Wheel leg traction type flat curtain cleaning robot

Abstract

The invention relates to a wheel leg drawing-type plane curtain washing robot. Wherein, three suckers of wheel leg passive adsorb device are independently controlled by the flexible cylinders at two sides of suckers, which can be synchronously or alternatively adsorbed on the wall; the opening of sucker is surrounded by sealing rubber strips; the invention can watch the wall when the gas of sucker leaks little, and clean the water mark along with the downward sliding of sucker; the differential driving wheels at the outer side surfaces of upper and lower suckers form the attitude adjuster; the follow roller at the outer side of middle sucker can limit the contact depth between the rubber strip and the wall, to reduce the abrasion of rubber strip; the washing device comprises a washing rolling brush, a motor and a water recycle device, which are compactly arranged at the middle sucker; the obstacle detector is formed by three groups of mechanical point sensors at the bottom of three suckers, to detect the obstacles protruded from the wall. The invention can move from up to down that drawn by the windlass at the top of building, to effectively clean the plane glass curtain, which can reliably overcome the obstacle.

Description

technical field [0001] The invention relates to a wheel-leg traction type curtain wall cleaning robot, which is suitable for automatic cleaning of plane glass curtain walls and belongs to the technical field of special robots. Background technique [0002] High-rise buildings with glass curtain wall structure have the advantages of good lighting, heat preservation and moisture resistance, practicality and beauty. However, the regular cleaning of the current curtain wall still mainly relies on the manual hanging basket cleaning method, which is dangerous and inefficient. A wall cleaning robot (patent number: ZL01202018.4) developed by Beijing Bluestar Harbin Institute of Technology Robot Technology Co., Ltd. in China is characterized by the use of a single suction cup adsorption wheel type mobile mechanism, which has high working efficiency and good cleaning effect, but cannot Overcoming obstacles such as wall and window frames. A window-cleaning robot developed by Beihang ...

AI Technical Summary

Problems solved by technology

However, although the above two patent applications can overcome obstacles, the process of overcoming obstacles is not stable and reliable enough, and attitude adjustment cannot be performed, and its working performance has been affected.

Images