CN208659132U - A kind of building cleaning robot - Google Patents

Abstract

The technical solution of the utility model is related to that clean device will be carried out to building, specifically a kind of building cleaning robot.The robot can the exterior wall especially glass curtain wall to building clean, while cleaning operation can also be carried out for the photovoltaic panel at the top of green building.Robot is made of walking guidance system, cleaning operation end, control and monitoring system.Robot Design has upright guide rail, which moves towards setting along the photovoltaic panel of building curtain wall and building top, integrated can carry out cleaning operation to photovoltaic panel and building curtain wall.Robot is provided with clean level of two groups of gray-scale sensors for detecting the cleaning front and back surface to be cleaned simultaneously and has certain intelligent level.Robot is additionally provided with the components such as grating scale, stepper motor, moving component more can be accurately controlled and be perceived.The intelligence control system of robot may be implemented automatic running and manually operation various modes, be adapted to various operating environments.

Description

A kind of building cleaning robot

Technical field

The technical solution of the utility model is related to that clean device will be carried out to building, and specifically a kind of building is protected Clean robot.

Background technique

In recent years, green building and glass-wall building extensive development, many architectural designs have glass curtain wall, and there are also portions Building is divided to have photovoltaic panel in building top design.In order to guarantee the cleaning and the generating efficiency of photovoltaic panel of building curtain wall, need pair Building curtain wall and photovoltaic panel are periodically kept a public place clean, and current technology is mostly to carry out operation only for one such demand, such as: public The number of opening is the technical solution of CN202408749U, discloses self weight downslide high pressure exterior wall cleaning machine, it is clear which is provided with high pressure Water storage tank can be cleaned with External Wall, but the program does not design the controlled electrical components such as motor, execute the fortune of end Row controllability is poor, and in addition the program is not also to the cleaning function of photovoltaic panel.

In short, prior art products not can solve the technical issues of wind energy directly utilizes, especially needing to move The region that can be inputted, which is directly established to utilize, converts wind energy into the problem of kinetic energy directly utilizes.

Utility model content

The technical problem to be solved by the utility model is to provide a kind of building cleaning robots, can be to the outer of building Wall especially glass curtain wall is cleaned, while can also carry out cleaning operation for the photovoltaic panel at the top of green building.

It includes a kind of building cleaning robot that the utility model, which solves technical solution used by the technical problem, by walking Guidance system, cleaning operation end, control and monitoring system composition, walking guidance system is by rack, upper rail, upper block, vertical Guide rail, connection frame, lower tumbler, lower guideway, stepper motor A composition, wherein lower guideway is fixed on the rack and is located at building Bottom, upper rail are fixed on the rack and are located at top of building, and upper rail and lower guideway are arranged in parallel, and upright guide rail is provided with Two, left and right parallelly distribute on is fixed together between two upright guide rails by connection frame, and upright guide rail is along building curtain Wall and tabula rasa material move towards arrangement, and upright guide rail upper end is provided with upper block, and upper block is engaged on upper rail, upright guide rail lower end It is provided with lower tumbler, lower tumbler is engaged on lower guideway, and the output shaft of stepper motor A is connected on lower tumbler；Cleaning operation end It holds by active pinch wheels group, servo-actuated pinch wheels group, transmission shaft, stepper motor B, cleaning axle, clearer, electromotive roller, contain water layer, clear Clean layer, frame composition, wherein the design of active pinch wheels group has two pairs and left and right distribution, is arranged in the upper end two sides of frame, and two pairs Active pinch wheels group is stepped up respectively in the interior outside of two upright guide rails in left and right, and stepper motor B is fixed on frame top The output end of side, stepper motor B is connect by transmission shaft with active pinch wheels group, and servo-actuated pinch wheels group design has two pairs and left and right The lower end two sides of frame are arranged in distribution, and two pairs of servo-actuated pinch wheels groups are stepped up respectively in the interior outside of two upright guide rails in left and right, Cleaning axle is horizontally disposed, positioned at frame middle part and connect with frame, clearer setting in cleaning axle, the structure of clearer by It is successively inside cleaning axle in place, electromotive roller, contains water layer and clean layer；Control and monitoring system by grating scale, horizontal throw switch A, Horizontal throw switch B, ` control platform, vertical stroke switch A, vertical stroke switch B, preposition gray-scale sensor, postposition gray scale pass Sensor, industrial PLC composition, wherein grating scale is arranged in parallel in the right side of upright guide rail, and horizontal throw switch A is arranged in lower guideway The top of lower guideway left end is arranged in the top of right end, horizontal throw switch B, and vertical stroke switch A is arranged on upright guide rail The front of upright guide rail lower end is arranged in the front at end, vertical stroke switch B, and top of building, industrial PLC is arranged in control platform It is arranged inside control platform, the lower section for being located at clearer on frame, postposition gray-scale sensor is arranged in preposition gray-scale sensor The top for being located at clearer on frame is set.

A kind of above-mentioned building cleaning robot, the connection frame have two, are arranged in parallel one on the other.

A kind of above-mentioned building cleaning robot, there are two the upper blocks, and the wheel face of upper block is spill.

A kind of above-mentioned building cleaning robot, there are two the lower tumblers, and the wheel face of lower tumbler is spill.

A kind of above-mentioned building cleaning robot, the height of the control platform are 85 centimetres.

A kind of above-mentioned building cleaning robot, the culvert water layer are designed as detachable structure.

A kind of above-mentioned building cleaning robot, the clean layer are designed as detachable structure.

A kind of above-mentioned building cleaning robot, used unit be it is known to those skilled in the art, pass through Well known approach obtains.The connection method of the component is that those skilled in the art can grasp.

The beneficial effects of the utility model are: compared with prior art, a kind of building cleaning robot of the utility model Outstanding feature and marked improvement are:

(1) upright guide rail of the utility model moves towards setting along the photovoltaic panel of building curtain wall and building top, can be with one Body carries out cleaning operation to photovoltaic panel and building curtain wall.

(2) the utility model is provided with two groups of gray-scale sensors for detecting the clean level of the cleaning front and back surface to be cleaned Has certain intelligent level.

(3) the utility model is provided with the components such as grating scale, stepper motor, can carry out to moving component more accurate Ground control and perception.

(4) the utility model has intelligence control system, and automatic running and manually operation various modes may be implemented, can be with Adapt to various operating environments.

Detailed description of the invention

The present invention will be further described with reference to the accompanying drawings and examples.

Fig. 1 is a kind of agent structure schematic diagram for building cleaning robot of the utility model.

Fig. 2 is a kind of main structure side direction schematic diagram for building cleaning robot of the utility model.

Fig. 3 is a kind of cleaning operation end structure schematic diagram for building cleaning robot of the utility model.

Fig. 4 is a kind of clearer structural schematic diagram for building cleaning robot of the utility model.

In figure, 1. racks, 2. upper rails, 3. photovoltaic panels, 4. building curtain walls, 5. upper blocks, 6. upright guide rails, 7. connections Frame, 8. grating scales, 10. cleaning operation ends, 11. horizontal throw switch A, 12. lower tumblers, 13. lower guideways, 14. horizontal throws Switch B, 15. control platforms, 16. vertical stroke switch A, 17. vertical stroke switch B, 18. stepper motor A, 19. actively clamp Wheel group, 20. servo-actuated pinch wheels groups, 21. transmission shafts, 22. stepper motor B, 23. postposition gray-scale sensors, 24. cleaning axles, 25. is clear Clean roller, 26. preposition gray-scale sensors, 27. electromotive rollers, 28. contain water layer, 29. clean layers, 30. frames.

Specific embodiment

FIG. 1 to FIG. 4 illustrated embodiment show a kind of building cleaning robot of the utility model by, by walking guidance system, Cleaning operation end 10, control and monitoring system composition, guidance system of walking is by rack 1, upper rail 2, upper block 5, upright guide rail 6, connection frame 7, lower tumbler 12, lower guideway 13, stepper motor A18 composition, wherein lower guideway 13 is fixed in rack 1 and is located at and builds The bottom of object is built, upper rail 2 is fixed in rack 1 and is located at top of building, and upper rail 2 and lower guideway 13 are arranged in parallel, and erect Straight guide 6 is provided with two, left and right parallelly distribute on, is fixed together between two upright guide rails 6 by connection frame 7, even Connecing frame 7 makes two 6 phases of upright guide rail be fixed together admittedly, and upright guide rail 6 moves towards arrangement along building curtain wall 4 and tabula rasa material, 6 upper end of upright guide rail is provided with upper block 5, and upper block 5 is engaged on upper rail 2, and 6 lower end of upright guide rail is provided with lower tumbler 12, lower tumbler 12 is engaged on lower guideway 13, and upright guide rail 6 can be under the guidance of upper block 5 and lower tumbler 12 along above leading Rail 2 and lower guideway 13 move left and right, and the output shaft of stepper motor A18 is connected on lower tumbler 12, for driving 12 turns of lower tumbler Dynamic and then driving upright guide rail 6 is mobile；Cleaning operation end 10 is by active pinch wheels group 19, servo-actuated pinch wheels group 20, transmission shaft 21, stepper motor B22, cleaning axle 24, clearer 25, electromotive roller 27, culvert water layer 28, clean layer 29, frame 30 form, wherein leading The dynamic design of pinch wheels group 19 has two pairs and left and right distribution, the upper end two sides of frame 30 is arranged in, two pairs of active pinch wheels groups 19 are divided Do not step up in the interior outside of two upright guide rails 6 in left and right, stepper motor B22 is fixed above 30 top of frame, stepping electricity The output end of machine B22 is connect by transmission shaft 21 with active pinch wheels group 19, and stepper motor B22 is used to drive active pinch wheels group 19 rotations, and then cleaning operation end 10 is driven to move up and down, the servo-actuated design of pinch wheels group 20 has two pairs and left and right distribution, setting In the lower end two sides of frame 30, two pairs of servo-actuated pinch wheels groups 20 are stepped up in the interior outside of two upright guide rails 6 in left and right, actively respectively Pinch wheels group 19 and servo-actuated pinch wheels group 20 make being fitted on upright guide rail 6 tightly of cleaning operation end 10, cleaning axle jointly 24 is horizontally disposed, positioned at frame 30 middle part and connect with frame 30, the setting of clearer 25 in cleaning axle 24, clearer 25 Structure by it is interior be successively cleaning axle 24, electromotive roller 27 in place, contain water layer 28 and clean layer 29, cleaning axle 24 is used to support clearer 25, electromotive roller 27 is used to that clearer 25 is driven to rotate, and certain water can be stored by containing water layer 28, for soaking cleaned object Surface, and then cleaning effect is improved, clean layer 29 is used to remove dust accumulation；Control and monitoring system is switched by grating scale 8, horizontal throw A11, horizontal throw switch B14, ` control platform 15, vertical stroke switch A16, vertical stroke switch B17, preposition gray scale sensing Device 26, postposition gray-scale sensor 23, industrial PLC composition, wherein grating scale 8 is arranged in parallel in the right side of upright guide rail 6, for supervising The running position of cleaning operation end 10 is surveyed, the top of 13 right end of lower guideway is arranged in horizontal throw switch A11, for preventing from erecting Straight guide 6 runs more than to the right extreme position, and the top of 13 left end of lower guideway is arranged in horizontal throw switch B14, for preventing Upright guide rail 6 runs more than extreme position to the left, and the front of 6 upper end of upright guide rail is arranged in vertical stroke switch A16, for preventing Only cleaning operation end 10 runs up the position that oversteps the extreme limit, before 6 lower end of upright guide rail is arranged in vertical stroke switch B17 Side, for preventing cleaning operation end 10 from running down the position that oversteps the extreme limit, top of building is arranged in control platform 15, for controlling The operation of robot processed, industrial PLC are arranged inside control platform 15, and the preposition setting of gray-scale sensor 26 is located on frame 30 The lower section of clearer 25, for building the clean-up performance on surface before monitoring cleaning operation, postposition gray-scale sensor 23 is arranged in frame Build the clean-up performance on surface on frame 30 after monitoring cleaning operation positioned at the top of clearer 25.

According to a kind of building cleaning robot shown in above-mentioned FIG. 1 to FIG. 4, is made, wherein connection frame 7 has two, one on one Under be arranged in parallel, there are two upper blocks 5, and the wheel face of upper block 5 is spill, and there are two lower tumblers 12, and the wheel face of lower tumbler 12 is Spill, the height of control platform 15 are 85 centimetres, contain water layer 28 and are designed as detachable structure, clean layer 29 is designed as detachably tying Structure.

Below by will be by taking a cleaning operation as an example.

The first step, starting and self-test

Starting after device installation, completes self-test, each section state is normal, and cleaning operation end 10 is in top of building, Positioned at highest point.

Second step sets job parameter

The clean level difference of artificial setting cleaning front and back, the speed and spacing that setting upright guide rail 6 or so is run, setting The speed that cleaning operation end 10 moves up and down, and to relevant parameters such as the cleaning times repeatedly of tough stains.It is artificial simultaneously Corresponding cleaning solution is wanted in setting in containing water layer 28.

Third step, cleaning operation

Cleaning operation end 10 is carried out controlling top-down operation, while electricity by stepper motor B22 from top of building Dynamic roller 27 is also started to work, and clearer 25 is driven to rotate, the clean layer 29 and photovoltaic panel 3 or building curtain wall of 25 outer layer of clearer 4 contacts, clean its surface, the running position of 8 real-time monitoring cleaning operation end 10 of grating scale, when preposition gray scale senses The difference of device 26 and postposition gray-scale sensor 23 meets pre-provisioning request, and robot continues operation, when preposition 26 He of gray-scale sensor The difference of postposition gray-scale sensor 23 does not meet pre-provisioning request, and robot returns to a distance, cleaning operation is repeated, until meeting It is required that stepper motor A18 controls lower tumbler 12 and runs after robot cleaner complete permutation cleaned object body, drive is led vertically Rail 6 moves left and right, replacement to new position, and cleaning operation end 10 repeats third step operation from highest order is newly returned to, until clear Clean operation is fully completed

4th step, manual operation

Robot it can carry out cleaning operation, the letter that operator can pass back according to grating scale 8 with manual hand manipulation Breath and the data passed back of gray-scale sensor pass through manual operation control stepper motor A18, B22 electromotive roller of stepper motor 27 Positive and negative rotation, and then movement and the cleaning operation of robot are controlled, complete clean up task.

Claims (7)

1. a kind of building cleaning robot is made of, feature walking guidance system, cleaning operation end, control and monitoring system Be: walking guidance system is by rack, upper rail, upper block, upright guide rail, connection frame, lower tumbler, lower guideway, stepper motor A Composition, wherein lower guideway is fixed on the rack and is located at the bottom of building, and upper rail is fixed on the rack and is located at building Top, upper rail and lower guideway are arranged in parallel, and upright guide rail is provided with two, left and right parallelly distribute on, between two upright guide rails It is fixed together by connection frame, upright guide rail moves towards arrangement along building curtain wall and tabula rasa material, and upright guide rail upper end is set It is equipped with upper block, upper block is engaged on upper rail, and upright guide rail lower end is provided with lower tumbler, and lower tumbler is engaged on lower guideway On, the output shaft of stepper motor A is connected on lower tumbler；Cleaning operation end is by active pinch wheels group, servo-actuated pinch wheels group, biography Moving axis, cleaning axle, clearer, electromotive roller, contains water layer, clean layer, frame composition at stepper motor B, and wherein active pinch wheels group is set In respect of two pairs and left and right is distributed, and the upper end two sides of frame are arranged in, and two pairs of active pinch wheels groups are stepped up perpendicular left and right two respectively The interior outside of straight guide, stepper motor B are fixed above frame top, the output end of stepper motor B by transmission shaft with The connection of active pinch wheels group, servo-actuated pinch wheels group design have two pairs and left and right distribution, are arranged in the lower end two sides of frame, two pairs with Dynamic pinch wheels group is stepped up respectively in the interior outside of two upright guide rails in left and right, and cleaning axle is horizontally disposed, positioned at frame middle part and Connect with frame, clearer is arranged in cleaning axle, the structure of clearer by it is interior be successively cleaning axle in place, electromotive roller, contain water Layer and clean layer；Control and monitoring system is by grating scale, horizontal throw switch A, horizontal throw switch B, ` control platform, vertical row Cheng Kaiguan A, vertical stroke switch B, preposition gray-scale sensor, postposition gray-scale sensor, industrial PLC composition, wherein grating scale is flat The right side of upright guide rail is arranged in row, and the top of lower guideway right end, horizontal throw switch B setting is arranged in horizontal throw switch A In the top of lower guideway left end, the front of upright guide rail upper end is arranged in vertical stroke switch A, and vertical stroke switch B setting exists Top of building is arranged in the front of upright guide rail lower end, control platform, and industrial PLC is arranged inside control platform, preposition gray scale The lower section for being located at clearer on frame is arranged in sensor, and postposition gray-scale sensor is arranged on frame positioned at the upper of clearer Side.

2. a kind of building cleaning robot according to claim 1, it is characterised in that: the connection frame has two, on one Once it is arranged in parallel.

3. a kind of building cleaning robot according to claim 1, it is characterised in that: there are two the upper blocks, above leads The wheel face of wheel is spill.

4. a kind of building cleaning robot according to claim 1, it is characterised in that: there are two the lower tumblers, under lead The wheel face of wheel is spill.

5. a kind of building cleaning robot according to claim 1, it is characterised in that: the height of the control platform is 85 Centimetre.

6. a kind of building cleaning robot according to claim 1, it is characterised in that: the culvert water layer is designed as detachably Structure.

7. a kind of building cleaning robot according to claim 1, it is characterised in that: the clean layer is designed as detachably Structure.