High-rise curtain wall cleaning robot

Abstract

The invention belongs to the technical field of automatic control, and discloses a high-rise curtain wall cleaning robot which comprises a control system, a cable winding and unwinding unit, a robot body and a collecting unit, the cable winding and unwinding unit, the robot body and the collecting unit are connected with the control system, and the robot body comprises a frame. One or more cleaning mechanisms are arranged on the two opposite side faces, parallel to the curtain wall, of the wind power mechanism, the multiple sets of wind power mechanisms are arranged in a spatial cross shape and used for providing pressure and lifting force perpendicular to the curtain wall direction and acting force parallel to the curtain wall direction respectively, and the cleaning mechanisms are used for cleaning the curtain wall. The control unit is used for controlling the robot body to perform rolling operation and obstacle leap operation in front, back, left and right directions between two opposite side surfaces parallel to a curtain wall according to attitude information and environment information acquired by the acquisition unit in combination with the cable take-up and pay-off unit through cooperative work of the multiple sets of wind power mechanisms; therefore, the robot body can clean the angular curtain wall.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a high-rise curtain wall cleaning robot. Background technique [0002] At present, most urban high-rise buildings adopt relatively beautiful glass curtain wall structures, but the regular cleaning of glass curtain walls has become a major problem at present. At present, the cleaning methods of high-rise glass curtain walls in my country are mainly hanging basket cleaning and elevator cleaning. The hanging basket cleaning is mainly performed by workers using cleaning tools such as rags and spatulas in their hands on the outside of the glass curtain wall with the help of ropes lowered from the roof; Cleaning is carried out by cleaning workers using the ground lifting platform to scrub at high altitude. The two traditional cleaning methods are not only low in efficiency and high in cost, but also prone to safety accidents, which are far from meeting the needs of the society...

AI Technical Summary

Problems solved by technology

Most of the existing high-altitude curtain wall cleaning robots use vacuum suction cup adsorption technology, which relies on negative pressure to firmly adsorb on the wall surface, but when encountering obstacles such as rubber strips and seams, the adsorption capacity will be lost, which is easy to cause accidental mistakes happened

In order to solve the problem of curtain wall cleaning, researchers at home and abroad have carried out corresponding research in recent years and developed many high-rise curtain wall cleaning robots, but most of them realize the cleaning movement of robots by hanging combined with negative pressure adsorption or one-way wind force. The cleaning robot is not easy to overcome obstacles, it is difficult to adapt to the curtain wall with slope and complex shape, and it is easy to cause secondary pollution to the cleaning surface during the cleaning process

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