescopic rod 70 which extends and retracts along the vertical direction, and a spring C75 which can extend and retract the telescopic rod 70 is arranged in the telescopic rod 70; the lower end of the telescopic rod 70 is provided with a shaft sleeve 69, and a rotating shaft 68 is rotatably matched in the shaft sleeve 69; a crank wheel 67 matched with the surface of the platform 1 is arranged on the rotating shaft 68, and the crank wheel 67 is hinged with the sliding rod 64 through a connecting rod 66 to form a crank-slider mechanism.

As shown in fig. 3 and 10, a ring a15 is arranged outside the ring sleeve a12, and a ring a15 rotates in a ring groove 11 on the inner wall of the ring groove a 10; as shown in fig. 5, 11 and 12, two guide blocks a41 are symmetrically installed outside the ring sleeve C40, and the two guide blocks a41 slide in two guide grooves a27 on the outside of the wash seat 19. The engagement of guide block a41 with guide slot a27 guides the axial sliding movement of collar C40 on cleaning seat 19. As shown in fig. 6, 13 and 14, two guide blocks B36 are mounted on the scroll brush B34, and the two guide blocks B36 slide in two guide grooves B32 on the inner wall of the notch 31 of the scroll brush a29 respectively; a guide block C33 is mounted on the scroll brush A29, and the guide block C33 slides in a guide groove C35 on the side wall of the scroll brush B34. The engagement of guide block B36 with guide slot B32 or the engagement of guide block C33 with guide slot C35 guides the sliding movement of scroll brush B34 in notch 31 of scroll brush a 29. As shown in fig. 5, spring a38 and spring B50 are both compression springs; one end of the spring A38 is connected with the ring plug 37, and the other end is connected with the top in the sedimentation cavity 22; spring B50 has one end connected to end of ring C40 and the other end connected to ring B42 outside seat 19.

As shown in fig. 1 and 2, the six-joint mechanical arm 6 slides on the sliding base 3 along the direction perpendicular to the wall surface, and the sliding base 3 slides on the platform 1 along the direction parallel to the wall surface; the bottom of the six-joint mechanical arm 6 is provided with a trapezoidal guide block B7, and the trapezoidal guide block B7 slides in a trapezoidal guide groove B4 on the sliding seat 3. The cooperation of the trapezoidal guide block B7 and the trapezoidal guide groove B4 plays a role in guiding the sliding of the six-joint robot arm 6 on the slide carriage 3. The bottom of the sliding seat 3 is provided with a trapezoid guide block A5, and the trapezoid guide block A5 slides in a trapezoid guide groove A2 on the platform 1. The cooperation of the trapezoidal guide block A5 and the trapezoidal guide groove A2 plays a guiding role for the sliding of the sliding seat 3 on the platform 1. In teaching training, a sliding seat 3 is manually driven to slide on a platform 1, and a six-joint mechanical arm 6 is manually driven to slide on the sliding seat 3; in practical application, the sliding base 3 is driven by a driving structure of the prior art to slide on the platform 1, and the six-joint mechanical arm 6 is driven by a driving structure of the prior art to slide on the sliding base 3.

As shown in fig. 17 and 19, two guide blocks D76 are symmetrically installed on both side ends of the sliding plate 58, and the two guide blocks D76 slide in two guide grooves D52 on the inner wall of the water tank 51, respectively. The engagement of the guide groove D52 with the guide block D76 guides the sliding movement of the slide plate 58 within the water tank 51. As shown in fig. 16, a sliding gland 65 fitted with the sliding rod 64 is mounted on the inner wall of the chute 53; the telescopic rod 70 consists of an outer sleeve 71 and an inner rod 73 which are sleeved with each other; two guide blocks E74 are symmetrically arranged on the inner rod 73, and the two guide blocks E74 are respectively slid in two guide grooves E72 on the inner wall of the outer sleeve 71. The cooperation of the guide block E74 with the guide slot E72 guides the sliding movement of the inner lever 73 within the outer sleeve 71 while ensuring that the inner lever 73 does not disengage from the outer sleeve 71 under the action of the spring C75, which is always in a compressed state. The spring C75 is a compression spring; one end of the spring C75 is connected with the end surface of the inner rod 73, and the other end is connected with the inner wall of the outer sleeve 71.

As shown in fig. 5, the bristles 28 for preventing the dregs in the sewage from entering the water suction groove a23 are densely distributed at the top of the settling chamber 22; the round groove B20 is provided with an outward-expanding conical surface 21 which guides the purified water to spread to the periphery at the notch on one side of the water suction groove B25; as shown in fig. 5, 13 and 14, the water leakage grooves 30 for allowing the purified water from the circular groove B20 to quickly diffuse to the periphery are densely distributed in the scroll brush a29 and the scroll brush B34.

As shown in fig. 5 and 12, the passage area of the water suction groove B25 gradually shrinks from the settling chamber 22 to the end surface of the cleaning seat 19, so as to ensure that the notch of the water suction groove B25 on the end surface of the cleaning seat 19 can form a large negative pressure under the action of the water pump a54, which is beneficial to fully sucking and recovering the sewage after cleaning the wall surface.

As shown in fig. 3, the electric drive module 18 is mounted in the base 9; the gear a17 mounted on the output shaft of the electric drive module 18 meshes with the gear B16 mounted on the ring housing a 12.

As shown in fig. 8, the joint mechanism 45 includes a ring sleeve D46, fixing rods B47 and a ring sleeve E48, wherein the ring sleeve D46 is provided with a concentric ring sleeve E48 through four fixing rods B47 which are uniformly distributed in the circumferential direction.

As shown in fig. 4, ring B14 is rotatably engaged with ring E48 by rotary seal ring 49; ring sleeve D46 is rotatably engaged with ring sleeve a12 by rotating seal ring 49; the waste pipe 43 connecting the coupling 45 to the pump a54 communicates with the annular region between the collar D46 and the collar E48, and the fresh water pipe 44 connecting the coupling 45 to the pump B55 communicates with the collar E48.

The curtain wall cleaning device is mainly used for student teaching, and is used for shaping and volume production after a large number of experimental verifications, and is used for actual cleaning construction of curtain walls.

When the platform 1 is used for actual cleaning construction of a curtain wall, the platform is suspended outside the curtain wall through a sling, and in the actual cleaning process of the curtain wall, the movement of the sliding seat 3 on the platform 1 and the movement of the six-joint mechanical arm 6 on the sliding seat 3 are intelligently driven through the motor.

The working process of the invention is as follows: in the initial state, both spring A38 and spring B50 are in a compressed state. The ring plug 37 is in an open state for the slag discharging groove 26, and the vortex brush B34 axially protrudes out of the vortex brush A29 and does not form a compensation for the notch 31 of the vortex brush A29. The ring C40 is open for all of the flushing channels 24 and the end of the ring C40 projects a distance axially beyond the ends of the scroll brush A29 and the side bar 39 along the cleaning seat 19. The crank wheel 67 in the water supply mechanism 77 is pressed against the surface of the platform 1, the telescopic rod 70 is compressed and the internal spring C75 is in a compressed state.

When the curtain wall cleaning machine is required to be used for cleaning a curtain wall of a building, the sliding seat 3 is driven to move on the platform 1, the six-joint mechanical arm 6 is driven to move on the sliding seat 3, the position of the six-joint mechanical arm 6 relative to the curtain wall surface of the building is adjusted, and then the six-joint mechanical arm 6 is started to enable the actuating end mechanism 8 to be horizontally moved and pressed against the curtain wall surface of the building.

In the process of pressing the actuating end mechanism 8 against the wall surface of the curtain wall of the building, the ring sleeve C40 moves axially along the cleaning seat 19 under the pressing of the wall surface and is finally flush with the end surface of the vortex brush A29, the spring B50 is further compressed, and the ring sleeve C40 closes all the flushing grooves 24 on the cleaning seat 19. Simultaneously, vortex brush B34 moves in the breach 31 of vortex brush A29 along the cleaning seat 19 axial, and vortex brush B34 promotes ring stopper 37 and moves in to the row's cinder notch 26 on the cleaning seat 19 terminal surface, and finally vortex brush B34 flushes with the terminal surface of vortex brush A29, and ring stopper 37 closes row's cinder notch 26, and two rubber side keep off 39 terminal surfaces and wall offset, and spring A38 is compressed further.

Then, the water pump a54 and the water pump B55 are started simultaneously, the water pump B55 starts to spray water onto the wall surface of the curtain wall of the building through the clean water pipe 44 and the circular groove B20 on the washing seat 19, and the water pump a54 starts to suck water to the sewage side of the water tank 51 through the sewage pipe 43, the water suction groove a23, the sedimentation chamber 22 and the water suction groove B25.

Then, the electric drive module 18 in the actuator 8 is activated, the electric drive module 18 drives the ring member a12 to rotate rapidly relative to the base 9 through the gear a17 and the gear B16, the ring member a12 drives the ring member B14 to rotate relative to the joint mechanism 45, and the ring member a12 drives the cleaning seat 19 to rotate synchronously.

The cleaning seat 19 drives the scroll brush a29 and the scroll brush B34 to rotate synchronously, and the scroll brush a29 and the scroll brush B34, which rotate rapidly around the central axis of the cleaning seat 19, brush the wall surface wetted by the clean water ejected from the circular groove B20. The vortex brush A29 and the vortex brush B34 which rotate around the central axis of the cleaning seat 19 quickly spread the clean water sprayed from the circular groove B20 to the wall part brushed by the vortex brush A29 along the vortex direction of the vortex brush A29 and the vortex direction of the vortex brush B34, and the curtain wall is cleaned more efficiently by the vortex brush A29 through the clean water. Meanwhile, the water leakage grooves 30 at the tail ends of the vortex brush A29 and the vortex brush B34 can effectively guide the clean water from the circular groove B20 to the part brushed by the vortex brush A29 on the wall surface.

The sewage generated by cleaning the wall surface with the wet water of the vortex brush A29 and the vortex brush B34 moves in the direction of the water suction groove B25 which is circumferentially distributed on the edge on the end surface of the cleaning seat 19 along the rapidly rotating vortex brush A29 and the vortex brush B34 under the centrifugal action. When sewage enters an outward-expanding annular area formed by the two rubber side baffles 39, a running water pump A54 enables a sewage communication part generated by brushing the wall surfaces by the vortex brush A29 and the vortex brush B34 to be purified water to be recycled into the sewage side of the water tank 51 through the water suction groove B25, the sedimentation cavity 22, the water suction groove A23 and the sewage pipe 43 with an annular channel under the action of negative pressure generated at the notch of the water suction groove B25. Two rubber side keep off 39 increase water absorption area of water absorption groove B25 on the wall, guarantee to form the better enclosure space of sealed effect between water absorption groove B25 and the wall to keep the negative pressure of water absorption groove B25 notch department can not obviously reduce because of leaking gas, be favorable to water absorption groove B25 to absorb sewage from the wall more.

The larger sludge entering the settling chamber 22 along with the sewage is retained in the settling chamber 22 by being blocked by the bristles 28 in the settling chamber 22, and does not clog the water suction tank a 23.

When the execution end mechanism 8 cleans the wall surface for a certain period of time, more dregs are accumulated in the sedimentation cavity 22 of the cleaning seat 19, and the dregs accumulated in the sedimentation cavity 22 need to be cleaned at the moment, which is beneficial for the execution end to further effectively clean the wall surface. The process of cleaning the dross accumulated in the precipitation chamber 22 is as follows:

the water pump a54, the water pump B55, and the electric drive module 18 are stopped to separate the cleaning seat 19 from the wall surface. In the process of separating the cleaning seat 19 from the wall surface, the ring sleeve C40 is reset under the reset action of the spring B50 and completely opens all the flushing grooves 24 on the side wall of the cleaning assembly, meanwhile, the ring plug 37 is reset under the reset action of the spring A38 and completely opens the slag discharge groove 26 at the bottom of the settling cavity 22, and the ring plug 37 pushes the vortex brush B34 to reset relative to the vortex brush A29. The cleaning seat 19 is immersed into a prepared water barrel, the electric driving module 18 is started to operate, the electric driving module 18 drives the cleaning seat 19 to rotate rapidly through a series of transmission, purified water in the water barrel enters the sedimentation cavity 22 through the opened flushing groove 24 and the opened dreg discharging groove 26, the purified water entering the sedimentation cavity 22 washes dregs stored in the sedimentation cavity 22 under the centrifugal action, the dregs stored in the sedimentation cavity 22 are discharged into the water barrel from the dreg discharging groove 26 along with the entered water, and therefore the dregs stored in the sedimentation cavity 22 are cleaned. After the dregs in the settling chamber 22 are completely discharged, the electric driving module 18 is stopped.

Then, the six-joint mechanical arm 6 is controlled to drive the cleaning seat 19 to abut against the wall again, in the process that the cleaning seat 19 abuts against the wall, the ring sleeve C40 closes all the flushing grooves 24 again and is flush with the end face of the scroll brush A29, the scroll brush B34 enters the notch 31 of the scroll brush A29 again and is flush with the end face of the scroll brush A29, the scroll brush B34 drives the ring plug 37 to close the slag discharge groove 26 again, the spring A38 is further compressed again, and the two rubber side stoppers 39 abut against the wall again.

Then, the water pump a54, the water pump B55, and the electric drive module 18 are again activated so that the actuator 8 continues to brush the wall.

After the wall surface is cleaned, the water pump A54, the water pump B55 and the electric drive module 18 are controlled to stop running, and then the six-joint mechanical arm 6 is controlled to separate the actuating end mechanism 8 from the wall surface.

The function that the execution end mechanism 8 recycles the sewage generated by brushing the wall surface into the water tank 51 through the sewage pipe 43 can avoid the flow stain formed by the sewage flowing down along the wall surface in the wall surface cleaning process, and the wall surface cleaning quality is improved. Meanwhile, in practical application, in the whole cleaning process, the six-joint mechanical arm 6 drives the actuating end mechanism 8 to horizontally move to clean the wall surface, manual participation is not needed, high-altitude operation for manually cleaning the wall surface is avoided, and potential safety hazards of manually cleaning the wall surface due to the high-altitude operation are eliminated.

The filtering holes 57 on the partition plate 56 in the water supply mechanism 77 can effectively filter the sewage on the sewage side of the water tank 51 into the clean water side and block the reached dregs into the sewage side, thereby completing the recycling of water and improving the utilization rate of water.

The filtering holes 57 of the partition plate 56 are clogged by the dirt attached to the filtered sewage on the sewage side, which affects the filtering effect of the partition plate 56 on the purified water and the utilization efficiency of the water.

Along with the washing of execution end mechanism 8 to whole building wall, slide 3 can drive six joint arm 6 continuously and move on platform 1, when slide 3 moved, crank wheel 67 among the water supply mechanism 77 will rotate under platform 1 effect, rotatory crank wheel 67 can drive slide 58 vertical reciprocating motion in water tank 51 through connecting rod 66 and slide bar 64, slide 58 drives whole scraping dirt strip 62 and strikes off the adnexed dirt of baffle 56 sewage side to the completion is to the clearance of the adnexed dirt of filter pore 57 department on baffle 56. The dirt scraped from the partition 56 enters the corresponding dirt receiving box 59 through the two guide surfaces 63 of the dirt scraping strip 62 and is collected in a concentrated manner, so that the dirt scraped from the partition 56 is prevented from falling into the sewage side of the water tank 51 again.

In conclusion, the beneficial effects of the invention are as follows: according to the invention, the curtain wall of the building is effectively cleaned by the actuating end mechanism 8 driven by the six-joint mechanical arm 6, and in the cleaning process, the actuating end mechanism 8 can suck the sewage after the curtain wall is cleaned back to the sewage side of the water tank 51, so that the influence on the appearance of the sewage after the curtain wall is cleaned due to the formation of stains along the downward flow of the curtain wall is avoided, the cleaning quality is reduced, the cleaning efficiency is improved, and the potential safety hazard caused by high-altitude operation in manual operation is avoided.

The actuating end mechanism 8 sucks sewage after the curtain wall is cleaned away and returns the sewage to the sewage side in the water tank 51, and the sewage is effectively and circularly filtered to the purified water side through the groups of filtering holes 57 on the partition plate 56 for cyclic utilization, so that the utilization rate of water is improved, and the cleaning efficiency of the curtain wall is further improved.

The filtering efficiency of the filtering holes 57 on the partition plate 56 can be blocked by a large amount of dirt attached to the filtering holes 57 due to long-time filtering, the crank wheel 67 interacting with the platform 1 can rotate along with the movement of the invention on the platform 1, the crank wheel 67 drives all the dirt scraping strips 62 to scrape and clean the large amount of dirt attached to the sewage side of the partition plate 56 through a series of transmission, the effective filtering of the sewage on the sewage side in the water tank 51 to the clean water side by the filtering holes 57 on the partition plate 56 is ensured, the utilization rate of the water in the water tank 51 is improved, and the requirement of continuously and continuously supplying the clean water of the actuating end mechanism 8 to the clean water side of the water tank 51 is ensured.

Claims

1. The utility model provides a curtain washs real intelligent device of instructing of cosmetic for student's real behaviour which characterized in that: the intelligent six-joint mechanical arm comprises a platform, a six-joint mechanical arm, an execution end mechanism and a water supply mechanism, wherein the intelligent six-joint mechanical arm in the prior art can move on the platform in two directions parallel to or vertical to a wall surface; the tail end of the six-joint mechanical arm is provided with an execution end mechanism for cleaning the wall surface; a water supply mechanism synchronously moves on the platform and the six-joint mechanical arm along the direction parallel to the wall surface; the execution end mechanism sucks water from the water purifying side of the water supply mechanism through a water purifying pipe of which the tail end is provided with a water pump B to clean the wall surface, and sucks sewage after cleaning the wall surface into the sewage side of the water supply mechanism through a sewage pipe of which the tail end is provided with a water pump A;

the actuating end mechanism comprises a base, a ring sleeve A, a ring sleeve B, an electric driving module, a cleaning seat, a vortex brush A, a vortex brush B, a ring plug, a spring A, a side baffle, a ring sleeve C, a sewage pipe, a water purification pipe, a joint mechanism and a spring B, wherein the ring sleeve A driven to rotate by the electric driving module is rotatably matched in a circular groove A arranged on the base at the tail end of the six-joint mechanical arm; a ring sleeve B with concentric axes is arranged in one end of the ring sleeve A through four fixing rods A which are uniformly distributed in the circumferential direction, and a cylindrical cleaning seat is arranged at the other end of the ring sleeve A;

the middle part of the end surface of the cleaning seat is provided with a through circular groove B; an annular sedimentation cavity in the cleaning seat is communicated with one end face of the cleaning seat through a plurality of water suction grooves A which are uniformly distributed in the circumferential direction, and the sedimentation cavity is communicated with the other end face of the cleaning seat through a plurality of water suction grooves B which are uniformly distributed in the circumferential direction; the bottom of the sedimentation cavity is communicated with the end face of the cleaning seat where the water suction groove B is positioned through an annular slag discharge groove; the ring sleeve B is communicated with the circular groove B through a water purifying pipe, and an annular area between the ring sleeve B and the ring sleeve A is communicated with all the water suction grooves A through a sewage pipe with an annular channel; the ring sleeve A and the ring sleeve B are rotatably, hermetically and butt-jointed with a joint mechanism, and the joint mechanism is communicated with the water pump B through a purified water pipe and is communicated with the water pump B through a sewage pipe with an annular channel; the joint mechanism realizes the rotary sealing butt joint of a purified water pipe at the purified water side and the rotary sealing butt joint of a sewage pipe at the sewage side;

two conical annular rubber side baffles which increase the notch area of the water absorption groove B and are matched with the wall surface are arranged in an annular area where all the water absorption grooves B are positioned on the end surface of the cleaning seat, and a vortex brush A which is coaxial with the circular groove B and is used for brushing the wall surface is arranged in a circular area surrounded by all the water absorption grooves B on the end surface of the cleaning seat; the vortex brush B which just compensates the gap is axially slid in an arc-shaped gap which is coaxial with the slag discharge groove and has the same diameter with the vortex brush A; the end surface of the vortex brush B is provided with a ring plug for opening and closing the slag discharging groove, and a spring A for resetting the ring plug is arranged in the settling cavity; a ring sleeve C which is matched with a wall surface and used for opening and closing a flushing tank communicated with the water suction tank A on the side wall of the cleaning seat is axially and slidably matched on the outer side of the cleaning seat, and a spring B for resetting the ring sleeve C is nested on the cleaning seat;

2. The curtain wall cleaning, beautifying and practical training intelligent device for student practice according to claim 1, characterized in that: the outer side of the ring sleeve A is provided with a circular ring A which rotates in a ring groove on the inner wall of the circular groove A; two guide blocks A are symmetrically arranged on the outer side of the ring sleeve C, and the two guide blocks A respectively slide in two guide grooves A on the outer side of the cleaning seat; the vortex brush B is provided with two guide blocks B which respectively slide in two guide grooves B on the inner wall of the gap of the vortex brush A; the vortex brush A is provided with a guide block C, and the guide block C slides in a guide groove C on the side wall of the vortex brush B; the spring A and the spring B are both compression springs; one end of the spring A is connected with the annular plug, and the other end of the spring A is connected with the top in the settling chamber; one end of the spring B is connected with the end face of the ring sleeve C, and the other end of the spring B is connected with a circular ring B arranged on the outer side of the cleaning seat.

3. The intelligent curtain wall cleaning, beautifying and practical training device for student practice as claimed in claim 1, characterized in that: the six-joint mechanical arm slides on the sliding seat along the direction vertical to the wall surface, and the sliding seat slides on the platform along the direction parallel to the wall surface; the bottom of the six-joint mechanical arm is provided with a trapezoidal guide block B which slides in a trapezoidal guide groove B on the sliding seat; the bottom of the sliding seat is provided with a trapezoidal guide block A which slides in a trapezoidal guide groove A on the platform; in teaching training, a sliding seat is manually driven to slide on a platform, and a six-joint mechanical arm is manually driven to slide on the sliding seat; in practical application, the sliding seat is driven by a driving structure in the prior art to slide on the platform, and the six-joint mechanical arm is driven by the driving structure in the prior art to slide on the sliding seat.

4. The curtain wall cleaning, beautifying and practical training intelligent device for student practice according to claim 1, characterized in that: two guide blocks D are symmetrically arranged at two side ends of the sliding plate and respectively slide in two guide grooves D on the inner wall of the water tank; a sliding seal sleeve matched with the sliding rod is arranged on the inner wall of the sliding chute; the telescopic rod consists of an outer sleeve and an inner rod which are sleeved with each other; the inner rod is symmetrically provided with two guide blocks E which slide in two guide grooves E on the inner wall of the outer sleeve respectively; the spring C is a compression spring; one end of the spring C is connected with the end surface of the inner rod, and the other end of the spring C is connected with the inner wall of the outer sleeve.

5. The intelligent curtain wall cleaning, beautifying and practical training device for student practice as claimed in claim 1, characterized in that: the top of the settling chamber is densely provided with bristles for preventing dregs in the sewage from entering the water suction groove A; the round groove B is provided with an outward-expanding conical surface which guides purified water to diffuse to the periphery at the notch on one side of the water suction groove B; and water leakage grooves which allow the purified water from the circular groove B to quickly diffuse to the periphery are densely distributed on the vortex brush A and the vortex brush B.

6. The curtain wall cleaning, beautifying and practical training intelligent device for student practice according to claim 1, characterized in that: the area of the passage of the water suction groove B is gradually reduced from the precipitation cavity to the end surface of the cleaning seat.

7. The intelligent curtain wall cleaning, beautifying and practical training device for student practice as claimed in claim 1, characterized in that: the electric drive module is arranged in the base; the gear a mounted on the output shaft of the electric drive module meshes with the gear B mounted on the collar a.

8. The curtain wall cleaning, beautifying and practical training intelligent device for student practice according to claim 1, characterized in that: the joint mechanism comprises a ring sleeve D, fixed rods B and a ring sleeve E, wherein the ring sleeve E with the same central axis is installed in the ring sleeve D through the four fixed rods B which are uniformly distributed in the circumferential direction.

9. The intelligent curtain wall cleaning, beautifying and practical training device for student practice as claimed in claim 1 or 8, wherein: the ring sleeve B is rotatably matched with the ring sleeve E through a rotary sealing ring; the ring sleeve D is in rotary fit with the ring sleeve A through a rotary sealing ring; the sewage pipe of the connecting joint mechanism and the water pump A is communicated with an annular area between the ring sleeve D and the ring sleeve E, and the purified water pipe of the connecting joint mechanism and the water pump B is communicated with the ring sleeve E.