CN208610742U - A kind of glass curtain wall cleaning machine device people - Google Patents
A kind of glass curtain wall cleaning machine device people Download PDFInfo
- Publication number
- CN208610742U CN208610742U CN201721498683.3U CN201721498683U CN208610742U CN 208610742 U CN208610742 U CN 208610742U CN 201721498683 U CN201721498683 U CN 201721498683U CN 208610742 U CN208610742 U CN 208610742U
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- CN
- China
- Prior art keywords
- curtain wall
- host
- glass curtain
- cleaning
- cleaning machine
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Abstract
The utility model discloses a kind of glass curtain wall cleaning machine device people, host including being built-in with driving device and controller, driving device is electrically connected with the controller, and the host is equipped with a plurality of pedipulator driven by driving device towards the side of glass curtain wall, and pedipulator end is equipped with sucker；The a plurality of mechanical arm driven by driving device is additionally provided on the host, hairbrush, perching knife, colloid scraper and camera are installed in the mechanical arm end respectively, and the camera signals are connected to controller；The host is additionally provided with multiple propellers backwards to the side of glass curtain wall.Pass through sucker and pedipulator, robot can on glass curtain wall vertically and horizontally walking, across the vertical and horizontal blocking barrier on glass, to complete the cleaning of glass curtain wall, robot can be attached on glass curtain wall when sucker loosens or inhales not tight by back thrust by propeller, improve security performance；And cleaning quality can be effectively improved by triple cleanings of hairbrush, perching knife and rubber scraper.
Description
Technical field
The utility model relates to robotic technology fields, more particularly to a kind of robot for glass curtain wall cleaning.
Background technique
Currently, the cleaning of glass curtain wall is careless slightly just to will appear safety mainly by being accomplished manually on skyscraper
Accident, then people increasingly tend to the washing and cleaning operation that high-altitude glass curtain wall is carried out using high-altitude cleaning machine people, but existing
Some cleaning robots tend not to reach ideal effect in cleaning, there is the disadvantages of not washing clean clearly, and power not
It is easy to fall when Ji or failure, brings security risk；Therefore, it is necessary to existing cleaning robot improve with it is excellent
Change.
Utility model content
In order to overcome the deficiencies of the prior art, the utility model provides a kind of robot for glass curtain wall cleaning, to mention
High cleaning degree and safety.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of glass curtain wall cleaning machine device people, the host including being built-in with driving device and controller, driving device and control
Device electrical connection processed, the host are equipped with a plurality of pedipulator driven by driving device, pedipulator end towards the side of glass curtain wall
End is equipped with sucker；The a plurality of mechanical arm driven by driving device is additionally provided on the host, the mechanical arm end is installed respectively
Hairbrush, perching knife, colloid scraper and camera, the camera signals are connected to controller；The host is backwards to glass curtain wall
Side is additionally provided with multiple propellers.
It further include winch truck, the host is connected on winch truck by least two hawsers, and the winch truck is equipped with
Winding plant, the hawser pass through winding plant folding and unfolding；It is also connected between the host and winch truck and is received by winding plant
The service cable and signal cable put.
The host is provided with water tank and water pump, and water pump is connected to hairbrush or perching knife along mechanical arm by water pipe or colloid is scraped
Knife.
The winch truck is equipped with the water-supply-pipe by the synchronous folding and unfolding of winding plant, and the water-supply-pipe is connected in host
Water tank.
The host is provided with cleaning agent case and cleaning pump, cleaning pump by cleaning agent pipe along mechanical arm be connected to hairbrush or
Perching knife or colloid scraper.
The winch truck is equipped with the cleaning fluid conveying pipeline by the synchronous folding and unfolding of winding plant, and the cleaning fluid conveying pipeline connects
The cleaning agent case being connected in host.
The host is provided with the remote control signal receiver connecting with controller signals.
The utility model has the beneficial effects that by sucker and pedipulator, robot can on glass curtain wall vertically and horizontally walking, across
Vertical and horizontal blocking barrier more on glass, to complete the cleaning of glass curtain wall, propeller provides a back thrust cooperating,
Ensure the safety of its walking, so that robot is attached on glass curtain wall by carrying on the back thrust when sucker loosens or inhales not tight；
And general cleaning erasing, the obstinate stain of perching knife removing and rubber scraper are carried out by hairbrush and scrape the water mark after cleaning, it is such
Triple cleanings can effectively improve cleaning quality；In addition, camera can return positioning and wash course in due course, while examining clear
Effect is washed, is cleaned again in order to judge whether to clean up, whether need, guarantees the effect and cleaning of cleaning to the greatest extent
Degree.
Detailed description of the invention
Specific embodiment of the present utility model is described in further detail below in conjunction with attached drawing, in which:
Fig. 1 is the structural schematic diagram of the utility model.
Specific embodiment
Referring to Fig.1, a kind of glass curtain wall cleaning machine device people of the utility model, including it is built-in with driving device and controller
Host 1, driving device is electrically connected with the controller, and host 1 is surrounded by eight by driving device towards the side of glass curtain wall
The pedipulator 11 of driving, i.e., every side are equipped with two, and 11 end of pedipulator is equipped with sucker 12, are also equipped with cleaning device on host 1,
Host 1 can be inhaled on glass curtain wall by sucker 12, so that cleaning device cleans glass curtain wall, pedipulator 11 can be vertical
Glass curtain wall on vertical and horizontal walking, may span across the vertical and horizontal blocking barrier on glass curtain wall, moved integrally, so as to
Continue to clean other regions after having cleaned at one, in addition, cleaning path can be inputted in controller, in advance so as to robot root
According to the movement of cleaning path and cleaning.
Specifically, the host 1 is provided with vacuum pump, and vacuum pump can be set to eight and correspond with sucker 12, and
Corresponding sucker 12 is connected to by connection tracheae respectively and carries out independent air-breathing, may be set to be one, and pass through eight companies
Trachea is connected to all suckers 12 and carries out unified air-breathing control, is equipped with solenoid valve, the vacuum pump on each connection tracheae
Controller is connected to solenoid signal.It is each that the realization host 1 that vacuum pump and solenoid valve can be convenient is controlled by controller
Vacuumized on the inside of the sucker 12 of side, so that it be made firmly to suck on glass curtain wall, so as to carry out glass curtain wall cleaning and
Reposition after movement；It is equipped with pressure sensor on each sucker 12, pressure sensor is connect with controller signals,
The negative pressure that pressure sensor detects when inhaling vacuum is just closed down to vacuum pump after setting value or solenoid valve, to ensure that sucker 12 has
Enough negative-pressure suckings, tight curtain wall of inhaling ensure robot security's operation, avoid suction insufficient and fall off.
Preferably, the host 1 is set backwards to the side of glass curtain wall there are four propeller 3, and the propeller 3, which passes through, to be mounted in
Four motors in host 1 respectively drive, and the motor is electrically connected with the controller, and are additionally provided with three-axis gyroscope in the host 1,
Three-axis gyroscope is connect with controller signals.Effect and 12 cooperating of sucker are pushed away by the back of propeller 3, robot integrally obtains
To be firmly attached on glass curtain wall, be convenient for cleaning, effectively prevent from falling, improve robot safety and
Reliability；Three-axis gyroscope is used to perceive the balanced degree of robot and signal is sent to controller, then by controller
The operation of portion's program generates control signal to control the revolving speed of four propellers on host 1, to maintain the balance of entire robot.
Further, it is also possible to which three-axis gyroscope is changed to six axis gyroscopes, to realize unmanned plane function, robot is transformed into nobody
Machine, to carry out high-altitude flight and clean in place.The remote control signal receiver dress connecting with controller signals is also equipped in host 1
It sets, it is convenient and efficient to carry out the switching of procedure auto-control and manual control at any time.
As a further improvement of the above technical scheme, also a winch truck 2 can be fixed in top of building, host 1 is logical
Two hawsers 21 to be crossed to be connected on winch truck 2, winch truck 2 is equipped with winding plant, and hawser 21 carries out folding and unfolding by winding plant,
Raising synchronous with host 1 reduces, and plays safety effect, it is ensured that the safety of robot and the safety of lower section pedestrian；Host 1 and winch truck
The service cable 22 and signal cable 23 by winding plant folding and unfolding are also connected between 2, service cable 22 is connected to driving dress
It sets and motor, signal cable 23 is connected to controller, can make up what the battery-powered operation time was not grown by service cable 22
Disadvantage is lengthened working hours, and working efficiency is improved, and transmits signal by signal cable 23, and having can be to avoid being wirelessly connected on
Apart from it is too far when poor signal the problem of, effective anti-stop operation error, safety when ensureing manual control in moving process.
Preferably, the cleaning device includes hairbrush 14, perching knife 15, colloid scraper 16, and four are additionally provided on host 1 by driving
The mechanical arm 13 of dynamic device driving, wherein hairbrush 14, perching knife 15, colloid scraper 16 are installed in the end of three mechanical arms 13 respectively,
The cleaning of glass curtain wall is realized by the movement of mechanical arm 13, wherein hairbrush 14 is used for for generally cleaning, erasing, perching knife 15
Obstinate stain is removed, rubber scraper 16 is used to scrape the water mark after cleaning；The end of another mechanical arm 13 is equipped with camera
17,17 signal of camera is connected to controller, passback positioning in due course and wash course, while examining cleaning effect, so as to
In judging whether to clean up, whether need to clean again, guarantee the effect and cleanliness of cleaning to the greatest extent.
Further, the host 1 is provided with water tank and water pump, and water pump is connected to hairbrush 14 along mechanical arm 13 by water pipe
Or perching knife 15 or colloid scraper 16, convenient for cleaning, avoid xerotripsis not easy to clean clean so as to the water spray softening stain in cleaning
The problem of, meanwhile, winch truck 2 is equipped with the water-supply-pipe 24 by the synchronous folding and unfolding of winding plant, and water-supply-pipe 24 is connected in host 1
Water tank water is supplemented into water tank in time by winding plant according to the distance synchronous folding and unfolding of host 1, extend cleaning duration, keep away
Exempt from water tank water deficiency and frequently stops；In addition, being also equipped with cleaning agent case and cleaning pump in host 1, cleaning pump passes through cleaning agent
Pipe is connected to hairbrush 14 or perching knife 15 or colloid scraper 16 along mechanical arm 13, for cleaning obstinate stain, by adding cleaning agent,
Making to clean obstinate stain to be to be more easier, cleaning speed faster, cleans cleaner, and it is more efficient, it is time-consuming shorter, meanwhile,
Winch truck 2 is equipped with the cleaning fluid conveying pipeline 25 by the synchronous folding and unfolding of winding plant, and the cleaning fluid conveying pipeline 25 is connected to master
Cleaning agent case in machine 1 extends cleaning duration, avoids because in cleaning agent case so as to the additional clean agent into cleaning agent case in time
Cleaning agent it is insufficient and frequently stop or keep cleaning effect bad.
The utility model can be gone in length and breadth by 3 cooperating of sucker 12, pedipulator 11 and propeller on glass curtain wall
Walk, across the vertical and horizontal blocking barrier on glass, the pressure sensor on sucker 12 can real-time monitoring sucker 12 pressure, it is ensured that
The safety of walking；Propeller 3 further ensures its safety, can start automatically when sucker 12 loosens or inhales not tight, pass through
Robot is attached on glass curtain wall by back thrust；And by a variety of cleaning means on multiple mechanical arms 13, cooperate camera 17
Real-time monitoring, can dispose the various spots on glass curtain wall, improve the quality of robot cleaning；Furthermore hawser 21 is further
The security performance for ensureing robot, fundamentally effectively prevents it from falling.
Above embodiments are only to illustrate the technical solution of the utility model and are not intended to limit it, all without departing from this
Any modification of utility model spirit and scope or equivalent replacement should all cover the range in technical solutions of the utility model
It is interior.
Claims (7)
1. a kind of glass curtain wall cleaning machine device people, the host including being built-in with driving device and controller, driving device and control
Device electrical connection, it is characterised in that: the host is equipped with a plurality of pedipulator driven by driving device towards the side of glass curtain wall,
Pedipulator end is equipped with sucker；The a plurality of mechanical arm driven by driving device, the mechanical arm end are additionally provided on the host
Hairbrush, perching knife, colloid scraper and camera, the camera signals are installed respectively and are connected to controller；The host is backwards to glass
The side of glass curtain wall is additionally provided with multiple propellers.
2. a kind of glass curtain wall cleaning machine device people according to claim 1, it is characterised in that: it further include winch truck, it is described
Host is connected on winch truck by least two hawsers, and the winch truck is equipped with winding plant, and the hawser passes through elevator
Device folding and unfolding；The service cable and signal cable by winding plant folding and unfolding are also connected between the host and winch truck.
3. a kind of glass curtain wall cleaning machine device people according to claim 2, it is characterised in that: the host is provided with water tank
And water pump, water pump are connected to hairbrush or perching knife or colloid scraper along mechanical arm by water pipe.
4. a kind of glass curtain wall cleaning machine device people according to claim 3, it is characterised in that: the winch truck is equipped with logical
The water-supply-pipe of the synchronous folding and unfolding of winding plant is crossed, the water-supply-pipe is connected to the water tank in host.
5. a kind of glass curtain wall cleaning machine device people according to claim 2, it is characterised in that: the host is provided with cleaning
Agent case and cleaning pump, cleaning pump are connected to hairbrush or perching knife or colloid scraper along mechanical arm by cleaning agent pipe.
6. a kind of glass curtain wall cleaning machine device people according to claim 5, it is characterised in that: the winch truck is equipped with logical
The cleaning fluid conveying pipeline of the synchronous folding and unfolding of winding plant is crossed, the cleaning fluid conveying pipeline is connected to the cleaning agent case in host.
7. a kind of glass curtain wall cleaning machine device people according to claim 1, it is characterised in that: the host is provided with and controls
The remote control signal receiver of device signal connection processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721498683.3U CN208610742U (en) | 2017-11-09 | 2017-11-09 | A kind of glass curtain wall cleaning machine device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721498683.3U CN208610742U (en) | 2017-11-09 | 2017-11-09 | A kind of glass curtain wall cleaning machine device people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208610742U true CN208610742U (en) | 2019-03-19 |
Family
ID=65689607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721498683.3U Expired - Fee Related CN208610742U (en) | 2017-11-09 | 2017-11-09 | A kind of glass curtain wall cleaning machine device people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208610742U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107773145A (en) * | 2017-11-09 | 2018-03-09 | 广东豪信激光装备制造有限公司 | A kind of glass curtain wall cleaning machine device people |
| CN114568996A (en) * | 2022-05-06 | 2022-06-03 | 广东工业大学 | Spider cleaning robot |
-
2017
- 2017-11-09 CN CN201721498683.3U patent/CN208610742U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107773145A (en) * | 2017-11-09 | 2018-03-09 | 广东豪信激光装备制造有限公司 | A kind of glass curtain wall cleaning machine device people |
| CN114568996A (en) * | 2022-05-06 | 2022-06-03 | 广东工业大学 | Spider cleaning robot |
| CN114568996B (en) * | 2022-05-06 | 2022-07-29 | 广东工业大学 | Spider cleaning robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190319 Termination date: 20201109 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |