Glass curtain wall intelligent cleaning robot

Abstract

The present invention relates to an intelligent cleaning robot for glass curtain walls, comprising: a main body, on which a walking unit, a scrubbing unit and a rescue unit controller are respectively arranged, and the walking unit, the scrubbing unit and the rescue unit are respectively connected to the controller; the walking unit, the scrubbing unit and the rescue unit are respectively controlled to operate by the controller. The present invention realizes the moving operation of the intelligent cleaning robot for glass curtain walls through the walking unit; realizes the scrubbing operation of the intelligent cleaning robot for glass curtain walls through the scrubbing unit; when an accident occurs to the device and it cannot operate normally, the rescue unit of the present invention is used to realize the moving rescue of the intelligent cleaning robot for glass curtain walls from the scrubbing area to avoid the occurrence of dangerous accidents.

Description

Technical Field

[0001] The invention relates to an intelligent glass curtain wall cleaning robot. Background Art

[0002] With the improvement of people's living standards, it is common to use robots to clean glass. At present, most of the intelligent cleaning robots for glass curtain walls on the market are made to avoid climbing, for example: 1. The "glass cleaning device" involved in the invention patent CN109008767A includes: a movable elevated chassis mechanism, a storage body mechanism, and a water spray glass cleaning actuator. The device can clean the glass, the device can be raised to clean the glass, the device can automatically spray water to replenish water for the brush, the device can move to clean the glass, the device can fix the position to clean the glass, and the device can store cleaning items. The movable elevated chassis mechanism is located below the storage body mechanism, and the movable elevated chassis mechanism is connected to the storage body mechanism by bolts. The water spray glass cleaning actuator is located above the storage body mechanism, and the water spray glass cleaning actuator and the storage body mechanism are partially welded and partially bolted. 2. The "multifunctional glass-wiping device" involved in the invention patent CN109674393A includes a rag cleaning chassis mechanism, a hydraulic lifting mechanism, a multi-mode glass-wiping drive mechanism, and a water-spraying glass-wiping actuator. The device can wipe the glass in the vertical direction, the device can rotate to wipe the glass, the device can automatically spray water, the device can easily clamp the rag, the device can be raised to wipe the glass, the device can be conveniently disassembled, the device can clean the rag, the device can squeeze out the moisture from the rag, the device can be moved, and the device can ensure a long service life. The hydraulic lifting mechanism is located above the rag cleaning chassis mechanism, the hydraulic lifting mechanism and the rag cleaning chassis mechanism are connected by welding, the multi-mode glass-wiping drive mechanism and the hydraulic lifting mechanism are connected by bolts, and the water-spraying glass-wiping actuator and the multi-mode glass-wiping drive mechanism are connected by partial welding and partial hinges.

[0003] However, in actual operation, the two glass-wiping devices mentioned above are often unable to normally complete operations such as cleaning and moving due to some unexpected factors, thus causing potential safety hazards. Summary of the invention

[0004] In order to overcome the above problems, the present invention provides a glass curtain wall intelligent cleaning robot that can perform mobile rescue operations when the device cannot operate normally.

[0005] In order to achieve the above-mentioned purpose, the present invention includes: a main body, on which a walking unit, a scrubbing unit, a rescue unit and a controller are respectively arranged, and the walking unit, the scrubbing unit and the rescue unit are respectively connected to the controller; the operation of the walking unit, the scrubbing unit and the rescue unit is respectively controlled by the controller.

[0006] Furthermore, the walking unit comprises: two or more groups of legs are symmetrically hingedly arranged on one side of the main body; a driving motor is fixedly arranged on the main body corresponding to each of the legs, and each of the legs is connected to the power output end of the driving motor corresponding to it through a gear transmission; the signal receiving end of each driving motor is connected to the signal output end of the controller;

[0007] A suction cup is also provided on each leg, each of which is connected to a vacuum pump through a pipeline, and a solenoid valve is provided on the pipeline between each suction cup and the vacuum pump, and the signal receiving end of each solenoid valve is connected to the signal output end of the controller.

[0008] Furthermore, the scrubbing unit comprises: a spray head fixedly arranged on the main body, the spray head is connected to a water pump through a spray pipe, a spray valve is arranged on the spray pipe arranged between the spray head and the water pump, and the signal receiving end of the spray valve is respectively connected to the signal output end of the controller;

[0009] A scrubbing turntable is arranged on the main body near the spray head, and a scrubbing motor is fixedly arranged on the main body corresponding to the scrubbing turntable; the power input end of the scrubbing turntable is fixedly connected to the power output end of the scrubbing motor, and the signal receiving end of the scrubbing motor is connected to the signal output end of the controller.

[0010] Furthermore, a rescue device is fixedly arranged on the main body, and the rescue device comprises: a support rod fixedly arranged on the side wall of the main body, and a spherical connector is fixedly arranged at the end of the support rod; the diameter of the spherical connector is larger than the diameter of the support rod;

[0011] It also includes: a pressure relief device fixedly arranged on the main body, the pressure relief device includes: a pressure relief valve fixedly arranged on the main body corresponding to each suction cup, each pressure relief valve port of the pressure relief valve is respectively connected to the pipeline between each suction cup and each solenoid valve through a pipeline;

[0012] A pressure relief starting device is arranged on the spherical connector, and the pressure relief starting device is respectively connected with the starting valve core of each pressure relief valve in a transmission manner.

[0013] Furthermore, a rescue device is fixedly arranged on the main body; the rescue device comprises: a cylindrical shell is fixedly arranged on the side wall of the main body, a ball head accommodating tube is arranged in the cylindrical shell, a trumpet-shaped ball head guide tube is fixedly arranged at the tube mouth of the ball head accommodating tube, and the ball head guide tube is fixedly arranged on the cylindrical shell;

[0014] A ball head non-return device is provided on the ball head accommodating tube;

[0015] A locking device is provided on the ball head receiving tube corresponding to the ball head non-return device;

[0016] A pressure relief trigger device is arranged in the ball head accommodating tube.

[0017] Furthermore, the ball head non-return device comprises: a plurality of through holes are opened on the same circumferential cross section of the ball head receiving tube near the ball head guide tube, an L-shaped limit clamp is respectively arranged between the cylindrical shell and the ball head receiving tube corresponding to each of the through holes, the middle position of the inner wall of the long plate of each L-shaped limit clamp is respectively hinged to the outer wall of the ball head receiving tube, one side of the short plate of each L-shaped limit clamp passes through each of the through holes and enters the ball head receiving tube, and a reset spring is respectively fixedly arranged between each L-shaped limit clamp and the ball head receiving tube; wherein, the length of the long plate of the L-shaped limit clamp is greater than the height of the ball head receiving tube; the distance between the short plates of each two relatively arranged L-shaped limit clamps is: greater than the diameter of the support rod and smaller than the diameter of the spherical connector;

[0018] The locking device comprises: a bottom plate is fixedly arranged on the bottom of the ball head receiving tube, a through hole is also provided on the bottom plate, and a ball head back-stopping push rod is passed through the through hole; wherein a section of the ball head back-stopping push rod located in the ball head receiving tube is a trigger section, the length of the trigger section is less than or equal to the diameter length of the ball head, a reset spring is arranged between the trigger section and the bottom of the ball head receiving tube, a limit stopper is fixedly arranged on a section of the ball head back-stopping push rod located outside the ball head receiving tube, and a matching limit stopper is respectively arranged on the long plate of each L-shaped limit clamp corresponding to the limit stopper;

[0019] A key slot is provided on the ball head anti-retraction ejector rod, a anti-retraction block is hingedly arranged in the key slot, and a torsion spring is fixedly arranged between the ball head anti-retraction ejector rod and the anti-retraction block;

[0020] When the trigger section is squeezed to the predetermined bottom of the ball head accommodating tube, the check block moves to the outside of the ball head accommodating tube along with the ball head stop rod and pops out; at this time, the limit block abuts against the limit baffle to limit the opening of the L-shaped limit clamp.

[0021] Further, the non-return block is a Z-shaped structure, comprising: a connecting rod hingedly arranged in the key slot, a non-return protrusion is fixedly arranged outside the key slot at one end of the connecting rod near the trigger section, and a reset protrusion is fixedly arranged inside the key slot at the other end of the connecting rod; wherein the ball head non-return ejector rod is a hollow structure, and when the non-return protrusion pops out of the key slot, the reset protrusion is located in the hollow structure of the ball head non-return ejector rod;

[0022] It also includes a ball head unlocking device, including: a reset push rod is inserted in the ball head stop rod corresponding to the reset protrusion, one end of the reset push rod passes through the cylindrical shell and is mounted on the main body; a block protrusion is fixedly provided on the reset push rod located in the cylindrical shell corresponding to the limit block, a boss is fixedly provided at the end of the reset push rod located outside the cylindrical shell, and a reset spring is sleeved on the reset push rod between the boss and the cylindrical shell.

[0023] Furthermore, the support rod and the spherical connector of the rescued device are hollow structures and are arranged corresponding to the valve core of the pressure relief valve;

[0024] The pressure relief start device is arranged in the support rod and the spherical connector of the rescued device, and comprises: a pressure push rod penetrating the support rod and the spherical connector, and the pressure push rod is arranged to abut against the valve core of the pressure relief valve.

[0025] Furthermore, the reset push rod is a hollow structure, and the pressure relief trigger device is arranged in the reset push rod, including: a pressure push rod is passed through the reset push rod, and a push rod driving device is fixedly provided on the main body corresponding to the pressure push rod, and one end of the pressure push rod is fixedly connected to the power output end of the push rod driving device.

[0026] The beneficial effects of the present invention are: the moving operation of the glass curtain wall intelligent cleaning robot is realized by the walking unit of the present invention; the scrubbing operation of the glass curtain wall intelligent cleaning robot is realized by the scrubbing unit of the present invention; when an accident occurs to the device and it cannot operate normally, the rescue unit of the present invention is used to move the glass curtain wall intelligent cleaning robot from the scrubbing area for rescue, thereby avoiding the occurrence of dangerous accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a front view of the present invention in an embodiment.

[0028] Figure 2 It is a rear view of the present invention in an embodiment.

[0029] Figure 3 1 is a partial view I of the present invention in an embodiment.

[0030] Figure 4 FIG. 1 is a partial view P of an embodiment of the present invention.

[0031] Figure 5 It is a schematic diagram of the rescue operation connection of two sets of devices in an embodiment of the present invention.

[0032] Figure 6 It is a schematic diagram of operation step 1 (not connected) of the rescuing device and the rescued device in the rescue operation of the present invention.

[0033] Figure 7 It is a schematic diagram of operation step 2 (starting connection) of the rescuing device and the rescued device in the rescue operation of the present invention.

[0034] Figure 8 It is a schematic diagram of operation step 3 (connection completed) of the rescuing device and the rescued device in the rescue operation of the present invention.

[0035] Fig. 9 It is a schematic diagram of operation step 4 (pressure relief) of the rescuing device and the rescued device in the rescue operation of the present invention.

[0036] Fig.10 It is a schematic diagram of operation step 5 (exit connection) of the rescuing device and the rescued device in the rescue operation of the present invention.

[0037] Fig.11 FIG. 1 is a partial view G of an embodiment of the present invention.

[0038] Fig.12 FIG. 1 is a partial view H of an embodiment of the present invention.

[0039] In the figure, 1. main body, 201. first leg, 202. second leg, 203. third leg, 204. fourth leg, 205. fifth leg, 206. sixth leg, 3. suction cup, 4. water spray pipe, 5. solenoid valve, 6. spray valve, 7. controller, 801. rescue device, 801-1. cylindrical shell, 801-2. ball head guide cylinder, 801-3. L-shaped limit clamp, 801-4. reset spring, 801-5. ball head accommodating cylinder, 801-6. ball head back-stop push rod, 801-7. check block, 801-8. torsion spring, 801-9. limit block, 801-10. reset push rod, 801-11. reset spring, 801- 12. Pressure push rod, 801-13. Return spring, 802. Rescue device, 802-1. Support rod, 802-2. Spherical connector, 802-3. Pressure push rod, 802-4. Pressure plate, 802-5. Pin, 802-6. Pressure plate spring, 9. Sprinkler head, 10. Scrubbing turntable, 11. Scrubbing motor, 1201. First leg motor, 1202. Second leg motor, 1203. Third leg motor, 1204. Fourth leg motor, 1205. Fifth leg motor, 1206. Sixth leg motor, 13. Cylinder, 14. Pressure relief solenoid reversing valve, 15. Pressure relief valve, 1501. Valve body, 1502. Valve core, 1503. Sealing ring. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings.

[0041] Example

[0042] In this embodiment, the power supply system and the water supply system are both external.

[0043] This embodiment includes: a main body 1, on which a walking unit, a scrubbing unit, a rescue unit and a controller 7 are respectively arranged, and the walking unit, the scrubbing unit and the rescue unit are respectively connected to the controller 7; the walking unit, the scrubbing unit and the rescue unit are respectively controlled to operate by the controller 16.

[0044] The walking unit includes: three sets of legs are symmetrically hinged on one side of the main body 1, such as Figure 1, 2, respectively: a first leg 201, a second leg 202, a third leg 203, a fourth leg 204, a fifth leg 205, and a sixth leg 206; six driving motors (1201, 1202, 1203, 1204, 1205, 1206) are fixedly arranged on the main body 1 corresponding to each leg (201, 202, 203, 204, 205, 206), so that each leg (201, 202, 203, 204, 205, 206) is respectively connected to the power output end of the driving motor (1201, 1202, 1203, 1204, 1205, 1206) arranged accordingly; the signal receiving end of each driving motor (1201, 1202, 1203, 1204, 1205, 1206) is respectively connected to the signal output end of the controller 7;

[0045] Among them, the six driving motors (1201, 1202, 1203, 1204, 1205, 1206) are all stepper motors, and the controller 7 drives the six stepper motors (1201, 1202, 1203, 1204, 1205, 1206) respectively to realize forward and reverse operations, thereby realizing the movement operation of the six legs respectively being controlled.

[0046] A suction cup 3 is also provided on each of the six legs (201, 202, 203, 204, 205, 206), each of which is connected to a vacuum pump through a pipeline, and a solenoid valve 5 is provided on the pipeline between each suction cup 3 and the vacuum pump, and the signal receiving end of each solenoid valve 5 is connected to the signal output end of the controller 7. The controller 7 drives the six solenoid valves 5 to open or close, so as to control the suction or release of each suction cup 3; and in coordination with the movement of the six legs (201, 202, 203, 204, 205, 206), the walking operation of the device can be realized.

[0047] like Figure 2 As shown, the scrubbing unit includes: a spray head 9 is fixedly arranged on the main body 1, the spray head 9 is connected to a water pump through a spray pipe 4, a spray valve 6 is arranged on the spray pipe 4 arranged between the spray head 9 and the water pump, and a signal receiving end of the spray valve 6 is connected to a signal output end of a controller 7;

[0048] A scrubbing turntable 10 is arranged near the spray head 9 on the main body 1, and a scrubbing motor 11 is fixedly arranged on the main body 1 corresponding to the scrubbing turntable 10; the power input end of the scrubbing turntable 10 is fixedly connected to the power output end of the scrubbing motor 11, and the signal receiving end of the scrubbing motor 11 is connected to the signal output end of the controller 7.

[0049] The controller 7 drives the spray valve 6 to open for 5 to 10 seconds to spray water on the glass that needs to be cleaned; and then controls the cleaning motor 11 to operate for 10 to 30 seconds to clean the glass that needs to be cleaned.

[0050] In this embodiment, the scrubbing turntable 10 is a circular cotton cloth, and the center of the cotton cloth is fixedly set on the power output shaft of the scrubbing motor 11; in order to better realize the scrubbing operation, two scrubbing turntables 10 and scrubbing motors 11 are symmetrically arranged on the main body 1.

[0051] The rescue unit includes: a rescue device 801 and a rescued device 802 arranged on the main body 1.

[0052] like Figure 1 As shown, a rescue device 802 is fixedly arranged on the main body 1, and the rescue device 802 includes: a support rod 802-1 fixedly arranged on the side wall of the main body 1, and a spherical connector 802-2 is fixedly arranged at the end of the support rod 802-1; the diameter of the spherical connector 802-2 is larger than the diameter of the support rod 802-1;

[0053] It also includes: a pressure relief device fixedly arranged on the main body 1, wherein the pressure relief device includes: a pressure relief valve fixedly arranged on the main body 1 corresponding to each suction cup 3, and each pressure relief valve port of the pressure relief valve is respectively connected to the pipeline between each suction cup 3 and each solenoid valve 5 through a pipeline;

[0054] A pressure relief starting device is arranged on the spherical connector 802 - 2 , and the pressure relief starting device is respectively connected to the starting valve core of each pressure relief valve in a transmission manner.

[0055] like Fig.11 As shown, the pressure relief device in this embodiment is a pressure relief valve 15, comprising: a valve body 1501 arranged on the main body 1, a valve core 1502 is arranged in the valve body 1501, six pressure relief valve ports are independently arranged in the valve 1501 of the pressure relief valve 15, and the six pressure relief valve ports are independently connected to the six suction cups 3 respectively. Under normal working conditions, the six pressure relief valve ports are respectively sealed by the sealing rings 1503 on the valve core 1502. When rescue is needed, the valve core 1502 of the pressure relief valve 15 is pushed open to control the six suction cups 3 to perform pressure relief operations respectively.

[0056] like Figures 3 to 5 As shown, a rescue device 801 is fixedly arranged on the main body 1; the rescue device 801 comprises: a cylindrical shell 801-1 is fixedly arranged on the side wall of the main body 1, a ball head accommodating tube 801-5 is arranged in the cylindrical shell 801-1, a trumpet-shaped ball head guide tube 801-2 is fixedly arranged at the tube mouth of the ball head accommodating tube 801-5, and the ball head guide tube 801-2 is fixedly arranged on the cylindrical shell 801-1;

[0057] A ball head non-return device is provided on the ball head receiving tube 801-5;

[0058] A locking device is provided on the ball head receiving tube 801-5 corresponding to the ball head non-return device;

[0059] A pressure relief trigger device is also arranged in the ball head accommodating tube 801 - 5 . In this embodiment, the pressure relief trigger device is a travel switch, and the signal output end of the travel switch is connected to the signal input end of the controller 7 .

[0060] In this embodiment, if Figure 3 As shown, the ball head non-return device includes: two through holes are opened on the same circumferential section of the ball head accommodating tube 801-5 near the ball head guide tube 801-2, and an L-shaped limit clamp 801-3 is respectively arranged between the cylindrical shell 801-1 and the ball head accommodating tube 801-5 corresponding to each through hole, and the middle position of the inner wall of the long plate of each L-shaped limit clamp 801-3 is hinged to the outer wall of the ball head accommodating tube 801-5, and one side of the short plate of each L-shaped limit clamp passes through each through hole and enters the ball head accommodating tube 801-5, and a reset spring 801-4 is respectively fixedly arranged between each L-shaped limit clamp 801-3 and the ball head accommodating tube 801-5; each L-shaped limit clamp 801-3 is reset by each reset spring 801-4.

[0061] The length of the long plate of the L-shaped limit clamping plate 801-3 is greater than the height of the ball head accommodating tube 801-5; the distance between the short plates of each two relatively arranged L-shaped limit clamping plates 801-3 is greater than the diameter of the support rod 802-1 and less than the diameter of the spherical connector 802-2;

[0062] The locking device comprises: a bottom plate is fixedly arranged on the bottom of the ball head accommodating tube 801-5, a through hole is also provided on the bottom plate, and a ball head back-stopping push rod 801-6 is passed through the through hole; wherein, a section of the ball head back-stopping push rod 801-6 located inside the ball head accommodating tube 801-5 is a trigger section, the length of the trigger section is less than or equal to the diameter length of the spherical connector 802-2, a reset spring 801-13 is arranged between the trigger section and the bottom of the ball head accommodating tube 801-5, a limit stopper 801-9 is fixedly arranged on a section of the ball head back-stopping push rod 801-6 located outside the ball head accommodating tube 801-5, and a matching limit stopper is respectively arranged on the long plate of each L-shaped limit clamping plate 801-3 corresponding to the limit stopper 801-9;

[0063] A keyway is provided on the ball head anti-retraction push rod 801-6, a anti-retraction block 801-7 is hingedly provided in the keyway, and a torsion spring 801-8 is fixedly provided between the ball head anti-retraction push rod 801-6 and the anti-retraction block 801-7;

[0064] When the spherical connector 802-2 enters the ball head receiving tube 801-5, the spherical connector 802-2 pushes the short plates of the two L-shaped limit clamps 801-3 hingedly arranged on the ball head receiving tube 801-5 to open to both sides respectively;

[0065] When the spherical connector 802-2 completely enters the spherical connector housing 801-5, the short plates of the two L-shaped limit clamps 801-3 are reset by the two reset springs 801-4 respectively;

[0066] When the trigger section is squeezed to the bottom of the predetermined ball head accommodating tube 801-5, the check block 801-7 moves to the outside of the ball head accommodating tube 801-5 along with the ball head stop rod 801-6 and pops out; at this time, the limit block 801-9 abuts against the limit baffle to limit the opening of the L-shaped limit clamp 801-3.

[0067] like Figure 4 As shown, the check block 801-7 is a Z-shaped structure, including: a connecting rod hingedly arranged in the key slot, on which a check protrusion is fixedly arranged outside the key slot at one end of the connecting rod near the trigger section; and a reset protrusion is fixedly arranged inside the key slot at the other end of the connecting rod; wherein, the ball head check push rod 801-6 is a hollow structure, and when the check protrusion pops out of the key slot, the reset protrusion is located in the hollow structure of the ball head check push rod 801-6.

[0068] The invention also includes a ball head unlocking device, including: a reset push rod 801-10 is inserted into the ball head stop push rod 801-6 corresponding to the reset protrusion, one end of the reset push rod 801-10 passes through the cylindrical shell 801-1 and is mounted on the main body 1, a stopper protrusion is fixedly arranged on the reset push rod 801-10 located in the cylindrical shell 801-1 corresponding to the limit stopper 801-9, a boss is fixedly arranged at the end of the reset push rod 801-10 located outside the cylindrical shell 801-1, and a reset spring 801-11 is sleeved on the reset push rod 801-10 between the boss and the cylindrical shell 801-1;

[0069] The boss is pushed toward one side of the cylindrical housing 801-1, and the reset push rod 801-10 squeezes the reset protrusion, so that the non-return protrusion on the non-return block 801-7 returns to the keyway, and the ball head non-return push rod 801-6 is reset by the reset spring 801-13;

[0070] The stopper protrusion on the reset push rod 801-10 pushes the limit stopper 801-9 to separate from the limit baffle plate and move toward the bottom side of the ball head accommodating tube 801-5, so that one end of the ball head stop push rod 801-6 fixed with the limit stopper 801-9 moves toward the tube mouth side of the ball head accommodating tube 801-5; release the protrusion, and the reset push rod 801-10 is reset by the reset spring 801-11.

[0071] like Figures 6 to 11 As shown, the support rod 802-1 and the spherical connector 802-2 of the rescued device 802 are hollow structures and are arranged corresponding to the valve core 1502 of the pressure relief valve 15;

[0072] The pressure relief starting device is arranged in the support rod 802-1 and the spherical connector 802-2 of the rescue device 802, including: a pressure push rod 802-3 passing through the support rod 802-1 and the spherical connector 802-2, and the pressure push rod 802-3 is abutted against the valve core 1502 of the pressure relief valve 15; a force push rod reset device is fixedly arranged on the pressure push rod 802-3, and the force push rod reset device is clamped on the support rod 802-2.

[0073] In this embodiment, if Fig.12 As shown, the stressed push rod resetting device includes: two pressure plates 802-4 are sleeved on the stressed push rod 802-3, a pressure plate spring 802-6 is sleeved on the stressed push rod 802-3 between the two pressure plates 802-4, a mounting hole is opened on the stressed push rod 802-3 respectively corresponding to the non-spring sides of the two pressure plates 802-4, two pins 802-5 are fixedly arranged through the two mounting holes on the stressed push rod 802-3, so that the stressed push rod 802-3 is fixedly arranged on the two pressure plates 802-4 through the two pins 802-5; the rod body of the support rod 802-1 is composed of two parts, and an inner cavity is opened in the support rod 802-1, and the two pressure plates 802-4 of the stressed push rod resetting device are respectively clamped in this inner cavity, so that the stressed push rod 802-3 is arranged on the support rod 802-2 through the stressed push rod resetting device.

[0074] In this embodiment, if Figure 3 As shown, the reset push rod 801-10 is a hollow structure, and the pressure relief trigger device is arranged in the reset push rod 801-10, including: a pressure push rod 801-12 is passed through the reset push rod 801-10, and a push rod driving device is fixedly arranged on the main body 1 corresponding to the pressure push rod 801-12, and one end of the pressure push rod 801-12 is fixedly connected to the power output end of the push rod driving device.

[0075] In this embodiment, the push rod driving device is: a cylinder 13 fixedly arranged on the main body 1, one end of the pressure push rod 801-12 is fixedly connected to the piston of the cylinder 13; the cylinder 13 is connected to an air pump through a pressure relief electromagnetic reversing valve 14; the signal input end of the pressure relief electromagnetic reversing valve 14 is connected to the signal output end of the controller 7.

[0076] In order to facilitate control, a travel switch may be provided in the ball head receiving tube 801 - 5 corresponding to the spherical connector 802 - 2 , and the signal output end of the travel switch is connected to the signal input end of the controller 7 .

[0077] When the spherical connector 802-2 of the rescued device 802 enters and is fixedly set in the ball head receiving tube 801-5 of the rescue device 801, the spherical connector 802-2 triggers the travel switch, and the signal of the travel switch is fed back to the controller 7. The pressure relief electromagnetic reversing valve 14 is driven by the controller 7 to change direction, and the cylinder 13 is used to control the pressure push rod 801-12 to push the pressure push rod 802-3 to open the valve core 1502 of the pressure relief valve 15, so that the suction cup 3 can be depressurized, which is convenient for the rescue operation of the main body 1.

[0078] In actual operation, in order to facilitate observation and control, a camera device can be installed at the ball head guide tube 801-2 of the rescue device, and a remote control system can be installed on the device to realize manual remote control operation, so as to obtain real-time dynamic information when the rescue device drives the rescued device to move.

Claims

1. A glass curtain wall intelligent cleaning robot, characterized in that: include: A main body, on which a walking unit, a scrubbing unit, a rescue unit and a controller are respectively arranged, and the walking unit, the scrubbing unit and the rescue unit are respectively connected to the controller; The controller controls the running of the walking unit, the scrubbing unit and the rescue unit respectively; The walking unit comprises: two or more groups of legs are symmetrically hingedly arranged on one side of the main body; a driving motor is fixedly arranged on the main body corresponding to each leg, and each leg is connected to the power output end of the driving motor corresponding to it through a gear transmission; the signal receiving end of each driving motor is connected to the signal output end of the controller; A suction cup is also provided on each leg, each suction cup is connected to a vacuum pump through a pipeline, a solenoid valve is provided on the pipeline between each suction cup and the vacuum pump, and a signal receiving end of each solenoid valve is connected to a signal output end of the controller; The rescue unit comprises: a rescue device and a rescued device arranged on the main body; The rescue device comprises: a support rod fixedly arranged on the side wall of the main body, a spherical connector fixedly arranged at the end of the support rod; the diameter of the spherical connector is larger than the diameter of the support rod; It also includes: a pressure relief device fixedly arranged on the main body, the pressure relief device includes: a pressure relief valve fixedly arranged on the main body corresponding to each suction cup, each pressure relief valve port of the pressure relief valve is respectively connected to the pipeline between each suction cup and each solenoid valve through a pipeline; A pressure relief starter is provided on the spherical connector, and the pressure relief starter is respectively connected to the starter valve core of each pressure relief valve in a transmission manner; The rescue device comprises: a cylindrical shell is fixedly arranged on the side wall of the main body, a ball head accommodating tube is arranged in the cylindrical shell, a trumpet-shaped ball head guide tube is fixedly arranged at the tube mouth of the ball head accommodating tube, and the ball head guide tube is fixedly arranged on the cylindrical shell; A ball head non-return device is provided on the ball head accommodating tube; A locking device is provided on the ball head receiving tube corresponding to the ball head non-return device; A pressure relief trigger device is arranged in the ball head accommodating tube.

2. The glass curtain wall intelligent cleaning robot according to claim 1, characterized in that: The scrubbing unit comprises: a spray head fixedly arranged on the main body, the spray head is connected to a water pump through a spray pipe, a spray valve is arranged on the spray pipe arranged between the spray head and the water pump, and the signal receiving end of the spray valve is respectively connected to the signal output end of the controller; A scrubbing turntable is arranged on the main body near the spray head, and a scrubbing motor is fixedly arranged on the main body corresponding to the scrubbing turntable; the power input end of the scrubbing turntable is fixedly connected to the power output end of the scrubbing motor, and the signal receiving end of the scrubbing motor is connected to the signal output end of the controller.

3. The glass curtain wall intelligent cleaning robot according to claim 1, characterized in that: The ball head non-return device comprises: a plurality of through holes are opened on the same circumferential cross section of the ball head receiving tube near the ball head guide tube, an L-shaped limit clamp is respectively arranged between the cylindrical shell and the ball head receiving tube corresponding to each of the through holes, the middle position of the inner wall of the long plate of each L-shaped limit clamp is respectively hinged to the outer wall of the ball head receiving tube, one side of the short plate of each L-shaped limit clamp passes through each of the through holes and enters the ball head receiving tube, and a reset spring is respectively fixedly arranged between each L-shaped limit clamp and the ball head receiving tube; wherein, the length of the long plate of the L-shaped limit clamp is greater than the height of the ball head receiving tube; the distance between the short plates of each two relatively arranged L-shaped limit clamps is: greater than the diameter of the support rod and smaller than the diameter of the spherical connector; The locking device comprises: a bottom plate is fixedly arranged on the bottom of the ball head receiving tube, a through hole is also provided on the bottom plate, and a ball head back-stopping push rod is passed through the through hole; wherein a section of the ball head back-stopping push rod located in the ball head receiving tube is a trigger section, the length of the trigger section is less than or equal to the diameter length of the ball head, a reset spring is arranged between the trigger section and the bottom of the ball head receiving tube, a limit stopper is fixedly arranged on a section of the ball head back-stopping push rod located outside the ball head receiving tube, and a matching limit stopper is respectively arranged on the long plate of each L-shaped limit clamp corresponding to the limit stopper; A key slot is provided on the ball head anti-retraction ejector rod, a anti-retraction block is hingedly arranged in the key slot, and a torsion spring is fixedly arranged between the ball head anti-retraction ejector rod and the anti-retraction block; When the trigger section is squeezed to the predetermined bottom of the ball head accommodating tube, the check block moves to the outside of the ball head accommodating tube along with the ball head stop rod and pops out; at this time, the limit block abuts against the limit baffle to limit the opening of the L-shaped limit clamp.

4. The glass curtain wall intelligent cleaning robot according to claim 3, characterized in that: The non-return block is a Z-shaped structure, comprising: a connecting rod hingedly arranged in the key slot, a non-return protrusion is fixedly arranged outside the key slot at one end of the connecting rod near the trigger section, and a reset protrusion is fixedly arranged inside the key slot at the other end of the connecting rod; wherein the ball head non-return ejector rod is a hollow structure, and when the non-return protrusion pops out of the key slot, the reset protrusion is located in the hollow structure of the ball head non-return ejector rod; It also includes a ball head unlocking device, including: a reset push rod is inserted in the ball head stop rod corresponding to the reset protrusion, one end of the reset push rod passes through the cylindrical shell and is mounted on the main body; a block protrusion is fixedly provided on the reset push rod located in the cylindrical shell corresponding to the limit block, a boss is fixedly provided at the end of the reset push rod located outside the cylindrical shell, and a reset spring is sleeved on the reset push rod between the boss and the cylindrical shell.

5. The glass curtain wall intelligent cleaning robot according to claim 1, characterized in that: The support rod and the spherical connector of the rescued device are hollow structures and are arranged corresponding to the valve core of the pressure relief valve; The pressure relief start device is arranged in the support rod and the spherical connector of the rescued device, and comprises: a pressure push rod penetrating the support rod and the spherical connector, and the pressure push rod is arranged to abut against the valve core of the pressure relief valve.

6. The glass curtain wall intelligent cleaning robot according to claim 4, characterized in that: The reset push rod is a hollow structure, and the pressure relief trigger device is arranged in the reset push rod, including: a pressure push rod is passed through the reset push rod, and a push rod driving device is fixedly arranged on the main body corresponding to the pressure push rod, and one end of the pressure push rod is fixedly connected to the power output end of the push rod driving device.

Images