An intelligent and controllable continuous cyclic operation glass curtain wall cleaning robot and method

Abstract

The present invention provides an intelligent controllable continuous cyclic operation glass curtain wall cleaning robot and method. The cleaning robot includes a robot traveling system, a glass cleaning system, an intelligent circulating water system, and an intelligent control system. The robot traveling system includes an I-shaped longitudinal traveling frame, a servo longitudinal traveling motor, a longitudinal traveling lead screw, longitudinal traveling foot supports, an I-shaped transverse traveling frame, a longitudinal and transverse overlapping screw nut, a servo transverse traveling motor, a transverse traveling lead screw, and transverse traveling foot supports; the longitudinal traveling frame is supported on the curtain wall glass to be cleaned by four groups of longitudinal traveling foot supports; the I-shaped transverse traveling frame intersects the longitudinal traveling frame at a right angle and is connected to each other through the longitudinal and transverse overlapping screw nut; the transverse traveling frame is supported by four groups of transverse traveling foot supports. Through intelligent control, intelligent controllable continuous cyclic operation cleaning of high-rise building glass curtain walls and ordinary building window glasses can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of glass curtain wall cleaning equipment applications, and particularly relates to an intelligent and controllable continuous cycle operation glass curtain wall cleaning robot and method. Background Art

[0002] With the development of the economy, the scale of urbanization has gradually increased, and the glass curtain walls of high-rise buildings have gradually increased. The glass curtain walls are exposed to the outside for a long time and will inevitably be covered with dust or dirt, affecting their light transmission effect. The glass windows of ordinary buildings also need to be cleaned regularly to enhance their light transmittance. At present, the cleaning operations for glass curtain walls and ordinary building window glasses mainly rely on manual labor, with poor safety. Manual labor mainly suspends the workers in mid-air for cleaning by hanging ropes from the roof. Workers are prone to fatigue, which affects labor efficiency, and this operation has a very high risk factor, often resulting in casualties. In addition, high-altitude operations are severely restricted by weather conditions. At present, some cleaning equipment has emerged on the market, but none of them have been effectively applied on a large scale. The main reasons are as follows: One type of equipment places two half-separated devices on both sides of the glass through magnetic clamping, and manually moves the indoor side to achieve the cleaning purpose. This type of equipment does not fundamentally liberate labor productivity and mainly relies on manual labor. When the glass area is large and the position is high, it is not conducive to cleaning operations due to the limitation of the human arm, so it is only suitable for small-area local operations. Another type of equipment is mainly imported from Germany. It drives a circular robot by remote control to move on the glass surface and sucks the equipment onto the glass with suction. A rag is placed between the robot and the glass to wipe the glass clean. Although this type of equipment realizes remote control, it cannot effectively replace the cleaning rag, resulting in the gradual accumulation of dirt as the scrubbing progresses, and finally losing the cleaning effect.

[0003] A curtain wall drone system with the publication number CN111956138A drives a frame through a drone. A propulsion module and a cleaning module are arranged on the frame. The curtain wall is cleaned by a cleaning roller. The drone generates a forward thrust to keep the cleaning roller always closely attached to the curtain wall, thereby completing the cleaning. The cleaning effect of this operation method depends on the drone. The continuous operation of the drone is greatly affected by weather and other factors, which is not conducive to flexible cleaning operations on a large scale. Moreover, it fails to effectively solve the problem of continuous cleaning operation. Due to the blockage caused by the accumulation of dirt, the cleaning operation cannot be effectively carried out.

[0004] The glass curtain wall cleaning robot with the publication number of CN111466844A solves the problem that it can cross obstacles during the cleaning process. The four corners of the robot main frame are respectively fixedly connected with adjustable suction cup assemblies through swing rods, which rotate independently and are driven to arrange, so as to realize the cleaning operation. This design does not solve the problem of cleaning and sewage removal in continuous cleaning operations. At the same time, it moves through the four-corner rotating suction cups, the mechanism is not flexible enough, and the operation area is narrow, affecting the operation efficiency.

[0005] Therefore, there is an urgent need to design a robot device for cleaning glass curtain walls. This device can realize large-area automatic walking, at the same time, automatic cleaning operations, and can operate continuously in a cycle to meet the cleaning needs of large-area glass curtain walls or high-rise building window glasses. Summary of the Invention

[0006] In order to solve the technical problems raised in the background art, the present invention provides an intelligent and controllable continuous cycle operation glass curtain wall cleaning robot and method, which can realize intelligent and controllable continuous cycle operation cleaning of high-rise building glass curtain walls and ordinary building window glasses.

[0007] In order to achieve the above purpose, the present invention is realized by adopting the following technical solutions:

[0008] An intelligent and controllable continuous cycle operation glass curtain wall cleaning robot device includes a robot traveling system, a glass cleaning system, an intelligent circulating water system, and an intelligent control system.

[0009] 1) The robot traveling system includes an I-shaped longitudinal traveling frame, a servo longitudinal traveling motor, a longitudinal traveling lead screw, longitudinal traveling foot supports, an I-shaped transverse traveling frame, a vertical and horizontal overlapping nut, a servo transverse traveling motor, a transverse traveling lead screw, and transverse traveling foot supports;

[0010] The servo longitudinal traveling motor is fixed on the I-shaped longitudinal traveling frame, driving the longitudinal traveling lead screw. The longitudinal traveling lead screw is fixedly connected to the longitudinal traveling frame by a bearing support, and the longitudinal traveling frame is supported on the curtain wall glass to be cleaned by four groups of longitudinal traveling foot supports;

[0011] The I-shaped transverse traveling frame intersects with the longitudinal traveling frame at a right angle and is connected to each other through the vertical and horizontal overlapping nut; the vertical and horizontal overlapping nut and the longitudinal traveling frame are mutually matched with a slideway type guide rail. At the same time, the vertical and horizontal overlapping nut and the transverse traveling frame are also mutually matched with a slideway type guide rail; the servo transverse traveling motor is fixed on the I-shaped transverse traveling frame, driving the transverse traveling lead screw. The transverse traveling lead screw is supported on the transverse traveling frame by a bearing and can rotate arbitrarily under the drive of the servo transverse traveling motor. At the same time, the transverse traveling lead screw and the vertical and horizontal overlapping nut are in a screw pair match, and the transverse traveling frame is supported by four groups of transverse traveling foot supports.

[0012] Furthermore, the longitudinal walking foot support consists of a longitudinal walking suction cup and a longitudinal suction cup air pump. The longitudinal suction cup air pump is connected to the longitudinal walking suction cup, and pressure sensors are evenly distributed inside the longitudinal suction cup.

[0013] Furthermore, the transverse walking foot support consists of a transverse walking suction cup and a transverse suction cup air pump. The transverse suction cup air pump is connected to the transverse walking suction cup, and pressure sensors are evenly distributed inside the transverse suction cup.

[0014] 2) The glass cleaning system includes a cleaning motor, a cleaning mechanism crossbeam, a cleaning eccentric disk, a cleaning brush connecting rod, a curtain wall cleaning brush water inlet pipe, a curtain wall cleaning brush, a curtain wall cleaning brush cloth, a cleaning guiding chute, a pulley, a cleaning brush water inlet pipeline, a circulating water tank, a cleaning sewage collection funnel, and a sewage treatment barrel;

[0015] The cleaning motor is fixed on the cleaning mechanism crossbeam. The cleaning motor drives the cleaning eccentric disk to rotate, and the cleaning brush connecting rod forms a rotating hinge with the cleaning eccentric disk; the cleaning brush connecting rod is connected to the curtain wall cleaning brush water inlet pipe, the washing water inlet pipe is flexibly connected to the curtain wall cleaning brush, the inside of the curtain wall cleaning brush is a cavity porous structure, and the curtain wall cleaning brush cloth is inlaid on the curtain wall cleaning brush; the cleaning guiding chute is fixedly connected to the transverse traveling frame, and the curtain wall cleaning brush together with the flexibly connected curtain wall cleaning brush water inlet pipe is embedded inside the cleaning guiding chute through the pulley and can slide up and down freely; one end of the cleaning brush water inlet pipeline is connected to the curtain wall cleaning brush water inlet pipe and the other end is inserted into the circulating water tank; the cleaning sewage collection funnel is fixedly connected to the transverse traveling frame and is always directly below the curtain wall cleaning brush, ensuring close fit with the curtain wall to be cleaned, collecting the cleaning sewage into the sewage treatment barrel located directly below it, and the sewage treatment barrel is connected to the cleaning sewage collection funnel through an intelligent clamping switch.

[0016] Furthermore, the sewage treatment barrel is provided with a sewage filter screen, a dirt retaining groove, and a circulating water tank. The sewage filter screen filters out the solid dirt washed down and retains it in the dirt retaining groove, and the filtered water enters the circulating water tank at the lower part of the sewage treatment barrel.

[0017] 3) The intelligent circulating water system includes a water inlet pipe, a water level monitor, a circulating water pump, and a cleaning water pipe;

[0018] The water inlet pipe is connected to the sewage treatment barrel and is fixed to the side of the transverse traveling frame and the cleaning sewage collection funnel through a water pipe fixing clip. The water level in the sewage treatment barrel is monitored and controlled through the water level monitor, and an automatic alarm is triggered when the water level is too high or too low; a circulating water pump is placed in the sewage treatment barrel, the circulating water pump is connected to the cleaning water pipe, and water is supplied to the curtain wall cleaning brush cloth through the cleaning brush water inlet pipeline to wash and clean the glass curtain wall with water.

[0019] 4) The described intelligent control system includes a main controller and external wires; the servo longitudinal walking motor, the servo transverse walking motor, the suction cup air pumps of the longitudinal walking foot supports and the transverse walking foot supports, the cleaning motor, and the circulating water pump are all electrically connected to the main controller through the external wires; the walking process, the cleaning process, and the sewage filtration and circulation of the cleaning robot are all controlled by the main controller to actuate each motor.

[0020] The cleaning control method of the described intelligent controllable continuous circulation operation glass curtain wall cleaning robot device includes the following:

[0021] 1) First, place the cleaning robot device at the position of the glass curtain wall to be cleaned, supply water and electricity to the cleaning robot through the suspended water pipe and wire, make the four transverse suction cups and the four longitudinal suction cups contact the glass curtain wall, and the main controller gives a control signal to start the longitudinal suction cup air pumps of the four longitudinal groups of foot supports respectively, and adsorb the longitudinal suction cups of the four longitudinal groups of foot supports on the curtain wall glass; at the same time, the main controller gives a control signal to the transverse suction cup air pump to adjust the adsorption of the transverse walking suction cup on the curtain wall glass.

[0022] 2) Start the cleaning operation of the glass curtain wall. The main controller gives a control signal to the transverse suction cup air pump to adjust the adsorption force of the transverse walking suction cup to be separated from the curtain wall glass, and detect the pressure signal through the pressure sensor arranged inside the transverse suction cup; at this time, the whole robot system mainly relies on the longitudinal suction cups of the four longitudinal groups of foot supports to adsorb on the glass curtain wall; at the same time, start the cleaning motor on the cleaning mechanism crossbeam to drive the cleaning eccentric disk to rotate, drive the cleaning brush connecting rod to move through the hinge, and then drive the water inlet pipe of the curtain wall cleaning brush and the curtain wall cleaning brush to move. The curtain wall cleaning brush is embedded inside the cleaning guide chute through the pulley and slides up and down freely, so as to drive the curtain wall cleaning brush cloth to carry out the cleaning and pollution removal operation on the glass curtain wall; at the same time, one end of the cleaning brush water inlet pipeline is communicated with the water inlet pipe of the curtain wall cleaning brush, and the other end is inserted into the circulating water tank and is circulated and sucked by the circulating pump; continuously spray the circulating water into the cavity porous structure inside the curtain wall cleaning brush to continuously clean the curtain wall cleaning brush cloth, which is beneficial to better clean the stains on the glass curtain wall. The cleaning sewage collection funnel is fixedly connected to the transverse traveling frame and is directly below the curtain wall cleaning brush to ensure close contact with the curtain wall to be cleaned, collect the cleaning sewage into the sewage treatment barrel located directly below it. The sewage treatment barrel is connected to the cleaning sewage collection funnel through an intelligent clamping switch. The sewage treatment barrel is provided with a sewage filter screen to filter out the solid dirt washed down and retain it in the dirt retaining groove, and the filtered water enters the circulating water tank at the lower part of the sewage treatment barrel.

[0023] The main controller starts the servo longitudinal walking motor fixed on the I-shaped longitudinal walking frame, drives the longitudinal walking lead screw to rotate, and makes the vertical and horizontal overlapping nuts move longitudinally along the fixed I-shaped longitudinal walking frame, ensuring that the cleaning mechanism completes the cleaning operation of the glass curtain wall with a longitudinal rectangular area; after the cleaning of this part is completed, the main controller starts the servo transverse walking motor fixed on the I-shaped transverse walking frame, drives the transverse walking lead screw, and makes the vertical and horizontal overlapping nuts move horizontally left and right, so as to realize the cleaning operation of the glass curtain wall with a transverse rectangular area.

[0024] Whether it is horizontal cleaning or vertical cleaning operation, when encountering stubborn stains, the main controller can control the servo longitudinal walking motor and the servo transverse walking motor to stop running, fix at a position that needs to be cleaned, and the cleaning mechanism repeatedly cleans this part until it is clean.

[0025] Furthermore, the cleaning control method of the intelligent controllable continuous cycle operation glass curtain wall cleaning robot device further includes the following:

[0026] Longitudinal walking cleaning process: The main controller starts the servo longitudinal walking motor, drives the longitudinal walking lead screw to rotate, and makes the vertical and horizontal overlapping nuts move longitudinally along the fixed I-shaped longitudinal walking frame until it moves to the uppermost end of the longitudinal walking frame; the main controller gives a control signal to the horizontal suction cup air pump, adjusts the adsorption force between the horizontal walking suction cup and the curtain wall glass, and detects the pressure signal through the pressure sensor arranged inside the horizontal suction cup; the main controller makes the four groups of longitudinal foot support suction cups disengage from the glass curtain wall, and at this time the whole robot is mainly adsorbed on the glass curtain wall by the four groups of horizontal foot support suction cups; the main controller controls the servo longitudinal walking motor, drives the longitudinal walking lead screw to rotate, and makes the I-shaped longitudinal walking frame move longitudinally relative to the vertical and horizontal overlapping nuts, thus completing the longitudinal walking process, and the cleaning mechanism has been completing the cleaning operation during this process; when the I-shaped longitudinal walking frame longitudinally walks upward to the maximum position, the main controller makes the four groups of longitudinal foot support suction cups adsorb the glass curtain wall, and the four groups of horizontal foot support suction cups disengage from the curtain wall, and repeats the previous cleaning action to complete the cleaning operation of the glass curtain wall within a certain rectangular area; similarly, the horizontal moving cleaning operation process can be realized.

[0027] Furthermore, the cleaning control method of the intelligent controllable continuous cycle operation glass curtain wall cleaning robot device further includes the following: Intelligent circulating water process: The water inlet pipe is connected to the sewage treatment barrel, and the water pipe is fixed on the side of the transverse walking frame and the cleaning sewage collection funnel through the water pipe fixing clamp. The water level in the sewage treatment barrel is controlled by the water level monitor, and an automatic alarm will be given when the water level is too high or too low. A circulating water pump is placed in the sewage treatment barrel and is connected to the cleaning water pipe, and the water is supplied to the curtain wall cleaning brush cloth through the cleaning brush water inlet pipeline for cleaning.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) Through ingenious design, an intelligent and controllable continuous cycle glass curtain wall cleaning robot device and method are realized, which realizes continuous cycle cleaning of high-altitude glass curtain walls. Through the cooperation between the "I-shaped" horizontal and vertical walking frames, horizontal and vertical continuous walking is realized;

[0030] (2) During the walking process, the suction cup air pump sequentially adjusts the pressure inside the suction cup to coordinate the horizontal and vertical walking movements. At the same time, the suction cup can move axially to achieve the crossing of a flat glass curtain wall with a certain degree of unevenness;

[0031] (3) The design is equipped with a crank slider mechanism to drive the cleaning brush head to reciprocate and clean the glass curtain wall. The circulating water is used to pressurize the brush cloth to prevent the cleaning brush cloth from being deposited with solid dirt due to long-term cleaning, which effectively solves and ensures continuous cleaning operations.

[0032] (4) The sewage collection system can filter the cleaning sewage and recycle it;

[0033] (5) Through the intelligent circulating water system, it can ensure more long-term and effective large-area cleaning operations;

[0034] (6) The entire cleaning process is intelligently controllable and coordinated for continuous operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The glass curtain wall cleaning robot assembly diagram 1 of the present invention;

[0036] Figure 2 FIG. II is an overall assembly diagram of the glass curtain wall cleaning robot of the present invention;

[0037] Figure 3 A diagram of the cleaning mechanism and sewage collection system of the glass curtain wall cleaning robot of the present invention;

[0038] Figure 4 This is a cross-sectional view of the sewage treatment barrel of the glass curtain wall cleaning robot of the present invention;

[0039] Figure 5 A top view of the sewage tank of the glass curtain wall cleaning robot of the present invention;

[0040] Figure 6 This is an overall left view of the glass curtain wall cleaning robot of the present invention;

[0041] Figure 7 This is a control system wiring diagram of the glass curtain wall cleaning robot of the present invention;

[0042] Figure 8 The present invention is a ladder diagram of a control system of a glass curtain wall cleaning robot.

[0043] In the figure: 1 - curtain wall glass; 2 - longitudinal traveling frame; 3 - transverse traveling frame; 4 - water inlet pipe; 5 - PLC control box; 6 - longitudinal traveling suction cup I; 7 - longitudinal suction cup I air pump; 8 - longitudinal traveling motor; 9 - transverse suction cup I air pump; 10 - longitudinal traveling lead screw; 11 - longitudinal and transverse overlapping nut; 12 - cleaning sewage collection funnel; 13 - transverse suction cup II air pump; 14 - sewage treatment barrel; 15 - longitudinal traveling suction cup II; 16 - longitudinal suction cup II air pump; 17 - longitudinal suction cup III air pump; 18 - longitudinal traveling suction cup III; 19 - transverse suction cup III air pump; 20 - transverse traveling suction cup III; 21 - transverse traveling motor; 22 - transverse traveling lead screw; 23 - transverse traveling suction cup IV; 24 - transverse suction cup IV air pump; 25 - cleaning motor; 26 - curtain wall cleaning brush; 27 - longitudinal traveling suction cup IV; 28 - longitudinal suction cup IV air pump; 29 - transverse traveling suction cup I; 30 - cleaning brush connecting rod; 31 - cleaning mechanism cross beam; 32 - transverse traveling suction cup II; 33 - pressure sensor; 34 - cleaning water pipe; 35 - cleaning eccentric disc; 36 - cleaning brush water inlet pipeline; 37 - curtain wall cleaning brush cloth; 38 - cleaning guide chute; 39 - pulley; 40 - curtain wall cleaning brush water inlet; 41 - sewage filter screen; 42 - dirt retaining groove; 43 - circulating water tank; 44 - external wire; 45 - wire one; 46 - wire two; 47 - wire three; 48 - wire four; 49 - wire five; 50 - wire six; 51 - wire seven; 52. wire eight; 53 - wire nine; 54 - wire ten; 55 - wire eleven; 56 - wire twelve; 57 - wire splitter; 58 - wire clamp; 59 - water level monitor; 60 - circulating water pump; 61 - water pipe fixing clamp. Detailed implementation mode

[0044] The following provides a detailed description of the specific implementation mode provided by the present invention in conjunction with the accompanying drawings.

[0045] As Figure 1-8 shown, an intelligent and controllable continuous cyclic operation glass curtain wall cleaning robot device includes a robot traveling system, a glass cleaning system, an intelligent circulating water system, and an intelligent control system.

[0046] 1) The robot traveling system includes an I-shaped longitudinal traveling frame 2, a servo longitudinal traveling motor 8, a longitudinal traveling lead screw 10, longitudinal traveling foot supports, an I-shaped transverse traveling frame 3, a longitudinal and transverse overlapping nut 11, a servo transverse traveling motor 21, a transverse traveling lead screw 22, and transverse traveling foot supports.

[0047] The described robot traveling system has a servo longitudinal traveling motor 8 fixed on an I-shaped longitudinal traveling frame 2, which drives a longitudinal traveling lead screw 10. The longitudinal traveling lead screw 10 is fixedly connected to the longitudinal traveling frame 2 by two bearing supports. The longitudinal traveling frame 2 is supported on the curtain wall glass 1 to be cleaned by four groups of longitudinal traveling foot supports. Each group of longitudinal traveling foot supports consists of a longitudinal traveling suction cup and a longitudinal suction cup air pump. The four suction cups that make up the four foot supports are respectively the longitudinal traveling suction cup I 6, the longitudinal traveling suction cup II 15, the longitudinal traveling suction cup III 18, and the longitudinal traveling suction cup IV 27. The longitudinal suction cup air pumps that make up the four foot supports are respectively the longitudinal suction cup I air pump 7, the longitudinal suction cup II air pump 16, the longitudinal suction cup III air pump 17, and the longitudinal suction cup IV air pump 28.

[0048] The I-shaped transverse traveling frame 3 and the longitudinal traveling frame 2 are cross-shaped and are connected to each other through a vertical and horizontal overlapping screw nut 11. The vertical and horizontal overlapping screw nut 11 and the longitudinal traveling frame 2 are mutually matched by a slideway-type guide rail. At the same time, the vertical and horizontal overlapping screw nut 11 and the transverse traveling frame 3 are also mutually matched by a slideway-type guide rail. A servo transverse traveling motor 21 is fixed on the "I-shaped" transverse traveling frame 3, which drives a transverse traveling lead screw 22. The transverse traveling lead screw 22 is supported by bearings on the transverse traveling frame 3 and can rotate arbitrarily under the drive of the servo transverse traveling motor 21. At the same time, there is a screw pair cooperation between the transverse traveling lead screw 22 and the vertical and horizontal overlapping screw nut 11. The transverse traveling frame 3 is supported by four groups of foot supports. Each group of foot supports consists of a longitudinal traveling suction cup and a longitudinal suction cup air pump. The four suction cups that make up the four foot supports are respectively the transverse traveling suction cup I 29, the transverse traveling suction cup II 32, the transverse traveling suction cup III 20, and the transverse traveling suction cup IV 23. The transverse suction cup air pumps that make up the four foot supports are respectively the transverse suction cup I air pump 9, the transverse suction cup II air pump 13, the transverse suction cup III air pump 19, and the transverse suction cup IV air pump 24. Pressure sensors 33 are evenly arranged inside the longitudinal and transverse suction cups.

[0049] 2) The described glass cleaning system includes a cleaning motor 25, a cleaning mechanism cross beam 31, a cleaning eccentric disk 35, a cleaning brush connecting rod 30, a curtain wall cleaning brush water inlet pipe 40, a curtain wall cleaning brush 26, a curtain wall cleaning brush cloth 37, a cleaning guiding chute 38, a pulley 39, a cleaning brush water inlet pipeline 40, a circulating water tank 43, a cleaning sewage collection funnel 12, and a sewage treatment barrel 14.

[0050] The cleaning motor 25 is fixed on the cross beam 31 of the cleaning mechanism. The cleaning motor 25 drives the cleaning eccentric disk 35 to rotate. The cleaning brush connecting rod 30 forms a rotating hinge with the cleaning eccentric disk 35. The cleaning brush connecting rod 30 is connected to the curtain wall cleaning brush water inlet pipe 40. The flushing water inlet pipe 40 is flexibly connected to the curtain wall cleaning brush 26. The interior of the curtain wall cleaning brush 26 is a cavity porous structure. The curtain wall cleaning brush cloth 37 is embedded in the curtain wall cleaning brush 26. The cleaning guiding chute 38 is fixedly connected to the transverse traveling frame 3. The curtain wall cleaning brush 26 together with the flexibly connected curtain wall cleaning brush water inlet pipe 40 is embedded inside the cleaning guiding chute 38 through a pulley 39 and can slide up and down freely. One end of the cleaning brush water inlet pipeline 36 is connected to the curtain wall cleaning brush water inlet pipe 40, and the other end is inserted into the circulating water tank 43. The cleaning sewage collection funnel 12 is fixedly connected to the transverse traveling frame 3, is always located directly below the curtain wall cleaning brush 26, and ensures close contact with the curtain wall to be cleaned, collecting the cleaning sewage into the sewage treatment barrel 14 located directly below it. The sewage treatment barrel 14 is connected to the cleaning sewage collection funnel 12 through an intelligent clamping switch. The sewage treatment barrel is provided with a sewage filter screen 41 to filter out the solid dirt washed down and retain it in the dirt retaining groove 42. The filtered water enters the circulating water tank 43 at the lower part of the sewage treatment barrel 14. The water inlet pipeline 36 is inserted into the circulating water tank 43 and is circulated and suctioned by a circulating pump 60 for utilization.

[0051] 3) The intelligent circulating water system described above includes a water inlet pipe 4, a water level monitor 59, a circulating water pump 60, and a cleaning water pipe 34.

[0052] The water inlet pipe 4 is connected to the sewage treatment barrel 14 and the water pipe is fixed to the side of the transverse traveling frame 3 and the cleaning sewage collection funnel 12 through a water pipe fixing clip 61. The water level in the sewage treatment barrel 14 is monitored and controlled through the water level monitor 59, and an automatic alarm will be triggered if the water level is too high or too low. A circulating water pump 60 is placed in the sewage treatment barrel 14 and is connected to the cleaning water pipe 34, and water is supplied to the curtain wall cleaning brush cloth 37 through the cleaning brush water inlet pipeline 36 to wash and clean the glass curtain wall with water.

[0053] 4) The intelligent control system described above includes a PLC controller (inside the PLC control box 5) and an external electric wire 44:

[0054] The running process, cleaning process, and sewage filtration and circulation of the cleaning robot are all controlled by a PLC controller to control the actions of each servo motor. The external wire 44 is connected to the PLC control box 5 to form an intelligent control system. The wire 45 output from the PLC control box 5 serves as the main route of the robot, and is connected to the longitudinal suction cup I air pump 7 through the wire 46, the longitudinal suction cup IV air pump 28 through the wire 47, the transverse suction cup IV air pump 24 through the wire 48, the transverse suction cup I air pump 9 through the wire 49, the transverse walking motor 21 through the wire 50, the cleaning motor 25 through the wire 51, the transverse suction cup III air pump 19 through the wire 52, the transverse suction cup II air pump 13 through the wire 53, the wire ten is connected to the circulating water pump 60, the wire eleven 55 is connected to the longitudinal suction cup III air pump 17, and the wire twelve 56 is connected to the longitudinal suction cup II air pump 16. Ground personnel can send control signals to the device through a remote control to achieve the coordinated and orderly completion of the entire circulation process.

[0055] The cleaning control method of the continuous cyclic operation glass curtain wall cleaning robot device of the present invention is as follows:

[0056] 1) First, place the cleaning robot device at the position of the glass curtain wall to be cleaned, supply water and electricity to the cleaning robot through the suspended water pipe and wire, make the four transverse suction cups and the four longitudinal suction cups contact the glass curtain wall, and the PLC controller gives control signals to respectively start the longitudinal suction cup air pumps of the four groups of longitudinal feet: the longitudinal suction cup I air pump 7, the longitudinal suction cup II air pump 16, the longitudinal suction cup III air pump 17, and the longitudinal suction cup IV air pump 28, and adsorb the four groups of longitudinal feet suction cups (6 longitudinal walking suction cup I, 15 longitudinal walking suction cup II, 18 longitudinal walking suction cup III, 27 longitudinal walking suction cup IV) on the curtain wall glass 1. At the same time, the main controller gives control signals to the transverse suction cup air pumps (the transverse suction cup I air pump 9, the transverse suction cup II air pump 13, the transverse suction cup III air pump 19, the transverse suction cup IV air pump 24) to adjust the transverse walking suction cups (29 transverse walking suction cup I, 32 transverse walking suction cup II, 20 transverse walking suction cup III, 23 transverse walking suction cup IV) to adsorb on the curtain wall glass 1.

[0057] 2) Start the cleaning operation of the glass curtain wall. The PLC controller gives control signals to the horizontal suction cup air pumps (horizontal suction cup I air pump 9, horizontal suction cup II air pump 13, horizontal suction cup III air pump 19, horizontal suction cup IV air pump 24), adjusts the adsorption force between the horizontal walking suction cups (29 horizontal walking suction cup I, 32 horizontal walking suction cup II, 20 horizontal walking suction cup III, 23 horizontal walking suction cup IV) and the curtain wall glass 1 to be separated, and detects the pressure signal through the pressure sensor 33 set inside the horizontal suction cup. At this time, the whole robot system mainly relies on the four groups of vertical foot support suction cups to adsorb on the glass curtain wall. At the same time, turn on the cleaning motor 25 on the cleaning mechanism crossbeam 31, drive the cleaning eccentric disk 35 to rotate, drive the cleaning brush connecting rod 30 to move through the hinge, thereby driving the movement of the curtain wall cleaning brush water inlet pipe 40 and the curtain wall cleaning brush 26. The curtain wall cleaning brush 26 is embedded inside the cleaning guide chute 38 through the pulley 39 and slides freely up and down, thereby driving the curtain wall cleaning brush cloth 37 to perform the cleaning and decontamination operation on the glass curtain wall. At the same time, one end of the cleaning brush water inlet pipeline 36 is communicated with the curtain wall cleaning brush water inlet pipe 40, and the other end is inserted into the circulating water tank 43, and is circulated and sucked by the circulating pump for utilization. Continuously spray the circulating water into the cavity porous structure inside the curtain wall cleaning brush 26 to continuously clean the curtain wall cleaning brush cloth 37, which is beneficial to better clean the stains on the glass curtain wall. The cleaning sewage collection funnel 12 is fixedly connected to the horizontal walking frame 3, is directly below the curtain wall cleaning brush 26, and is ensured to be closely attached to the curtain wall to be cleaned, and collects the cleaning sewage into the sewage treatment barrel 14 located directly below it. The sewage treatment barrel 14 and the cleaning sewage collection funnel 12 are connected through an intelligent clamping switch. The sewage treatment barrel is provided with a sewage filter screen 41 to filter out the solid dirt washed down and retain it in the dirt retaining groove 42, and the filtered water enters the circulating water tank 43 at the lower part of the sewage treatment barrel 14.

[0058] The PLC controller starts the servo longitudinal walking motor 8 fixed on the I-shaped longitudinal walking frame 2, drives the longitudinal walking lead screw 10 to rotate, makes the vertical and horizontal overlapping nuts 11 move longitudinally along the fixed I-shaped longitudinal walking frame 2, and ensures that the cleaning mechanism completes the cleaning operation of the longitudinal rectangular area of the glass curtain wall. After the cleaning of this part is completed, the main controller starts the servo horizontal walking motor 21 fixed on the I-shaped horizontal walking frame 3, drives the horizontal walking lead screw 22, and makes the vertical and horizontal overlapping nuts 11 move horizontally left and right, so as to realize the cleaning operation of the horizontal rectangular area of the glass curtain wall.

[0059] Whether it is horizontal cleaning or vertical cleaning operation, when encountering stubborn stains, the PLC controller can control the servo longitudinal walking motor 8 and the servo horizontal walking motor 21 to stop running, fix at a position that needs to be cleaned, and the cleaning mechanism repeatedly performs the cleaning operation on this part until it is cleaned.

[0060] 3) Longitudinal walking cleaning process: The PLC controller starts the servo longitudinal walking motor 8 to drive the longitudinal walking lead screw 10 to rotate, causing the vertical and horizontal overlapping nut 11 to move longitudinally along the fixed I-shaped longitudinal walking frame 2 until it moves to the uppermost end of the longitudinal walking frame 2. The main controller gives control signals to the horizontal suction cup air pumps (horizontal suction cup I air pump 9, horizontal suction cup II air pump 13, horizontal suction cup III air pump 19, horizontal suction cup IV air pump 24) to adjust the adsorption force between the horizontal walking suction cups (29 horizontal walking suction cup I, 32 horizontal walking suction cup II, 20 horizontal walking suction cup III, 23 horizontal walking suction cup IV) and the curtain wall glass 1, and the pressure sensor 33 inside the horizontal suction cup detects the pressure signal. The main controller makes the four groups of longitudinal foot support suction cups disengage from the glass curtain wall. At this time, the whole robot mainly adheres to the glass curtain wall by the four groups of horizontal foot support suction cups. The main controller controls the servo longitudinal walking motor 8 to drive the longitudinal walking lead screw 10 to rotate, causing the I-shaped longitudinal walking frame 2 to move longitudinally relative to the vertical and horizontal overlapping nut 11, thus completing the longitudinal walking process. During this process, the cleaning mechanism has been completing the cleaning operation. When the I-shaped longitudinal walking frame 2 longitudinally walks upward to the maximum position, the main controller makes the four groups of longitudinal foot support suction cups adsorb the glass curtain wall, and the four groups of horizontal foot support suction cups disengage from the curtain wall, and repeats the previous cleaning action to complete the cleaning operation of the glass curtain wall within a certain rectangular area. Similarly, the horizontal moving cleaning operation process can be realized.

[0061] 4) Intelligent circulating water process: The water inlet pipe 4 is connected to the sewage treatment barrel 14, and the water pipe is fixed to the side of the horizontal walking frame 3 and the cleaning sewage collection funnel 12 through the water pipe fixing clamp 61. The water level in the water tank is controlled by the water level monitor 59, and an automatic alarm will be given when the water level is too high or too low. A circulating water pump 60 is placed in the sewage treatment barrel 14 and is connected to the cleaning water pipe 34, and the water is supplied to the curtain wall cleaning brush cloth 37 through the cleaning brush water inlet pipeline 36 for cleaning.

[0062] The above embodiments are implemented on the premise of the technical solution of the present invention, and the detailed implementation manners and specific operation processes are given, but the protection scope of the present invention is not limited to the above embodiments. The methods used in the above embodiments are all conventional methods unless otherwise specified.

Claims

1. An intelligent and controllable continuous cyclic operation glass curtain wall cleaning robot device, characterized in that, it includes a robot traveling system, a glass cleaning system, an intelligent circulating water system, and an intelligent control system; The robot traveling system includes an I-shaped longitudinal traveling frame, a servo longitudinal traveling motor, a longitudinal traveling lead screw, longitudinal traveling foot supports, an I-shaped transverse traveling frame, a longitudinal and transverse overlapping nut, a servo transverse traveling motor, a transverse traveling lead screw, and transverse traveling foot supports; The servo longitudinal traveling motor is fixed on the I-shaped longitudinal traveling frame and drives the longitudinal traveling lead screw. The longitudinal traveling lead screw is fixedly connected to the longitudinal traveling frame by a bearing support. The longitudinal traveling frame is supported on the curtain wall glass to be cleaned by four groups of longitudinal traveling foot supports; The I-shaped transverse traveling frame intersects the longitudinal traveling frame at a right angle and is connected to each other through a longitudinal and transverse overlapping nut. The longitudinal and transverse overlapping nut is matched with the longitudinal traveling frame by a slideway guide rail. At the same time, the longitudinal and transverse overlapping nut is also matched with the transverse traveling frame by a slideway guide rail. The servo transverse traveling motor is fixed on the I-shaped transverse traveling frame and drives the transverse traveling lead screw. The transverse traveling lead screw is supported on the transverse traveling frame by a bearing and can rotate arbitrarily under the drive of the servo transverse traveling motor. At the same time, the transverse traveling lead screw is in a screw pair with the longitudinal and transverse overlapping nut, and the transverse traveling frame is supported by four groups of transverse traveling foot supports; The longitudinal traveling foot support is composed of a longitudinal traveling suction cup and a longitudinal suction cup air pump. The longitudinal suction cup air pump is connected to the longitudinal traveling suction cup, and pressure sensors are evenly arranged inside the longitudinal suction cup; The transverse traveling foot support is composed of a transverse traveling suction cup and a transverse suction cup air pump. The transverse suction cup air pump is connected to the transverse traveling suction cup, and pressure sensors are evenly arranged inside the transverse suction cup.

2. The intelligent and controllable continuous cyclic operation glass curtain wall cleaning robot device according to claim 1, characterized in that, the glass cleaning system includes a cleaning motor, a cleaning mechanism cross beam, a cleaning eccentric disk, a cleaning brush connecting rod, a curtain wall cleaning brush water inlet pipe, a curtain wall cleaning brush, a curtain wall cleaning brush cloth, a cleaning guiding chute, a pulley, a cleaning brush water inlet pipeline, a circulating water tank, a cleaning sewage collection funnel, and a sewage treatment barrel; The cleaning motor is fixed on the cleaning mechanism cross beam. The cleaning motor drives the cleaning eccentric disk to rotate. The cleaning brush connecting rod forms a rotating hinge with the cleaning eccentric disk. The cleaning brush connecting rod is connected to the curtain wall cleaning brush water inlet pipe. The cleaning water inlet pipe is flexibly connected to the curtain wall cleaning brush. The inside of the curtain wall cleaning brush is a cavity porous structure, and the curtain wall cleaning brush cloth is inlaid on the curtain wall cleaning brush. The cleaning guiding chute is fixedly connected to the transverse traveling frame. The curtain wall cleaning brush together with the flexibly connected curtain wall cleaning brush water inlet pipe is embedded in the cleaning guiding chute through a pulley and can slide up and down freely. One end of the cleaning brush water inlet pipeline is connected to the curtain wall cleaning brush water inlet pipe, and the other end is inserted into the circulating water tank. The cleaning sewage collection funnel is fixedly connected to the transverse traveling frame and is always directly below the curtain wall cleaning brush to ensure close contact with the curtain wall to be cleaned. The cleaning sewage is collected into the sewage treatment barrel directly below it. The sewage treatment barrel is connected to the cleaning sewage collection funnel through an intelligent clamping switch.

3. An intelligent controllable continuous cyclic operation glass curtain wall cleaning robot device according to claim 2, characterized in that, the sewage treatment barrel is provided with a sewage filter screen, a dirt retaining groove, and a circulating water tank. The sewage filter screen filters out the solid dirt washed down and retains it in the dirt retaining groove, and the filtered water enters the circulating water tank at the lower part of the sewage treatment barrel.

4. An intelligent controllable continuous cyclic operation glass curtain wall cleaning robot device according to claim 2, characterized in that, the intelligent circulating water system includes a water inlet pipe, a water level monitor, a circulating water pump, and a cleaning water pipe; the water inlet pipe is communicated with the sewage treatment barrel, and the water pipe is fixed to the side of the transverse traveling frame and the cleaning sewage collection funnel through a water pipe fixing clamp. The water level in the sewage treatment barrel is monitored and controlled by the water level monitor, and an automatic alarm is given when the water level is too high or too low; a circulating water pump is placed in the sewage treatment barrel. The circulating water pump is communicated with the cleaning water pipe, and water is supplied to the curtain wall cleaning brush cloth through the cleaning brush water inlet pipeline to wash and clean the glass curtain wall with water.

5. An intelligent controllable continuous cyclic operation glass curtain wall cleaning robot device according to any one of claims 1 to 4, characterized in that, the intelligent control system includes a main controller and external wires; the servo longitudinal traveling motor, the servo transverse traveling motor, the suction cup air pumps of the longitudinal traveling foot supports and the transverse traveling foot supports, the cleaning motor, and the circulating water pump are all electrically connected to the main controller through external wires; the traveling process, the cleaning process, and the sewage filtration and circulation of the cleaning robot are all controlled by the main controller to control the actions of each motor.

6. A cleaning control method for an intelligent controllable continuous cyclic operation glass curtain wall cleaning robot device according to any one of claims 1 to 5, characterized in that, it includes the following: 1) First, place the cleaning robot device at the position of the glass curtain wall to be cleaned, supply water and electricity to the cleaning robot through the hanging water pipe and wire, make the four transverse suction cups and the four longitudinal suction cups contact the glass curtain wall, and give a control signal by the main controller to start the longitudinal suction cup air pumps of the four groups of longitudinal foot supports respectively to adsorb the longitudinal four groups of foot support suction cups on the curtain wall glass; at the same time, give a control signal to the transverse suction cup air pump by the main controller to adjust the transverse traveling suction cups to adsorb on the curtain wall glass; 2) Start the cleaning operation of the glass curtain wall. The main controller gives a control signal to the horizontal suction cup air pump to adjust the adsorption force between the horizontal walking suction cup and the curtain wall glass, and detects the pressure signal through the pressure sensor set inside the horizontal suction cup; at this time, the whole robot system is adsorbed on the glass curtain wall by four groups of vertical foot support suction cups; at the same time, turn on the cleaning motor on the cleaning mechanism crossbeam to drive the cleaning eccentric disc to rotate, drive the cleaning brush connecting rod to move through the hinge, and then drive the water inlet pipe of the curtain wall cleaning brush and the curtain wall cleaning brush to move. The curtain wall cleaning brush is embedded inside the cleaning guide chute through a pulley and slides freely up and down, thereby driving the curtain wall cleaning brush cloth to clean the glass curtain wall; at the same time, one end of the cleaning brush water inlet pipeline is communicated with the water inlet pipe of the curtain wall cleaning brush, and the other end is inserted into the circulating water tank and utilized by circulating suction through the circulating pump; continuously spray the circulating water into the cavity porous structure inside the curtain wall cleaning brush to continuously clean the curtain wall cleaning brush cloth, which is beneficial to better clean the stains on the glass curtain wall. The cleaning sewage collection funnel is fixedly connected to the horizontal walking frame and is directly below the curtain wall cleaning brush, ensuring close contact with the curtain wall to be cleaned, collecting the cleaning sewage into the sewage treatment bucket located directly below it. The sewage treatment bucket is connected to the cleaning sewage collection funnel through an intelligent clamping switch. The sewage treatment bucket is provided with a sewage filter screen to filter out the solid dirt washed down and retain it in the dirt retaining groove. The filtered water enters the circulating water tank at the lower part of the sewage treatment bucket; The main controller starts the servo longitudinal walking motor fixed on the I-shaped longitudinal walking frame, drives the longitudinal walking lead screw to rotate, and makes the vertical and horizontal overlapping nuts move longitudinally along the fixed I-shaped longitudinal walking frame to ensure that the cleaning mechanism completes the cleaning operation of the longitudinal rectangular area of the glass curtain wall; after the cleaning of this part is completed, the main controller starts the servo horizontal walking motor fixed on the I-shaped horizontal walking frame, drives the horizontal walking lead screw, and makes the vertical and horizontal overlapping nuts move horizontally left and right, so as to realize the cleaning operation of the horizontal rectangular area of the glass curtain wall; Whether it is horizontal cleaning or vertical cleaning operation, when encountering stubborn stains, the main controller can control the servo longitudinal walking motor and the servo horizontal walking motor to stop running, fix at a position that needs to be cleaned, and the cleaning mechanism repeatedly cleans this part until it is cleaned.

7. The cleaning control method of an intelligent controllable continuous circulation operation glass curtain wall cleaning robot device according to claim 6, characterized in that, it further includes the following: Longitudinal walking cleaning process: The main controller starts the servo longitudinal walking motor to drive the longitudinal walking lead screw to rotate, causing the vertical and horizontal overlapping nuts to move longitudinally along the fixed I-shaped longitudinal walking frame until it moves to the uppermost end of the longitudinal walking frame; the main controller gives a control signal to the horizontal suction cup air pump to adjust the adsorption force between the horizontal walking suction cup and the curtain wall glass, and detects the pressure signal through the pressure sensor set inside the horizontal suction cup; the main controller makes the four groups of longitudinal foot support suction cups separate from the glass curtain wall, and at this time the whole robot is adsorbed on the glass curtain wall by the four groups of horizontal foot support suction cups; the main controller controls the servo longitudinal walking motor to drive the longitudinal walking lead screw to rotate, causing the I-shaped longitudinal walking frame to move longitudinally relative to the vertical and horizontal overlapping nuts, thus completing the longitudinal walking process, during which the cleaning mechanism has been completing the cleaning operation; when the I-shaped longitudinal walking frame moves longitudinally upward to the maximum position, the main controller makes the four groups of longitudinal foot support suction cups adsorb the glass curtain wall, and the four groups of horizontal foot support suction cups separate from the curtain wall, and repeats the previous cleaning action to complete the cleaning operation of the glass curtain wall within a certain rectangular area; similarly, the horizontal moving cleaning operation process can be realized.

8. The cleaning control method of an intelligent controllable continuous cyclic operation glass curtain wall cleaning robot device according to claim 6, characterized in that it further includes the following: Intelligent circulating water process: The water inlet pipe is connected to the sewage treatment barrel, and the water pipe is fixed to the side of the horizontal walking frame and the cleaning sewage collection funnel through a water pipe fixing clip. The water level in the sewage treatment barrel is controlled by a water level monitor, and an automatic alarm will be given when the water level is too high or too low. A circulating water pump is placed in the sewage treatment barrel and connected to the cleaning water pipe, and the water is supplied to the curtain wall cleaning brush cloth through the cleaning brush water inlet pipeline for cleaning.

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