CN211130847U - Can stride across multilayer obstacle and provide machine equipment system who washs glass curtain wall - Google Patents
Can stride across multilayer obstacle and provide machine equipment system who washs glass curtain wall Download PDFInfo
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- CN211130847U CN211130847U CN201921037723.3U CN201921037723U CN211130847U CN 211130847 U CN211130847 U CN 211130847U CN 201921037723 U CN201921037723 U CN 201921037723U CN 211130847 U CN211130847 U CN 211130847U
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Abstract
The utility model discloses a can stride across multilayer obstacle and provide the mechanical equipment system that washs glass curtain wall, including hoisting equipment, fixing device and central control system, the top of hoisting equipment is equipped with the frame fence, the frame fence is connected to the frame fence through the hawser, the both ends below the frame fence are equipped with the foot rest, the utility model solves the problem of cleaning the glass curtain wall through the frame fence distribution cleaning robot, through control module control track, control water and lotion, can solve the washing problem, cleaning robot can independently carry out cleaning task planning, independently evaluate cleaning effect, independently position and path planning, independent of the people to realize the cleaning of glass curtain wall, it not only solves the safety problem, but also greatly improves the cleaning efficiency, intelligent control, compared with the general control system, its operation can be simpler, better control of the cleaning robot is possible.
Description
Technical Field
The utility model relates to a clean technical field of glass especially relates to a can stride across multilayer obstacle and provide the mechanical equipment system who washs glass curtain wall.
Background
Along with the continuous expansion of population scale, urban high-rise buildings are more and more. Skyscrapers are becoming a common scene of life. Because glass has a plurality of advantages such as good daylighting nature, heat insulating ability are good, the humidity resistance is good, simultaneously, because colored glass elegant appearance, more and more high-rise buildings have selected and have used glass curtain wall. At present, most of glass curtain walls in China need to be cleaned by means of spiders, but the high-altitude operation has certain dangers. Therefore, a robot capable of performing a cleaning task instead of manpower is required. In order to ensure the cleaning efficiency and safety of the robot, a set of control system is urgently needed to control the lifting of the robot so as to better recover the robot.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve the problem among the background art, provide a can stride across multilayer obstacle and provide machine equipment system who washs glass curtain wall, including hoisting equipment, fixing device and control module, hoisting equipment's top is equipped with a fence, the fence passes through the hawser and connects in the frame fence, the below both ends of frame fence are equipped with the foot rest, the inside of frame fence is equipped with 3 consumptive material modules along the length direction interval of frame fence is even, the consumptive material module includes power, cleaning solution box and washing water box, arranges from last to down in proper order along the direction of height of frame fence, the consumptive material module both sides in the middle of the frame fence inside are equipped with control module, control module is equipped with eight and is washing control module, frame fence lift and hawser safety control module, robot control module, communication control module power control module, Robot orientation module, consumptive material match and measuring module and automatic safe use detection module, the both ends of the upper surface on frame fence are equipped with robotic arm, robotic arm's one end is connected in fixing device, the cleaning machines people is equipped with in the fixing device, last power supply device and the water source feeding device of being equipped with of hoisting equipment, power supply device even connects in the power, water source feeding device passes through the pipeline and connects respectively in cleaning solution box and clean water box, hoisting equipment's both ends are equipped with the steel cable.
Furthermore, the frame rail structure is provided with a square cleaning robot fixing device, and a square cleaning robot with the adaptive size can be placed inside the cleaning robot fixing device.
Furthermore, the manipulator structure on the surface of the frame fence structure is rectangular, and is movably connected with the cleaning robot fixing device through a joint, and two manipulators are respectively arranged on two sides of each cleaning robot fixing device.
Further, a power supply and a cleaning liquid box are arranged in the frame rail structure; the cleaning water box is square and is respectively connected with each cleaning robot through a conveying pipeline.
Furthermore, 8 control modules in the framework fence structure are rectangular and have the same size, and are divided into two rows, and each row is provided with 4 control modules.
Furthermore, the bottom of the frame rail structure is provided with a balancing device which keeps the whole frame rail horizontal through joint movement and the ground.
By adopting the technical scheme, the method has the following beneficial effects:
the utility model discloses a can stride across multilayer obstacle and provide the machine equipment system who washs glass curtain wall through hoisting equipment, cleaning robot and frame fence constitution, this system realizes wasing as the mutual complex continuous action of an integral structure, wherein every structure is indispensable in the washing process, the hoisting equipment of the utility model and hoist and mount frame fence structure, after being used for throwing in cleaning robot body to mansion glass curtain wall front, the robotic arm structure on the frame fence is full-automatic to throw in cleaning robot to the mansion glass curtain wall that needs to wash, through throwing in a plurality of cleaning robots to the glass curtain wall, and a plurality of cleaning robots wash mansion glass simultaneously, cleaning robot itself has the ability of independently carrying on cleaning task planning, independently evaluating cleaning effect, independently carrying out location and path planning, the safety problem has not only been solved to the integral system, but also greatly improves the cleaning efficiency, is intelligently controlled, has simpler operation compared with a common control system, and can better control the cleaning robot.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of the lower connecting portion of the cable of the present invention;
FIG. 3 is a schematic structural view of the frame rail of the present invention;
fig. 4 is an exploded view of the interior of the frame rail of the present invention;
fig. 5 is a schematic structural view of the fixing device of the present invention;
FIG. 6 is a schematic view of the robot arm of the present invention;
fig. 7 is a schematic structural diagram of the hoisting device of the present invention;
FIG. 8 is a schematic view of a first embodiment of the present invention;
FIG. 9 is a second schematic view of the operation of the present invention;
FIG. 10 is a schematic view of the third operation step of the present invention;
FIG. 11 is a diagram illustrating a fourth exemplary operation of the present invention;
FIG. 12 is a schematic diagram of the operation steps of the present invention in an implementation;
FIG. 13 is a six-step schematic illustration of the present invention in operation;
fig. 14 is a seventh schematic view of the working steps of the present invention in practice;
fig. 15 is an eighth schematic diagram illustrating the operation steps of the present invention;
FIG. 16 is a ninth exemplary illustration of the operation of the present invention;
FIG. 17 is a cross-sectional view of the working steps of the present invention in an exemplary embodiment;
FIG. 18 is an eleventh exemplary illustration of the operation of the present invention in an implementation;
FIG. 19 is a twelve schematic illustration of the operation steps of the present invention in its practice;
in the figure: 1-frame fence; 2-a fixing device; 3-a mechanical arm; 4-a cable; 5-frame fence; 6-a control module; 7-hoisting equipment; 8-a steel cable; 9-a foot rest; 10-a power supply device; 11-a power supply; 12-a cleaning liquid box; 13-a clean water box; 14-water supply means.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
Example 1: as shown in fig. 1 to 19, a mechanical equipment system capable of crossing multiple obstacles and providing cleaning glass curtain wall includes a hoisting device 7, a fixing device 2 and a control module 6, a frame fence is arranged above the hoisting device 7 and connected to the frame fence 1 through a cable 4, foot rests 9 are arranged at two ends of the lower part of the frame fence 1, 3 consumable modules are uniformly arranged in the frame fence 1 along the length direction of the frame fence 1, each consumable module comprises a power supply 11, a cleaning liquid box 12 and a cleaning water box, the consumable modules are sequentially arranged along the height direction of the frame fence 1 from top to bottom, control modules 6 are arranged at two sides of the consumable module in the middle of the inner part of the frame fence 1, and each control module 6 is provided with eight cleaning control modules, a frame fence lifting and cable safety control module, a robot control module, a communication control module power supply control module, The robot comprises a robot positioning module, a consumable matching and measuring module and an automatic safe use detection module, wherein two ends of the upper surface of a frame fence 1 are provided with mechanical arms 3, one end of each mechanical arm 3 is connected to a fixing device 2, a cleaning robot is arranged in each fixing device 2, a power supply device 10 and a water source supply device 14 are arranged on a hoisting device 7, the power supply device 10 is electrically connected to a power supply 11, the water source supply device 14 is respectively connected to a cleaning liquid box 12 and a cleaning water box 13 through pipelines, two ends of the hoisting device 7 are provided with steel cables 8, the frame fence 1 is structurally provided with a cleaning robot fixing device which is square, a square cleaning robot with adaptive size can be placed in the frame fence, the mechanical arm 3 on the surface of the frame fence 1 is structurally rectangular, and is movably connected with the cleaning robot fixing device through joints, two sides of each cleaning robot fixing device are respectively provided with a mechanical arm 3, and a power supply 11 and a cleaning liquid box 12 are arranged in the framework fence 1 structure; the clean water box 13 is square, connects every cleaning robot respectively through pipeline, 8 control module 6 in the frame fence 1 structure are rectangle and size the same, divide into two, and every is equipped with 4, 1 structure bottom in frame fence is balancing unit, keeps the level through joint activity and ground, balances whole frame fence 1.
In the 8 control modules 6 of the utility model, the cleaning control module controls the distribution of the cleaning solution and the cleaning water; the frame rail 1 lifting and cable 4 safety control module controls the lifting speed and distance of the frame rail 1 lifting and positioning of the frame rail 1 and detects the safety condition of the cable 4; the robot control module controls the robot to work and controls the action coordination of the robot; the communication control module realizes information interaction of each part, and the power supply control module controls the distribution of the power supply and monitors the use condition and the residual electric quantity of the power supply; a robot positioning module: the real-time positioning of the robot is realized; consumable matching and measurement module: controlling the distribution of cleaning liquid, cleaning water and other materials, and measuring the residual amount; automatic safe use detection module: the safety conditions of the various parts are monitored.
The utility model discloses in when foot rest 9 that uses can dismantle frame fence 1 and put the floor, protect spare part from assaulting, 1 structure make full use of space resource of frame fence of design, firm stable, fixing device 2 is used for placing in fixed cleaning machines people, the lid protection cleaning machines people that is equipped with on the fixing device 2 is not corroded by natural environment, robotic arm 3 drags cleaning machines people, takes cleaning machines people out from fixing device 2 to on putting the glass curtain wall.
The utility model discloses when implementing, a jacking equipment 7 is being put on the roof, and the mobilizable frame fence of hoisting equipment 7 facial make-up is connected in frame fence 1 through steel cable 8, and frame fence 1 is gone up inside and is equipped with control module and sends out cleaning machines people, control track, control water and cleaning solution, realize the washing to the glass wall curtain.
The utility model discloses a hoisting equipment 7 and 1 structure of hoist and mount frame fence, a be used for putting in cleaning robot body to mansion glass curtain wall preceding back, the 3 full-automatic cleaning robot of putting of robotic arm structure on the frame fence 1 is to needing abluent mansion glass curtain wall on, through putting in on a plurality of cleaning robot to the glass curtain wall, and a plurality of cleaning robot wash mansion glass simultaneously, cleaning robot itself has and independently carries out cleaning task planning, independently assess clean effect, independently advance line location and path planning's ability, the safety problem has not only been solved to the overall system, and clear efficiency has still been improved greatly, intelligent control, than general control system, its operation can be simpler, can carry out better control to cleaning robot.
The work flow of the whole cleaning system is as follows: the first step is as follows: placing three cleaning robots on the cleaning robot fixing device 2 on the robot arm 3;
the second step is that: three cleaning robots are fixed on a cleaning robot fixing device 2 on a mechanical arm 3;
the third step: three cleaning robots are hoisted to a height through cables 4;
the fourth step: transferring the three cleaning robots to the same plane as the building;
the fifth step: putting down three cleaning robots to the position of the glass wall curtain to be cleaned;
and a sixth step: moving the three cleaning robots with the mechanical arm 3 to the front of the glass wall curtain of the building;
the seventh step: placing three cleaning robots from the fixing device 2 onto the glass wall curtain;
eighth step: the three cleaning robots start vacuum adsorption at the same time and adsorb on the glass wall curtain for automatic cleaning;
the ninth step: after a glass wall curtain is cleaned, the three cleaning robots move to corresponding positions to wait for the fixing devices 2 on the mechanical arms 3 to be recovered;
the tenth step: the hoisting device 7 is moved to the recovery position, and the cleaning robot fixing device 2 of the mechanical arm 3 is moved to the front of the glass wall curtain of the building;
the eleventh step: recovering the cleaning robot to the fixing device 2;
the twelfth step: moving to a second glass wall position;
the thirteenth step: and repeating the sixth step until the last glass wall curtain of the flow is cleaned.
The utility model discloses a lifting equipment 7, cleaning robot and frame fence 1 constitute a can stride across multilayer obstacle and provide the mechanical equipment system who washs glass curtain wall, and this system realizes wasing as the mutual complex continuous action of an holistic structure, and wherein every structure is indispensable in abluent process, and the holistic system is sent out with frame fence 1 and is joined in marriage the robot and go to wash, control track, control water and lotion, then can retrieve the function of going away, can solve the washing problem to the glass wall curtain, and cleaning robot itself can independently carry out cleaning task planning, independently evaluate cleaning effect, independently carry out location and path planning, does not rely on the people to realize the cleanness to the glass wall curtain, the utility model provides a send out to join in marriage cleaning robot through frame fence 1 and go to wash, through control module 6 control track, control water and lotion, the cleaning robot can solve the problem of cleaning the glass wall curtain, can autonomously perform cleaning task planning, autonomously evaluate the cleaning effect, autonomously perform positioning and path planning, does not depend on people to clean the glass wall curtain, replaces a spider man, reduces the danger of construction operation and improves the construction efficiency.
Having described the basic principles and essential features of the invention, it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed, and which are defined by the appended claims and their equivalents.
Claims (6)
1. A mechanical equipment system capable of crossing multiple layers of obstacles and providing cleaning glass curtain walls is characterized by comprising lifting equipment, a fixing device and a control module, wherein a frame fence is arranged above the lifting equipment and connected to a frame fence through a cable, foot rests are arranged at two ends below the frame fence, 3 consumable modules are uniformly arranged in the frame fence along the length direction of the frame fence at intervals, each consumable module comprises a power supply, a cleaning liquid box and a cleaning water box, the consumable modules are sequentially arranged along the height direction of the frame fence from top to bottom, the control module is arranged at two sides of the consumable module in the middle of the inside of the frame fence, the control module is provided with eight consumable modules which are respectively a cleaning control module, a frame fence lifting and cable safety control module, a robot control module, a communication control module, a robot positioning module, a consumable matching and measuring module and an automatic safe use detection module, the cleaning device comprises a frame fence and is characterized in that mechanical arms are arranged at two ends of the upper surface of the frame fence, one ends of the mechanical arms are connected to a fixing device, a cleaning robot is arranged in the fixing device, a power supply device and a water source supply device are arranged on the hoisting equipment, the power supply device is electrically connected to a power supply, the water source supply device is respectively connected to a cleaning liquid box and a cleaning water box through pipelines, and steel cables are arranged at two ends of the hoisting equipment.
2. The system of claim 1, wherein the frame rail structure is provided with a cleaning robot fixing device in a square shape, and a square cleaning robot with a size suitable for the cleaning robot can be placed inside the cleaning robot fixing device.
3. The system of claim 1, wherein the robotic structure on the surface of the frame rail structure is rectangular and is articulated to the cleaning robot fixtures, one at each side of each cleaning robot fixture.
4. The system of claim 1, wherein the power source and the cleaning liquid box are arranged in the frame rail structure; the cleaning water box is square and is respectively connected with each cleaning robot through a conveying pipeline.
5. The system of claim 1, wherein the 8 control modules in the frame rail structure are rectangular and of the same size, divided into two rows of 4 modules each.
6. The system of claim 1, wherein the bottom of the frame rail structure is a balancing device, which is used for balancing the whole frame rail by means of joint movement and ground level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921037723.3U CN211130847U (en) | 2019-07-04 | 2019-07-04 | Can stride across multilayer obstacle and provide machine equipment system who washs glass curtain wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921037723.3U CN211130847U (en) | 2019-07-04 | 2019-07-04 | Can stride across multilayer obstacle and provide machine equipment system who washs glass curtain wall |
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| Publication Number | Publication Date |
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| CN211130847U true CN211130847U (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921037723.3U Active CN211130847U (en) | 2019-07-04 | 2019-07-04 | Can stride across multilayer obstacle and provide machine equipment system who washs glass curtain wall |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110693380A (en) * | 2019-07-04 | 2020-01-17 | 徐州安彼得电子科技有限公司 | Can stride across multilayer obstacle and provide machine equipment system who washs glass curtain wall |
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2019
- 2019-07-04 CN CN201921037723.3U patent/CN211130847U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110693380A (en) * | 2019-07-04 | 2020-01-17 | 徐州安彼得电子科技有限公司 | Can stride across multilayer obstacle and provide machine equipment system who washs glass curtain wall |
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