A lifting cable device for a cable-pulled curtain wall cleaning robot

Abstract

The present invention discloses a lifting and winching device of a cable-pulled curtain wall cleaning robot. The robot comprises a frame, a plurality of sliding suction cups arranged on the back of the frame, a plurality of frame direction wheels arranged on the side of the frame, and a cleaning assembly arranged at the front and rear ends of the frame. The lifting and winching device arranged on the top of the frame is connected to the frame through a suspension cable, and a battery is also provided on the front of the frame. The lifting and winching device comprises a base, a top plate and a bottom plate arranged above the base, and a motor arranged below the base. The top and bottom plates are provided with a plurality of through holes, through which bolts are passed, and the bolt rods are sleeved with fixed-distance sleeves. Upper and lower winding wheels are sandwiched between the top and bottom plates. A bearing seat is provided on the top plate, and the motor shaft passes through the base and then through the bottom plate to be transmission-connected to the upper and lower winding wheels. A clamping roller pair is provided on the top plate. A pressing wheel and a tensioning wheel are sandwiched between the top and bottom plates. A guide wheel is provided on the bottom plate near the pressing wheel. An anti-slip block is provided on the bottom plate. The robot is easy to use, has accurate positioning, and is highly reliable.

Description

Technical Field

[0001] The invention relates to a curtain wall cleaning technology, in particular to a lifting and winding cable device of a cable-type curtain wall cleaning robot. Background Art

[0002] Traditional curtain wall cleaning methods typically involve manual cleaning by workers using a rope-suspended vehicle. This is costly, inefficient, and poses significant safety risks. Currently, some countries and regions have enacted legislation restricting manual high-altitude climbing, including window cleaning. Consequently, various high-rise building curtain wall cleaning robots have been developed.

[0003] For example, Chinese patent application number CN205493732U discloses a high-altitude curtain wall cleaning robot comprising a trolley, a rope device, and a cleaning device. The rope device comprises a rope and a hook. The trolley is equipped with a reeling and unreeling control mechanism connected to the first end of the rope, and the hook is fixed to the second end of the rope. The cleaning device comprises a frame, the hook being hooked to the frame. A vacuum suction cup and a first horizontal drive device for driving the vacuum suction cup horizontally are mounted outside the frame. A lifting platform and a lifting drive device are mounted on the frame for vertical movement. The lifting platform is equipped with a nozzle and a scraper on the same side as the vacuum suction cup. The vacuum suction cup, nozzle, and scraper are spaced apart in the vertical direction. A second horizontal drive device for driving the nozzle and scraper is mounted on the lifting platform. The vacuum suction cup, nozzle, and scraper move in the same horizontal direction. Compared with traditional technologies, this fully automatic cleaning of high-altitude curtain walls has the advantages of high safety and high cleaning efficiency.

[0004] Before cleaning, place the trolley on the roof and the frame outside the high-altitude curtain wall, with the vacuum suction cup, nozzle and scraper all facing the high-altitude curtain wall. When cleaning, the motor starts and the rope is unwound. The unwinding of the rope uses the gravity of the frame to move the frame downward. When it moves to the position to be cleaned, each electric screw is started, and each vacuum suction cup moves toward the high-altitude curtain wall so that the vacuum suction cup is in contact with the high-altitude curtain wall. At this time, the vacuum suction cup is evacuated, and the vacuum suction cup generates suction. The frame is fixed to the high-altitude curtain wall through the vacuum suction cups. Then, the cylinder is driven to control the nozzle and scraper to contact the high-altitude curtain wall. The scraper scrapes and washes the wet high-altitude curtain wall while the nozzles spray water, and the scraper scrapes and washes the high-altitude curtain wall at the frame as the lifting platform moves up and down; at the same time, the motor controls the up and down movement of the frame and the trolley moves along the width direction of the high-altitude curtain wall on the roof. At this time, the horizontal movement of the trolley enables the scraper to fully scrape and wash the height and width main directions of the high-altitude curtain wall, and finally the high-altitude curtain wall is fully cleaned.

[0005] The lifting rope device required for this type of high-altitude curtain wall cleaning robot cleaning must be equipped with a specially designed lifting cable device.

[0006] For example, the Chinese patent with the authorization announcement number CN206645744U discloses a winch with a fixed line adjustment function in a stress-free state, including a machine base, an electric motor, a winding drum, a wire body wound on the winding drum, and a tensioning device located at the front end of the winding drum, the tensioning device including: a fixed frame, which is arranged on both sides of the machine base; two fixed shafts, which are located between the fixed frames; a rope-pulling shaft, which is located in the middle of the two fixed shafts and is arranged parallel to the two fixed shafts; a driven wheel, which is axially connected to the rope-pulling shaft, and the driven wheel is connected to the axial transmission of the winding drum; a wire clamp, which is vertically installed in the fixed shaft and the rope-pulling shaft; the wire clamp is provided with a wire threading groove, and the wire body extends through the wire threading groove. By adding a tensioning device, this utility model can prevent confusion and overlap when the winding drum is winding the rope, and has high safety performance.

[0007] The lifting cable device of the cable-type curtain wall cleaning robot using this technology can certainly be used, but it still has the following shortcomings:

[0008] A. Because the rope must be reeled in by a separate winch installed on the roof or floor, and the cleaning robot's lateral translation also requires the winch's translation, diagonal winding is difficult to achieve. This means ensuring a "straight road" on the roof for the winch carrier to move horizontally. However, experience shows that rooftops are not always flat. Therefore, personnel must be stationed on the roof to periodically move the winch and its carrier to avoid obstacles. Furthermore, the combined weight of the winch and its carrier must be greater than that of the robot itself, making it difficult for one person to handle the task. Clearly, this is not user-friendly.

[0009] B. Since the winch's cable shaft is perpendicular to the cable in space, the "cable shaft diameter" formed by the cable shaft and the cable body is a variable due to the layer-by-layer winding of the steel cable during the cable winding process. Of course, there is no problem with manual lifting. However, when using computer automatic control, the motor speed and line speed are not linearly related, which may cause problems such as difficult positioning or complicated control system.

[0010] C. Since the cable body and the winch are perpendicular to each other, the self-locking is not reliable enough, the retraction and extension speed is not uniform enough, the positioning is not accurate enough, the related supporting parts are subject to great stress and are easily damaged, and the reliability is not high enough.

[0011] In summary, the structure of the lifting cable device of the cable-type curtain wall cleaning robot in the prior art is not reasonable enough, the use is not convenient enough, the positioning is not easy to be accurate, the reliability is not high enough, and the use effect is not ideal enough. Summary of the Invention

[0012] In order to overcome the deficiencies of the prior art, the present invention provides a lifting and winching cable device for a cable-type curtain wall cleaning robot with a more reasonable structure, easier use, more accurate positioning, and higher reliability.

[0013] The technical solution adopted by the present invention to achieve the above-mentioned technical purpose is: a lifting and winching device of a cable-pulled curtain wall cleaning robot, the robot includes a frame, a plurality of sliding suction cups arranged on the back of the frame, a plurality of frame direction wheels arranged on the side of the frame, and two cleaning components arranged at the front and rear ends of the frame. The lifting and winching device is connected to the frame through a suspension cable, and the lifting and winching device is arranged at the top of the front of the frame, and a battery is also arranged on the front of the frame; the lifting and winching device includes a ring-shaped block base, a top plate and a bottom plate arranged above the base, and a stepping motor arranged below the base; a plurality of corresponding through holes are respectively opened on the top plate and the bottom plate, and corresponding bolts are passed through the through holes, and the rod of each bolt is sleeved with a fixed-distance sleeve of equal length; the top plate An upper twisting wheel and a lower twisting wheel are coaxially clamped between the top plate and the bottom plate; a bearing seat is provided on the top plate, and the output shaft of the stepper motor passes through the seat body and then through the bottom plate to be transmission-connected to the upper twisting wheel and the lower twisting wheel, and the end of the output shaft is arranged on the bearing seat through a bearing; a square opening is provided next to the bearing seat on the top plate, and a clamping roller pair arranged transversely to the wheel axle is provided in the square opening; a pressing wheel and a tensioning wheel arranged longitudinally to the wheel axle are respectively clamped between the top plate and the bottom plate by corresponding bolts and corresponding distance sleeves, wherein the tensioning wheel is arranged in the middle of the interval between the clamping roller pair and the pressing wheel; a guide wheel arranged transversely to the wheel axle is provided near the pressing wheel on the bottom plate; a comma-shaped anti-slip block is provided on the bottom plate, the tip of the comma is close to the wheel groove of the lower twisting wheel, and the concave surface of the comma faces outward.

[0014] The upper end of the suspension cable is fixed on the roof, and the lower end of the suspension cable passes through the gap of the clamping roller pair, then passes through the upper stranding wheel, then passes through the tensioning wheel, then passes through the lower stranding wheel, then passes through the pressure wheel, then passes through the guide wheel, and then naturally droops to near the ground.

[0015] The upper and lower stranding wheels are each provided with a plurality of anti-slip grooves evenly distributed along the circumferential direction on their circumferential surfaces.

[0016] The upper stranding wheel and the lower stranding wheel share adjacent wheel side walls.

[0017] The output end of the battery is electrically connected to the input end of the stepping motor.

[0018] The present invention has the following beneficial effects: Due to the above-described structure, the cable lifting device is located at the top of the front face of the frame 5, making it more convenient to use. Since the axis of the cable lifting device's winch is aligned with the overall direction of the suspension cable 23, the rotation speed of the stepper motor 15 is linearly related to the raising and lowering of the frame 5, resulting in more precise positioning during control. Because the winch's axis and the cable shaft are oriented in the same direction, compared to traditional "winch" systems in which the cable body and the winch shaft are perpendicular, the system achieves more reliable self-locking, more uniform retraction and extension speeds, more precise positioning, and less prone to damage to related supporting components, resulting in higher reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the installation position of the present invention on the cleaning robot body;

[0021] Figure 2 is a schematic diagram of the present invention;

[0022] Figure 3 It is a partial split schematic diagram of the present invention;

[0023] Figure 4 Schematic diagram of the stranding wheel part of the present invention

[0024] Figure 5 It is a schematic diagram of the suspension cable part in the present invention.

[0025] The marking numbers in the accompanying drawings are explained as follows: cleaning assembly 1, base body 2, battery 3, frame direction wheel 4, frame 5, sliding suction cup 6, clamping roller pair 7, bearing seat 8, top plate 9, bolt 10, distance sleeve 11, bottom plate 12, upper twisting wheel 13, lower twisting wheel 14, stepping motor 15, wire pressing wheel 16, guide wheel 17, square mouth 18, through hole 19, tensioning wheel 20, anti-slip block 21, anti-slip groove 22, and suspension cable 23. DETAILED DESCRIPTION

[0026] The embodiments of the present invention, such as Figures 1 to 5As shown, a lifting and winding cable device of a cable-pulled curtain wall cleaning robot, the robot includes a frame 5, a plurality of sliding suction cups 6 arranged on the back of the frame 5, a plurality of frame direction wheels 4 arranged on the side of the frame 5, and two cleaning components 1 arranged at the front and rear ends of the frame 5. The lifting and winding cable device is connected to the frame 5 through a suspension cable 23. The lifting and winding cable device is arranged on the top of the front of the frame 5, and a battery 3 is also provided on the front of the frame 5; the lifting and winding cable device includes a ring-shaped block base 2, a top plate 9 and a bottom plate 12 arranged above the base 2, and a stepping motor 15 arranged below the base 2; a plurality of corresponding through holes 19 are respectively opened on the top plate 9 and the bottom plate 12, and corresponding bolts 10 are passed through the through holes 19, and the rod of each bolt 10 is sleeved with a fixed-distance sleeve 11 of equal length; an upper winding wheel 13 is coaxially clamped between the top plate 9 and the bottom plate 12 and the lower strand wheel 14; a bearing seat 8 is provided on the top plate 9, and the output shaft of the stepping motor 15 passes through the seat body 2 and then through the bottom plate 12 to be transmission-connected with the upper strand wheel 13 and the lower strand wheel 14, and the end of the output shaft is arranged on the bearing seat 8 through a bearing; a square opening 18 is provided next to the bearing seat 8 on the top plate 9, and a clamping roller pair 7 with a wheel axle arranged transversely is provided in the square opening 18; a pressing wheel 16 and a tensioning wheel 20 with a wheel axle arranged longitudinally are respectively clamped between the top plate 9 and the bottom plate 12 by corresponding bolts 10 and corresponding distance sleeves 11, wherein the tensioning wheel 20 is provided at the middle of the interval between the clamping roller pair 7 and the pressing wheel 16; a guide wheel 17 with a wheel axle arranged transversely is provided on the bottom plate 12 near the pressing wheel 16; a comma-shaped anti-slip block 21 is provided on the bottom plate 12, the tip of the comma is close to the wheel groove of the lower strand wheel 14, and the concave surface of the comma faces outward.

[0027] The upper end of the suspension cable 23 is fixed on the roof, and the lower end of the suspension cable 23 passes through the gap between the clamping roller pair 7, then passes through the upper stranding wheel 13, then passes through the tensioning wheel 20, then passes through the lower stranding wheel 14, then passes through the pressure wheel 16, and then passes through the guide wheel 17, and then naturally droops to near the ground.

[0028] A plurality of anti-slip grooves 22 are uniformly distributed along the circumferential direction on the circumferential surfaces of the upper strand wheel 13 and the lower strand wheel 14 .

[0029] The upper strand wheel 13 and the lower strand wheel 14 share adjacent wheel side walls.

[0030] The output end of the battery 3 is electrically connected to the input end of the stepping motor 15 .

[0031] The hoisting cable 23 of the present invention is threaded as follows Figure 5As shown, the top end of the suspension cable 23 is fixed on the roof, and the lower end of the suspension cable 23 passes through the clamping gap of the clamping roller pair 7 (corresponding to section a in the figure), then passes through the upper winding wheel 13 (corresponding to section b in the figure), then passes through the tensioning wheel 20 (corresponding to section c in the figure), then passes through the lower winding wheel 14 (corresponding to section d in the figure), then passes through the pressure wheel 16 (corresponding to section e in the figure), and then passes through the guide wheel 17 (corresponding to section f in the figure), and then naturally droops to near the ground (corresponding to section g in the figure).

Claims

1. A cable-operated lifting and winching device for a cable-operated curtain wall cleaning robot. The robot comprises a frame, multiple sliding suction cups disposed on the back of the frame, multiple frame steering wheels disposed on the sides of the frame, and two cleaning assemblies disposed at the front and rear ends of the frame. The lifting and winching device is connected to the frame via a suspension cable, and is characterized by: The lifting and lowering cable winch device is arranged on the top of the front of the frame, and a battery is also arranged on the front of the frame; the lifting and lowering cable winch device includes a ring-shaped block base, a top plate and a bottom plate arranged above the base, and a stepping motor arranged below the base; a plurality of corresponding through holes are respectively opened on the top plate and the bottom plate, and corresponding bolts are passed through the through holes, and the rods of each bolt are sleeved with a fixed-distance sleeve of equal length; an upper strand wheel and a lower strand wheel are coaxially clamped between the top plate and the bottom plate; a bearing seat is provided on the top plate, and the output shaft of the stepping motor passes through the base and then through the bottom plate to transmit the upper strand wheel and the lower strand wheel. Then, the end of the output shaft is arranged on the bearing seat through a bearing; a square opening is provided next to the bearing seat on the top plate, and a clamping roller pair arranged transversely to the wheel axle is provided in the square opening; a pressing wheel and a tensioning wheel arranged longitudinally to the wheel axle are respectively clamped between the top plate and the bottom plate through corresponding bolts and corresponding distance sleeves, wherein the tensioning wheel is arranged in the middle of the interval between the clamping roller pair and the pressing wheel; a guide wheel arranged transversely to the wheel axle is provided near the pressing wheel on the bottom plate; a comma-shaped anti-slip block is provided on the bottom plate, the tip of the comma is close to the wheel groove of the lower stranding wheel, and the concave surface of the comma faces outward; The upper end of the suspension cable is fixed on the roof, and the lower end of the suspension cable passes through the gap of the clamping roller pair, then passes through the upper stranding wheel, then passes through the tensioning wheel, then passes through the lower stranding wheel, then passes through the pressure wheel, then passes through the guide wheel, and then naturally droops to near the ground.

2. The lifting cable device of the cable-pulled curtain wall cleaning robot according to claim 1, characterized in that: The upper and lower stranding wheels are each provided with a plurality of anti-slip grooves evenly distributed along the circumferential direction on their circumferential surfaces.

3. The lifting cable device of the cable-pulled curtain wall cleaning robot according to claim 2, characterized in that: The upper stranding wheel and the lower stranding wheel share adjacent wheel side walls.

4. The lifting cable device of the cable-pulled curtain wall cleaning robot according to claim 1, characterized in that: The output end of the battery is electrically connected to the input end of the stepping motor.

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