Wall-climbing mechanism and working method of a glass curtain wall cleaning robot

Abstract

The invention discloses a wall climbing mechanism of a glass curtain wall cleaning robot and a working method thereof, and belongs to the technical field of wall climbing robots. The wall climbing mechanism is entirely controlled by a cylinder to realize wall climbing action, a complicated servo motor driving mechanism is not required, and program control is simplified. A walking mechanism is formed by head-to-tail connection of four sets of walking assemblies through four sets of walking cylinders. Through the telescopic movement of two sets of opposite walking cylinders cooperating with theadsorption and loosening action of sucking discs on the walking assemblies, the glass curtain wall cleaning robot moves steadily in both horizontal and vertical directions, and the structure of the walking mechanism is simpler and more compact. The operation is flexible and convenient, and the work efficiency is higher; and moreover, air exhaust cylinders are used by the walking assemblies to produce vacuum negative pressure towards the suction discs. Each air exhaust cylinder needs less air, the requirement for an air pump is low, practical operation and practicability are better, and the sucking discs are connected with the air exhaust cylinders one to one. The air leakage of a suction disc does not affect the whole walking mechanism, and higher safety and reliability are achieved.

Description

technical field [0001] The invention relates to a glass curtain wall cleaning robot, more specifically, to a wall climbing mechanism of a glass curtain wall cleaning robot and a working method thereof. Background technique [0002] With the continuous development of society and the continuous advancement of science and technology, glass curtain walls have become the mainstream of today's world architecture due to their beautiful appearance and wide vision. my country began to try to apply the glass curtain wall technology to buildings in the 1980s, while developed countries such as Europe and the United States began to use glass curtain walls in buildings as early as 1917. Although the development of glass curtain walls in China is relatively late compared with Western developed countries such as Europe and the United States, the speed of development is astonishing. At present, my country has become the world's largest producer and user of glass curtain walls. [0003] It ...

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Problems solved by technology

[0008] The purpose of the present invention is to overcome the deficiencies of the existing walking mechanism of glass curtain wall cleaning robots, such as higher requirements on air pumps, poor practicability, complex structure, difficult operation, and low work efficiency, and provide a climbing mechanism and its components for glass curtain wall cleaning robots. The working method adopts the technical scheme of the present invention, and the wall-climbing action is completely controlled by the cylinder. The traveling mechanism is composed of four sets of walking assemblies connected end-to-end through four sets of walking cylinders, and is coordinated by the telescopic movement of the two sets of walking cylinders. The suction and release action of the suction cup on the walking assembly realizes the stable horizontal and vertical movement of the glass curtain wall cleaning robot. The structure of the walking mechanism is simpler and more compact, the operation is flexible and convenient, and it has higher work efficiency; The air extraction cylinder generates a vacuum negative pressure on the suction cup. Each air extraction cylinder requires a small amount of air, and the requirements for the air pump are low. The gas will not affect the whole walking mechanism, which is safer and more reliable

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