Curtain wall cleaning robot and its working method and control system

Abstract

The present invention discloses a curtain wall cleaning robot, comprising a vertical moving mechanism connected to a cable, a body control mechanism connected to the vertical moving mechanism, a cleaning device for cleaning the curtain wall, and a cleaning device adjustment mechanism connected between the body control mechanism and the cleaning device. The vertical moving mechanism is suspended outside the curtain wall by a cable, and the lifting or hovering is achieved by friction with the cable. When cleaning the curtain wall, the body control mechanism drives the cleaning device to approach the curtain wall, and then the cleaning device adjustment mechanism adjusts the angle between the cleaning device and the surface of the curtain wall so that the cleaning device fits the surface of the curtain wall, and the cleaning device starts to clean the curtain wall. At the same time, the vertical moving mechanism controls the machine to move downward or upward to adjust the cleaning position. In addition, the body control mechanism can drive the cleaning device away from the curtain wall, which is convenient for avoiding obstacles and adjusting the posture of the machine. The entire cleaning process is completed autonomously by the machine, replacing manual climbing operations, greatly improving the safety of curtain wall cleaning.

Description

Technical Field

[0001] The invention relates to the field of cleaning, and more specifically, to a curtain wall cleaning robot and a working method and a control system thereof. Background Art

[0002] The curtain wall is the exterior wall of a building. It is non-load-bearing and has a decorative effect. It is usually composed of panels made of glass, metal, stone, ceramics and other materials and a supporting structure behind it. It is a lightweight wall commonly used in modern large or high-rise buildings.

[0003] Nowadays, with the increasing shortage of land resources, more and more high-rise buildings are rising from the ground. The glass curtain walls used in these high-rise buildings are exposed to the atmosphere for a long time, and are exposed to wind, rain and sun all year round. They are easily polluted by dust in the air and chemicals in rainwater, which makes the glass curtain walls dirty, which not only affects the beauty of the buildings and the appearance of the city, but also easily damages the buildings. In order to beautify the environment and protect the buildings, the glass curtain walls need to be cleaned regularly, and the high-rise building glass curtain wall cleaning industry has also come into being.

[0004] At present, the cleaning of glass curtain walls mainly relies on manual labor, that is, the "Spider-Man" that can be seen everywhere and climbing high-altitude buildings hangs in the air to clean the curtain walls directly. Due to the high working environment and suspension only by cables, the possibility of accidents is very high, and the life safety of the staff cannot be guaranteed. Therefore, there is an urgent need for a new way to clean high-rise glass curtain walls to protect the life and property safety of the staff. Summary of the invention

[0005] In view of the shortcomings of the prior art, the first purpose of the present invention is to provide a curtain wall cleaning robot, which has the advantages of replacing manual cleaning automatically and having high safety.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A curtain wall cleaning robot, comprising

[0008] A vertical moving mechanism is connected to the cable and utilizes friction with the cable to perform lifting and lowering;

[0009] A body control mechanism connected to the vertical moving mechanism, used to drive the cleaning device closer to or away from the curtain wall;

[0010] A cleaning device that adheres to the surface of the curtain wall and cleans the curtain wall when it is attached to the curtain wall;

[0011] The cleaning device adjusting mechanism is connected between the body control mechanism and the cleaning device, and is used for adjusting the angle between the cleaning device and the curtain wall so that the cleaning device fits the curtain wall.

[0012] With the above technical solution, the vertical moving mechanism is suspended outside the curtain wall by cables, and the friction with the cables is used to achieve lifting and hovering. When cleaning the curtain wall, the body control mechanism drives the cleaning device close to the curtain wall. After the cleaning device approaches the curtain wall, the cleaning device adjustment mechanism adjusts the angle between the cleaning device and the surface of the curtain wall so that the cleaning device fits the surface of the curtain wall. Then the cleaning device starts to work and adsorbs on the curtain wall to clean the curtain wall, and the cleaning effect is good. At the same time, the vertical moving mechanism controls the machine to move downward or upward to adjust the cleaning position. When cleaning is not required, the body control mechanism can drive the cleaning device away from the curtain wall to facilitate obstacle avoidance and adjustment of the machine posture. The entire process is actively completed by the machine to replace manual climbing operations, greatly improving the safety of curtain wall cleaning.

[0013] Furthermore, the vertical movement mechanism includes at least two rope climbing devices which are respectively connected to the cables and can be raised and lowered independently.

[0014] Furthermore, the rope climbing device includes a body, a

[0015] The first fixed pulley introduces the cable from the vertical direction, changes the direction of the cable and transmits it to the next level;

[0016] The second fixed pulley introduces the cable from the upper stage, changes the direction of the cable and leads it vertically downward;

[0017] at least one intermediate pulley for threading the cable between the first fixed pulley and the second fixed pulley;

[0018] The clamping wheel is linked with the middle pulley and can be close to or away from the second fixed pulley, or close to or away from the first fixed pulley. When the clamping wheel is close to the second fixed pulley or the first fixed pulley, the cable is clamped with the second fixed pulley or the first fixed pulley to achieve lifting and lowering by friction.

[0019] And set in the fuselage

[0020] A linkage assembly is connected between the first fixed pulley, the intermediate pulley, and the second fixed pulley, and is connected between the intermediate pulley and the pressure wheel to achieve linkage between them;

[0021] The power source drives the middle pulley, the first fixed pulley, the second fixed pulley and the clamping wheel to rotate.

[0022] Furthermore, the linkage assembly includes a gear member connected between the first fixed pulley, the intermediate pulley, and the second fixed pulley, and a synchronous belt connected between the intermediate pulley and the pressure wheel.

[0023] Furthermore, a guide component for restricting the transmission direction of the cable is arranged on the top of the fuselage.

[0024] Furthermore, the body control mechanism includes

[0025] At least two supporting legs are hinged to the vertical moving mechanism and the end near the wall is connected to the cleaning device;

[0026] The telescopic driving source has one end hinged to the vertical moving mechanism and the other end hinged to the far wall end of the supporting leg.

[0027] Furthermore, the cleaning device comprises

[0028] Clean the panel and connect it to the body control mechanism;

[0029] An adsorption component is connected to the cleaning panel and is adsorbed on the glass surface when the cleaning panel is attached to the glass surface;

[0030] A spray assembly, connected to the cleaning panel, for spraying cleaning fluid onto the surface of the curtain wall;

[0031] A first roller brush is connected to the bottom of the cleaning panel and is used for scraping and cleaning the surface of the curtain wall;

[0032] The second roller brush is connected to the top of the cleaning panel and is used to wipe and clean the surface of the curtain wall;

[0033] The recovery and filtering component is connected to the cleaning panel to recover and filter the cleaning liquid that has been washed on the curtain wall for recycling.

[0034] Furthermore, the adsorption assembly includes a suction nozzle connected to the cleaning panel, and a negative pressure generator communicated with the suction nozzle.

[0035] Furthermore, the spray assembly includes a spraying member connected to the cleaning panel, and a liquid conveyor for conveying the cleaning liquid to the spraying member.

[0036] Furthermore, the recovery filter assembly includes a negative pressure extractor connected to the cleaning panel, and a filter communicated with the negative pressure extractor.

[0037] Furthermore, a cleaning scraper is arranged around the outer periphery of the roller brush on the cleaning side of the cleaning panel, and when the cleaning scraper is close to the curtain wall surface, it surrounds the curtain wall surface to form a cleaning space.

[0038] Furthermore, the cleaning panel is provided with a collecting tank for collecting cleaning liquid within the circle of the cleaning scraper, and the recovery filter assembly is communicated with the collecting tank.

[0039] Furthermore, the cleaning device adjustment mechanism includes

[0040] A connecting rod, one end of which is hinged to the vertical moving mechanism, and the other end of which is hinged to the cleaning device;

[0041] The telescopic driving member is connected between the vertical moving mechanism and the body control mechanism. When performing the telescopic action, the cleaning device is driven to move through the body control mechanism to adjust the hinge angle between the cleaning device and the connecting rod.

[0042] Furthermore, the cleaning device adjustment mechanism also includes

[0043] The buffer component is connected between the body control mechanism and the cleaning device and is used for buffering the acting force between the cleaning device and the body control mechanism.

[0044] Furthermore, it also includes

[0045] An obstacle detection device, connected to the bottom of the cleaning device, for detecting whether there is an obstacle in the cleaning path;

[0046] The obstacle-crossing mechanism is movably connected to the cleaning device. When an obstacle is detected in the cleaning path, the obstacle-crossing mechanism is adsorbed on the surface of the curtain wall. When the body control mechanism drives the cleaning device away from the curtain wall, the movement trajectory of the curtain wall cleaning robot is restricted and supported to achieve obstacle-crossing.

[0047] Furthermore, the obstacle crossing mechanism includes

[0048] A support arm, hinged to the cleaning device, used to support the cleaning device to climb over obstacles;

[0049] The suction cup assembly is hinged to the support arm and adheres to the surface of the curtain wall when crossing obstacles.

[0050] Furthermore, the obstacle crossing mechanism also includes

[0051] The limiting assembly is connected to the cleaning device and is used to limit the movement of the support arm when the device is not in an obstacle crossing state.

[0052] In view of the shortcomings of the prior art, the second purpose of the present invention is to provide a curtain wall cleaning robot working method, the robot works autonomously when working, replacing manual cleaning of the curtain wall, and has high safety.

[0053] To achieve the above object, the present invention provides the following technical solutions:

[0054] A curtain wall cleaning robot working method, comprising:

[0055] The vertical moving mechanism uses cables to lift the curtain wall cleaning robot to the target cleaning position;

[0056] The body control mechanism adjusts the posture of the curtain wall cleaning robot so that the cleaning device is close to the curtain wall;

[0057] The cleaning device adjustment mechanism adjusts the angle between the cleaning device and the curtain wall surface so that the cleaning device fits the curtain wall surface;

[0058] The cleaning device starts to work, adsorbs on the surface of the curtain wall, and cleans the curtain wall;

[0059] The vertical moving mechanism drives the curtain wall cleaning robot to adjust to the next curtain wall cleaning position;

[0060] Repeat the above steps until cleaning is completed.

[0061] By adopting the above technical solution, when the robot is working, it first moves to the cleaning position in an initial state, then adjusts to a working posture so that the cleaning device is close to the curtain wall, and then adjusts to fit the surface of the curtain wall. During cleaning, the cleaning device is adsorbed on the surface of the curtain wall to improve the cleaning effect and work stability. After cleaning is completed at this position, the vertical lifting mechanism moves downward to the next cleaning position to continue cleaning. No manual control is required, the cleaning efficiency is high, and the safety is good.

[0062] Furthermore, it also includes

[0063] During the cleaning process, when the obstacle detection device detects an obstacle at the next position of the cleaning path,

[0064] The obstacle crossing mechanism is adsorbed on the curtain wall, supporting and limiting the movement of the curtain wall cleaning robot within the set range. The body control mechanism adjusts the posture of the curtain wall cleaning robot to keep the cleaning device away from the curtain wall. At the same time, the vertical movement mechanism drives the curtain wall cleaning robot to move downward to the next target cleaning position to continue cleaning.

[0065] Further, the cleaning operation includes

[0066] The spraying assembly sprays the cleaning liquid onto the curtain wall;

[0067] The cleaning liquid sprayed into the cleaning space adheres to the rotating first roller brush to clean the curtain wall for the first time, and the cleaning liquid sprayed onto the second roller brush cleans the curtain wall for the second time.

[0068] Furthermore, the cleaning operation also includes

[0069] The recovery and filtering component recovers and filters the cleaning liquid in the cleaning space for recycling.

[0070] In view of the shortcomings of the prior art, the third purpose of the present invention is to provide a curtain wall cleaning robot control system, which controls the robot to perform cleaning operations autonomously without human control, has high cleaning efficiency, replaces manual climbing to clean curtain walls, and has good safety.

[0071] To achieve the above object, the present invention provides the following technical solutions:

[0072] A curtain wall cleaning robot control system comprises a processor and a memory, wherein the memory stores an instruction set for the processor to call to control the curtain wall cleaning robot to implement the cleaning work included in the curtain wall cleaning robot working method as described in any of the above technical solutions.

[0073] In summary, the present invention has the following beneficial effects:

[0074] 1. During the vertical movement, the cleaning device can be retracted through the body control mechanism to adjust the posture of the machine, which is convenient for the machine to move vertically up and down. In addition, the two climbing devices are independently controlled and can be raised and lowered independently. For example, when a certain cable falls down due to insufficient friction, the cable can be adjusted immediately to improve the balance of the machine.

[0075] 2. When cleaning the curtain wall, the cleaning device adjustment mechanism can adjust the angle between the cleaning device and the curtain wall so that the cleaning device fits the surface of the curtain wall, which helps to improve the cleaning effect and reduce the waste caused by the overflow of cleaning liquid;

[0076] 3. When encountering obstacles during cleaning, the robot can use the cooperation of obstacle-crossing mechanism, body control mechanism and vertical lifting mechanism to jump over obstacles through pole-vaulting action without human intervention, which is highly practical.

[0077] 4. When cleaning, you only need to hang the cable, without external power supply and water source, which is simple and convenient to use. At the same time, the cleaning liquid is filtered and recycled, which is energy-saving and environmentally friendly;

[0078] 5. The entire cleaning process is completed autonomously by the machine, replacing manual climbing operations, greatly improving the safety of curtain wall cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 It is a three-dimensional structural diagram of the curtain wall cleaning robot in the present invention;

[0080] Figure 2 It is a structural schematic diagram of the vertical moving mechanism in the present invention;

[0081] Figure 3 It is a structural schematic diagram of the rope climbing device in the present invention;

[0082] Figure 4 A partial schematic diagram for presenting the internal structure of a rope climbing device;

[0083] Figure 5 is a schematic diagram for illustrating the structure of a body control mechanism;

[0084] Figure 6 for Figure 5 The enlarged schematic diagram of the middle A part;

[0085] Figure 7 for Figure 5 The enlarged schematic diagram of the middle part B;

[0086] Figure 8 It is a partial schematic diagram for illustrating the cleaning device and obstacle-crossing mechanism;

[0087] Fig. 9 It is a schematic diagram of the flow chart of the working method of the curtain wall robot in the present invention;

[0088] Fig.10 It is a schematic diagram of the process of the curtain wall robot climbing over obstacles in the present invention;

[0089] Fig.11 It is a schematic diagram of the framework of the curtain wall robot control system in the present invention.

[0090] In the figure: 1. vertical moving mechanism; 101. fuselage; 1011. through slot; 102. first fixed pulley; 103. second fixed pulley; 104. first intermediate pulley; 105. second intermediate pulley; 106. clamping wheel; 107. adjustment assembly; 1071. adjustment frame; 1072. adjustment rod; 1073. connecting member; 1074. locking assembly; 108. guide assembly; 1081. first guide wheel; 1082. second guide wheel; 1083. first guide rod; 1084. second guide rod; 109. power source; 110. gear member; 111. synchronous belt; 112. bracket; 2. body control mechanism; 201. support leg; 202. telescopic drive source; 203, mounting frame; 3, cleaning device; 301, cleaning panel; 302, spray assembly; 303, adsorption assembly; 304, first roller brush; 305, second roller brush; 306, cleaning scraper; 307, collecting tank; 308, roller; 309, pressure detection device; 4, cleaning device adjustment mechanism; 401, connecting rod; 402, telescopic drive member; 5, obstacle detection device; 6, obstacle crossing mechanism; 601, support arm; 602, suction cup assembly; 603, limit assembly; 7, buffer assembly; 701, I-shaped member; 702, fixing member; 703, connecting shaft; 704, first elastic member; 705, limit member; 706, second elastic member; 8, processor; 9, memory. DETAILED DESCRIPTION

[0091] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0092] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0093] Example 1

[0094] A curtain wall cleaning robot, referring to Figure 1 , including a vertical moving mechanism 1, a body control mechanism 2, a cleaning device 3 and a cleaning device adjustment mechanism 4. The vertical moving mechanism 1 is suspended outside the curtain wall by a cable, and the friction with the cable is used to realize the lifting and hovering of the robot. The body control mechanism 2 is used to drive the cleaning device 3 to move closer to or away from the curtain wall. The cleaning device adjustment mechanism 4 adjusts the angle between the cleaning device 3 and the surface of the curtain wall after the cleaning device 3 approaches the curtain wall, so that the cleaning device 3 fits the surface of the curtain wall, which is convenient for the cleaning device 3 to clean the curtain wall.

[0095] Reference Figure 1 , Figure 2 The vertical moving mechanism 1 includes two rope climbing devices respectively connected to the cables on both sides. The two rope climbing devices have the same structure, but are controlled separately and can be raised and lowered independently, that is, they can rise and fall simultaneously or asynchronously. The independent lifting method is more conducive to the balance control of the machine when controlling the lifting position of the machine. In the embodiment of the present invention, the vertical moving mechanism adopts two rope climbing devices. It should be known that in other embodiments, one or more rope climbing devices can be used as needed. In addition, the number of body control mechanisms 2 also corresponds to the number of rope climbing devices, that is, each rope climbing device is provided with a set of body control mechanisms 2, and multiple groups cooperate to adjust the posture of the machine.

[0096] Take one of the rope climbing devices as an example, refer to Figure 2 , Figure 3 The rope climbing device includes a body 101 , and a first fixed pulley 102 , a second fixed pulley 103 , a plurality of intermediate pulleys, a clamping wheel 106 , a linkage assembly and a power source 109 arranged on the body 101 .

[0097] Specifically, the fuselage 101 is in the shape of a long box and is made of light material. The first fixed pulley 102 is rotatably arranged at the lower half of the fuselage 101, and the cable is introduced from top to bottom in the vertical direction. The cable is embedded in the slot of the first fixed pulley 102, and then changes direction and is transmitted to the next level. In addition, it should be understood that the rotation arrangement described in the present invention is generally connected in the form of a rotating shaft unless otherwise specified.

[0098] The second fixed pulley 103 is rotatably disposed at the bottom of the fuselage 101 and is used to change the direction of the cable and lead the cable downward. It should be known that due to the gravity of the cable, the direction in which the cable is led out is generally vertically downward.

[0099] Further, refer to Figure 2 , Figure 3The intermediate pulley is rotatably arranged between the first fixed pulley 102 and the second fixed pulley 103, and is used to guide the cable to the second fixed pulley 103. The actual number of intermediate pulleys is freely configured according to the weight of the machine and the friction coefficient of the cable. The number used in this embodiment is 2. Specifically, the first intermediate pulley 104 is arranged adjacent to the first fixed pulley 102, and the cable direction is changed by about 180° and then transported in an oblique upward direction. The second intermediate pulley 105 is arranged adjacent to the first intermediate pulley 104, and the cable in the oblique upward direction is introduced, and then changed by about 180° again, and then transported to the second fixed pulley 103 in an oblique downward direction. The first intermediate pulley 104 and the second intermediate pulley 105 embed the cable into the card slot, and repeatedly change the direction, so that the contact area between the cable and the pulley card slot is increased, which greatly improves the friction effect, thereby improving the stability of the lifting.

[0100] In addition, refer to Figure 2 , Figure 3 A guide assembly 108 for constraining the transmission direction of the cable is arranged on the top of the fuselage 101. The guide assembly 108 includes a first guide wheel 1081, a second guide wheel 1082, a first guide rod 1083 and a second guide rod 1084. The axes of the first guide wheel 1081 and the second guide wheel 1082 are parallel to the plane of the fuselage 101. The grooves of the first guide wheel 1081 and the second guide wheel 1082 are successively provided for the cable to be embedded, so as to limit the distance between the cable and the fuselage 101 when the cable is transported downward. The first guide rod 1083 and the second guide rod 1084 are respectively arranged on both sides of the first guide wheel 1081 and the second guide wheel 1082, so as to limit the direction in which the cable enters the first guide wheel 1081, so that the cable enters the first guide wheel 1081 in a predetermined direction, thereby enhancing the stability of lifting.

[0101] Reference Figures 2 to 4 The clamping wheel 106 is movably connected to the fuselage 101, and is disposed adjacent to the second fixed pulley 103, and is linked to the second intermediate pulley 105. By adjusting the position of the clamping wheel 106, it can be close to or away from the second fixed pulley 103. When the clamping wheel 106 is close to the second fixed pulley 103, the cable can be pressed into the clamping groove between the clamping wheel 106 and the second fixed pulley 103 to complete the installation of the cable, and when the clamping wheel 106 is away from the second fixed pulley 103, the cable can be taken out of the rope climbing device. It should be known that in other embodiments, the clamping wheel 106 can also be disposed adjacent to the first fixed pulley 102, and the position of the clamping wheel 106 can be adjusted to cooperate with the first fixed pulley 102 to clamp the cable.

[0102] Reference Figure 3 , Figure 4The specific installation method of the clamping wheel 106 is that a bracket 112 is connected to the rotating shaft of the second intermediate pulley 105, and the bracket 112 supports a certain angle of rotation around the rotating shaft of the second intermediate pulley 105. The clamping wheel 106 is rotatably connected to the mounting frame 203, and then when the bracket 112 rotates, the clamping wheel 106 is close to or away from the second fixed pulley 103.

[0103] Reference Figure 3 , Figure 4 The linkage assembly is arranged inside the body 101, and includes a gear member 110 connected between the first fixed pulley 102, the first intermediate pulley 104, the second intermediate pulley 105, and the second fixed pulley 103, and a synchronous belt 111 connected between the second intermediate pulley 105 and the pressure wheel 106. Specifically, the gear member 110 is coaxially fixed with the first fixed pulley 102, the intermediate pulley or the second fixed pulley 103, and adjacent gear members 110 are meshed with each other to achieve linkage.

[0104] Reference Figure 3 The power source 109 is disposed on the back of the fuselage 101, connected to the first intermediate pulley 104, and drives the first intermediate pulley 104 to rotate, and then drives the first fixed pulley 102, the second fixed pulley 103, and the clamping wheel 106 to rotate. In this embodiment, the power source 109 is a motor.

[0105] Reference Figure 3 , Figure 4 The fuselage 101 is also provided with an adjustment component 107 for driving and adjusting the position of the clamping wheel 106. The adjustment component 107 includes an adjustment frame 1071, a connecting piece 1073, and an adjustment rod 1072. The adjustment frame 1071 is C-shaped, and the middle part of the C-shaped is hinged to the bottom of the fuselage 101. The adjustment frame 1071 can rotate a certain angle along the extension direction of the C-shaped groove. The connecting piece 1073 is connected between the adjustment frame 1071 and the bracket 112. The connecting piece 1073 includes two connecting pieces that fit each other. The two connecting pieces are fitted to form a structure that is approximately cylindrical. A spring is arranged outside the cylindrical outer shell, and limiting rings are arranged at the ends of the two connecting pieces, that is, the spring is against the limiting rings of the two connecting pieces, so that when one of the connecting pieces is away from the other connecting piece, the other elastic piece can be driven to move by the elastic action of the spring, but on the contrary, if one of the connecting pieces moves in the direction close to the other connecting piece, it has no effect on the other connecting piece. Specifically, one connecting piece is hinged in the C-shaped groove of the adjustment frame 1071 , and the other connecting piece is hinged to the bracket 112 .

[0106] The adjusting rod 1072 is connected to the adjusting frame 1071 and is used to drive the adjusting frame 1071 to rotate. Figure 4As shown, at this time, the adjustment rod 1072 is facing downward, driving the adjustment frame 1071 to be in a downward position, and then, the connecting piece 1073 hinged to the adjustment frame 1071 pulls the bracket 112 downward, so that the rotating clamping wheel 106 on the bracket 112 can just press the cable into the slot of the second fixed pulley 103, thereby realizing the installation and fixation of the cable.

[0107] By pulling the adjustment rod 1072 to the left, the adjustment frame 1071 rotates to the left along the top hinge point, and then the tension of the connecting member 1073 on the bracket 112 is released, so that the bracket 112 and the clamping wheel 106 can move to the left, thereby facilitating the removal of the cable from the slot of the second fixed pulley 103.

[0108] In addition, the fuselage 101 is also provided with a locking assembly 1074 for limiting the movement of the adjusting rod 1072, so as to prevent the adjusting rod 1072 from easily opening the clamping wheel 106 under the action of external force, causing the machine to be separated from the cable, thereby avoiding misoperation. In this embodiment, the locking assembly 1074 is a bolt, and the bolt can be tightened to fix the adjusting frame 1071 to the fuselage.

[0109] Reference Figure 5 , Figure 6 The body control mechanism 2 includes a support leg 201 and a telescopic drive source 202. It should be known that the number of the support leg 201 and the telescopic drive source 202 is consistent with the number of the rope climbing device. In this embodiment, two groups are provided. The support leg 201 is connected to the telescopic drive source 202 and the fuselage 101 in a triangular shape. Specifically, a through slot 1011 is provided in the middle of the fuselage 101. A mounting frame 203 is hinged inside the through slot 1011. The mounting frame 203 is frame-shaped and can rotate a certain angle in the through slot 1011. The support leg 201 extends toward the curtain wall after passing through the mounting frame 203. The support leg 201 is slidably connected to the mounting frame 203 and can slide along the length extension direction of the support leg 201. Furthermore, the long rod-shaped support leg 201 and the long box-shaped fuselage 101 form a connection structure similar to scissors. The two can rotate a certain angle around the hinge point to achieve the machine posture adjustment.

[0110] At the same time, refer to Figure 5 , Figure 6The telescopic driving source 202 is connected between the fuselage 101 and the supporting leg 201. Specifically, one end of the telescopic driving source 202 is hinged to the fuselage 101, and the hinge point is at the upper part of the fuselage 101. The other end is hinged to the supporting leg 201. Then, when the telescopic driving source 202 completes the telescopic action, due to the action of force, the angle between the supporting leg 201 and the fuselage 101 can be changed. That is, when the telescopic driving source 202 is extended, the angle between the supporting leg 201 and the upper part of the fuselage 101 becomes smaller. When the telescopic driving source 202 is retracted, the angle between the supporting leg 201 and the upper part of the fuselage 101 becomes larger. The telescopic driving source 202 performs a telescopic action, and the machine posture can be adjusted. In this embodiment, the telescopic driving source 202 is an electric telescopic rod.

[0111] Reference Figure 5 , Figure 6 The cleaning device adjustment mechanism 4 is connected to the vertical adjustment mechanism and is used to adjust the angle between the cleaning device 3 and the curtain wall surface so that the cleaning device 3 fits the curtain wall surface. Specifically, the cleaning device adjustment mechanism 4 includes a connecting rod 401 and a telescopic drive member 402. One end of the connecting rod 401 is hinged to the fuselage 101, and the other end is hinged to the cleaning device 3. In this embodiment, the connecting rod 401 is located below the supporting leg 201. The connecting rod 401, the fuselage 101, the supporting leg 201, and the cleaning device 3 form a quadrilateral. Since the adjacent sides are hinged, the shape of the quadrilateral is adjustable.

[0112] Reference Figure 5 , Figure 6 One end of the telescopic driving member 402 is fixed to the mounting frame 203, and the other end is fixed to the end of the supporting leg 201 away from the curtain wall. Then, the movement of the telescopic driving member 402 can drive the supporting leg 201 to move toward or away from the curtain wall, thereby changing the length of one side (the upper side) of the quadrilateral, thereby adjusting the position of the side where the cleaning device 3 is located, thereby adjusting the angle between the cleaning device 3 and the surface of the curtain wall.

[0113] In addition, refer to Figure 5 , Figure 7The cleaning device adjustment mechanism 4 also includes a buffer assembly 7, which is connected between the body control mechanism 2 and the cleaning device 3, and is used to buffer the force between the cleaning device 3 and the body control mechanism 2. Specifically, the buffer assembly 7 includes a shape piece 701, a fixing piece 702, a first elastic piece 704, a connecting shaft 703, a limiting piece 705, and a second elastic piece 706; wherein the shape piece 701 is connected between the supporting leg 201 and the connecting rod 401, and both are hingedly connected to form the above-mentioned adjustable quadrilateral. The connecting shaft 703 passes through the opening of the I-shaped member 701 and is connected to the fixing member 702. The connecting shaft 703 and the fixing member 702 are also connected in a hinged manner. The first elastic member 704 is sleeved outside the connecting shaft 703, and its two ends abut against the I-shaped member 701 and the fixing member 702. The limiting member 705 is a nut, which is tightened on the screw at the end of the connecting shaft 703 away from the curtain wall. The second elastic member 706 is sleeved outside the connecting shaft 703, and its two ends abut between the I-shaped member 701 and the nut. In this embodiment, the first elastic member 704 and the second elastic member 706 are both springs.

[0114] Reference Figure 5 , Figure 8 The cleaning device 3 includes a cleaning panel 301 and a spray assembly 302, an adsorption assembly 303, a first roller brush 304, and a second roller brush 305 arranged on the cleaning panel 301, wherein the upper part of the cleaning panel 301 is connected to the supporting leg 201 through the buffer assembly 7, and the lower part is connected to the connecting rod 401.

[0115] Reference Figure 8 A scraping cavity is provided at the bottom of the cleaning panel 301, and the scraping cavity is in the shape of a long strip extending along the length direction of the cleaning panel. A first roller brush 304 is installed in the scraping cavity, and the first roller brush 304 rotates under the drive of a motor to scrape and clean the dirt on the glass curtain wall. The first roller brush 304 extends along the length direction of the scraping cavity, and its end extends to connect with the cleaning panel 301. Specifically, the first roller brush 304 includes a first roller shaft rotatably connected with the cleaning panel 301, and a scraping sleeve sleeved outside the first roller shaft. In this embodiment, the scraping sleeve is made of nylon brush, which is wear-resistant and has a better effect of scraping glass dirt.

[0116] In addition, refer to Figure 8 The spray assembly 302 includes a plurality of spraying members arranged in the scraping cavity and a liquid conveyor connected to the spraying members for conveying the cleaning liquid to the spraying members. In this embodiment, the liquid conveyor is a water pump.

[0117] Reference Figure 8The adsorption component 303 is connected to the middle of the cleaning panel 301, and is used to adsorb the cleaning device 3 on the glass curtain wall when the cleaning panel 301 is attached to the glass curtain wall. Specifically, the adsorption component 303 includes a suction cup connected to the cleaning panel 301, and a negative pressure generator connected to the suction cup. In this embodiment, the adsorption component 303 is arranged at the center of the cleaning side of the cleaning panel, and being arranged at this position helps to improve the balance of the device during adsorption. The negative pressure generator is an air pump, which is connected to the suction cup through an air suction pipe.

[0118] Reference Figure 8 A pressure detection device 309 is provided on the cleaning side of the cleaning panel 301. The pressure detection device 309 is used to detect whether the cleaning panel 301 is attached to the glass curtain wall. When attached, the corresponding detection signal is output to the control system, thereby controlling the cleaning device 3 to spray and clean only when attached to the glass curtain wall. In this embodiment, the pressure detection device 309 is a pressure sensor.

[0119] A wiping cavity is provided at the top of the cleaning panel 301. The wiping cavity is similar to the scraping cavity and is also in the shape of a long strip extending along the length direction of the cleaning panel. The second roller brush 305 is located in the wiping cavity and rotates under the drive of the motor to wipe the glass surface that has been scraped of dirt. Its two ends extend along the length direction of the scraping cavity and are connected to the cleaning panel 301. Specifically, the second roller brush 305 includes a second roller rotatably connected to the cleaning panel 301, and a wiping sleeve sleeved outside the second roller. In this embodiment, the wiping sleeve is a microfiber cloth.

[0120] Reference Figure 8 The cleaning panel 301 surrounds the scraping cavity and is connected to a cleaning scraper 306. The cleaning scraper 306 extends outward and surrounds the first roller brush 304. When the cleaning panel 301 is attached to the curtain wall surface, the cleaning scraper 306, the cleaning panel 301, and the curtain wall surface together form a cleaning space. In this embodiment, the cleaning scraper 306 is made of a scraping strip made of a material such as rubber to prevent the splashing of the cleaning liquid and guide the cleaning liquid into the scraping cavity to reduce the waste of the cleaning liquid.

[0121] In addition, a collection groove 307 for collecting cleaning liquid is set in the scraping cavity of the cleaning panel 301. The collection groove 307 is set parallel to the first roller brush 304. The cleaning liquid sprayed by the spray assembly 302 first passes through the first roller brush 304 to clean the curtain wall, and then is blocked and guided by the cleaning scraper 306, and finally is guided and recovered by the collection groove 307 at the bottom.

[0122] After the cleaning liquid is collected in the collection tank 307, it is further recovered and filtered for recycling by a recovery and filtration assembly connected to the collection tank 307. Specifically, the recovery and filtration assembly includes a negative pressure extractor connected to the cleaning panel 301 and a filter connected to the negative pressure extractor, wherein the negative pressure extractor is a hydraulic pump.

[0123] Reference Figure 5 , Figure 8 The curtain wall cleaning robot also includes an obstacle detection device 5 for detecting whether there is an obstacle on the cleaning path, and an obstacle crossing mechanism 6 for climbing over the obstacle when there is an obstacle. The obstacle detection device 5 is connected to the bottom of the cleaning panel 301. In this embodiment, a tentacle is connected to a micro switch. When the tentacle contacts an obstacle, the tentacle triggers the micro switch under the force exerted by the obstacle to detect the obstacle. In other embodiments, an infrared sensor can also be used to detect the obstacle.

[0124] Reference Figure 5 , Figure 8 The obstacle-crossing mechanism 6 is movably connected to the cleaning panel 301. When an obstacle is detected in the cleaning path, the obstacle-crossing mechanism 6 is adsorbed on the surface of the curtain wall. When the body control mechanism 2 drives the cleaning device 3 away from the curtain wall, the cleaning device is supported and the moving trajectory of the cleaning device is restricted to achieve precise obstacle-crossing.

[0125] Specifically, the obstacle surmounting mechanism 6 includes a support arm 601 rotatably connected to the cleaning panel 301 and a suction cup assembly 602 connected to the support arm 601, wherein two support arms 601 are provided, which are respectively hinged at both ends of the length direction of the cleaning panel 301, and the support arm 601 can be rotated in a direction perpendicular to the surface of the curtain wall. When rotating, the support arm 601 first supports the cleaning panel 301, so as to facilitate the cleaning device 3 to climb over obstacles. Secondly, the support arm 601 has the function of limiting the moving trajectory of the cleaning device 3, and its trajectory is an arc with the suction cup assembly 602 as the center.

[0126] Reference Figure 5 , Figure 8 The suction cup assembly 602 is hinged to the movable end of the support arm 601, which can be close to one end of the curtain wall and can be rotated in a direction perpendicular to the curtain wall. It includes a suction cup and an air pump connected to the suction cup. When overcoming obstacles, the suction cup sucks the curtain wall, and the body control mechanism 2 drives the cleaning panel 301 to move away from the curtain wall. At the same time, the vertical moving mechanism 1 drives the machine to move downward, thereby achieving a pole vault similar to that with the suction cup as the fulcrum.

[0127] In addition, a limit assembly 603 is provided at the end of the length direction of the cleaning panel 301, which is used to limit the movement of the support arm 601 when it is not in the obstacle crossing state. In this embodiment, the limit assembly 603 is limited by magnetic attraction combined with a limit bar. Specifically, electromagnetic coils are provided at both ends of the cleaning panel 301 in the horizontal direction. After power is turned on, the magnets provided on the support arm 601 are attracted, and combined with the limit bar, the position of the support arm 601 is limited in different states. In addition, in other embodiments, a drive motor can also be provided at the rotation of the support arm 601, that is, the rotation of the drive arm is controlled in an active manner.

[0128] Reference Figure 8 A roller 308 is provided on the cleaning side of the cleaning panel 301 to reduce the friction between the cleaning cotton plate and the curtain wall. In this embodiment, four rollers 308 are provided at the four corners of the cleaning panel 301 .

[0129] In addition, refer to Figure 1 In the present invention, components such as the battery, control system, air pump, water pump, water tank, etc. of the curtain wall cleaning robot are all arranged in the shell at the far wall end (right end) of the supporting leg 201, which has the function of balancing the center of gravity of the equipment.

[0130] Example 2

[0131] A curtain wall cleaning robot working method is applicable to the curtain wall cleaning robot in Example 1. Before the curtain wall robot works, the following preparations need to be done:

[0132] Step S1001: Open the locking assembly 1074, move the adjustment rod 1072 to the left, open the clamping wheel 106, and then connect the cable to the vertical moving mechanism 1 along the winding path. After completion, pull the adjustment rod 1072 back so that the clamping wheel 106 and the second fixed pulley 103 clamp the cable, and finally tighten the locking assembly 1074.

[0133] Step S1002: Suspend the cable outside the curtain wall, and the distance between the cable and the curtain wall is within a specified range.

[0134] After completing the preparation work, you can start the machine to start cleaning.

[0135] Reference Fig. 9 , the working methods of the curtain wall cleaning robot include:

[0136] Step S2001: The vertical moving mechanism 1 uses a cable to lift the curtain wall cleaning robot to a target cleaning position.

[0137] Step S2002: The body control mechanism 2 adjusts the posture of the curtain wall cleaning robot so that the cleaning device 3 is close to the curtain wall.

[0138] Step S2003: the cleaning device adjusting mechanism 4 adjusts the angle between the cleaning device 3 and the curtain wall surface so that the cleaning device 3 fits the curtain wall surface.

[0139] Step S2004: The cleaning device 3 starts to operate and starts cleaning the curtain wall.

[0140] Step S2005: the vertical moving mechanism 1 drives the curtain wall cleaning robot to adjust to the next curtain wall cleaning position.

[0141] Repeat the above steps until cleaning is completed.

[0142] Reference Fig.10 , the working method of the curtain wall cleaning robot also includes:

[0143] During the cleaning process, when the obstacle detection device 5 detects that there is an obstacle at the next position of the cleaning path,

[0144] The obstacle crossing mechanism 6 is adsorbed on the curtain wall, supporting and limiting the movement of the curtain wall cleaning robot within the set range. The body control mechanism 2 adjusts the posture of the curtain wall cleaning robot to keep the cleaning device 3 away from the curtain wall. At the same time, the vertical moving mechanism 1 drives the curtain wall cleaning robot to move downward to the next target cleaning position to continue cleaning.

[0145] In addition, refer to Fig.10 , the cleaning operations of the curtain wall cleaning robot include:

[0146] The spray assembly 302 sprays the cleaning liquid onto the curtain wall;

[0147] The cleaning liquid sprayed into the cleaning space adheres to the rotating first roller brush 304 to clean the curtain wall for the first time, and the cleaning liquid sprayed onto the second roller brush 305 cleans the curtain wall for the second time;

[0148] And the recovery and filtering component recovers and filters the cleaning liquid in the cleaning space for recycling.

[0149] Example 3

[0150] A curtain wall cleaning robot control system is configured on the curtain wall cleaning robot in Example 1. Fig.11 , including a processor 8 and a memory 9, the memory 9 stores an instruction set for the processor 8 to call to control the curtain wall cleaning robot to perform the cleaning work included in Example 2.

[0151] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A curtain wall cleaning robot, characterized in that: include A vertical moving mechanism (1) is connected to the cable and is raised and lowered by friction with the cable; A body control mechanism (2) is connected to the vertical moving mechanism (1) and is used to drive the cleaning device (3) to move closer to or away from the curtain wall; A cleaning device (3) is attached to the surface of the curtain wall and cleans the curtain wall when in contact with the curtain wall; A cleaning device adjustment mechanism (4) is connected between the body control mechanism (2) and the cleaning device (3) and is used to adjust the angle between the cleaning device (3) and the curtain wall so that the cleaning device (3) fits the curtain wall; The vertical movement mechanism (1) comprises at least two rope climbing devices which are respectively connected to cables and can be raised and lowered independently; The rope climbing device comprises a body (101), a cable embedded in the body (101) and a A first fixed pulley (102) is used to introduce the cable from the vertical direction, change the direction of the cable and transmit it to the next level; The second fixed pulley (103) introduces the cable from the upper stage, changes the direction of the cable and then leads it vertically downward; At least one intermediate pulley for passing the cable between the first fixed pulley (102) and the second fixed pulley (103); The clamping wheel (106) is linked with the middle pulley and can be close to or away from the second fixed pulley (103), or can be close to or away from the first fixed pulley (102). When the clamping wheel (106) is close to the second fixed pulley (103) or the first fixed pulley (102), the cable is clamped with the second fixed pulley (103) or the first fixed pulley (102), and the lifting is realized by friction; and a A linkage assembly is connected between the first fixed pulley (102), the intermediate pulley, the second fixed pulley (103), and the pressure wheel (106) to achieve linkage between them; A power source (109) drives the intermediate pulley, the first fixed pulley (102), the second fixed pulley (103), and the pressure wheel (106) to rotate; The body control mechanism (2) comprises At least two supporting legs (201) are hinged to the vertical moving mechanism (1), and the ends near the wall are connected to the cleaning device (3); A telescopic driving source (202), one end of which is hinged to the vertical moving mechanism (1), and the other end of which is hinged to the far wall end of the supporting leg (201); The cleaning device adjustment mechanism (4) comprises A connecting rod (401), one end of the connecting rod (401) is hinged to the vertical moving mechanism (1), and the other end of the connecting rod (401) is hinged to the cleaning device (3); The telescopic driving member (402) is connected between the vertical moving mechanism (1) and the body control mechanism (2), and drives the cleaning device (3) to move through the body control mechanism (2) during the telescopic action, so as to adjust the hinge angle between the cleaning device (3) and the connecting rod (401).

2. The curtain wall cleaning robot according to claim 1, characterized in that: The linkage assembly comprises a gear member (110) connected between the first fixed pulley (102), the intermediate pulley, and the second fixed pulley (103), and a synchronous belt (111) connected between the intermediate pulley and the pressure wheel (106).

3. The curtain wall cleaning robot according to claim 1, characterized in that: A guide assembly (108) for restricting the transmission direction of the cable is arranged on the top of the fuselage (101).

4. The curtain wall cleaning robot according to claim 1, characterized in that: The cleaning device (3) comprises A cleaning panel (301) connected to the body control mechanism (2); An adsorption component (303) is connected to the cleaning panel (301) and is adsorbed on the glass surface when the cleaning panel (301) is attached to the glass surface; A spray assembly (302), connected to the cleaning panel (301), is used to spray cleaning liquid onto the surface of the curtain wall; A first rolling brush (304) is connected to the bottom of the cleaning panel (301) and is used for scraping and cleaning the surface of the curtain wall; The second roller brush (305) is connected to the top of the cleaning panel (301) and is used to wipe and clean the surface of the curtain wall; The recovery filter assembly is connected to the cleaning panel (301) to recover and filter the cleaning liquid that has been washed on the curtain wall for recycling.

5. The curtain wall cleaning robot according to claim 4, characterized in that: The adsorption component (303) comprises a suction nozzle connected to the cleaning panel (301), and a negative pressure generator communicated with the suction nozzle.

6. The curtain wall cleaning robot according to claim 4, characterized in that: The spray assembly (302) comprises a spraying member connected to the cleaning panel (301), and a liquid conveyor for conveying cleaning liquid to the spraying member.

7. The curtain wall cleaning robot according to claim 4, characterized in that: The recovery and filtering assembly comprises a negative pressure extractor connected to the cleaning panel (301), and a filter communicated with the negative pressure extractor.

8. The curtain wall cleaning robot according to claim 4, characterized in that: A cleaning scraper (306) is arranged on the cleaning side of the cleaning panel (301) around the outer periphery of the roller brush; when the cleaning scraper (306) is close to the curtain wall surface, it surrounds the curtain wall surface to form a cleaning space.

9. The curtain wall cleaning robot according to claim 8, characterized in that: The cleaning panel (301) is provided with a collecting tank (307) for collecting cleaning liquid within the circle of the cleaning scraper (306), and the recovery filter assembly is connected to the collecting tank (307).

10. The curtain wall cleaning robot according to claim 1, characterized in that: The cleaning device adjustment mechanism (4) also includes The buffer component (7) is connected between the body control mechanism (2) and the cleaning device (3) and is used to buffer the action force between the cleaning device (3) and the body control mechanism (2).

11. The curtain wall cleaning robot according to claim 1, characterized in that: Also includes An obstacle detection device (5) connected to the bottom of the cleaning device (3) and used to detect whether there is an obstacle on the cleaning path; The obstacle-crossing mechanism (6) is movably connected to the cleaning device (3). When an obstacle is detected on the cleaning path, the obstacle-crossing mechanism (6) is adsorbed on the surface of the curtain wall, and when the body control mechanism (2) drives the cleaning device (3) away from the curtain wall, the movement trajectory of the curtain wall cleaning robot is restricted and supported to achieve obstacle-crossing.

12. The curtain wall cleaning robot according to claim 11, characterized in that: The obstacle crossing mechanism (6) comprises A support arm (601) is hinged to the cleaning device (3) and is used to support the cleaning device (3) to climb over obstacles; The suction cup assembly (602) is hinged to the support arm (601) and is adsorbed on the surface of the curtain wall when crossing obstacles.

13. The curtain wall cleaning robot according to claim 12, characterized in that: The obstacle-crossing mechanism (6) also includes The limiting assembly (603) is connected to the cleaning device (3) and is used to limit the movement of the support arm (601) in a non-obstacle crossing state.

14. A curtain wall cleaning robot working method, characterized in that: The curtain wall cleaning robot comprises the curtain wall cleaning robot as described in claim 1 above; The vertical moving mechanism (1) uses a cable to lift the curtain wall cleaning robot to a target cleaning position; The body control mechanism (2) adjusts the posture of the curtain wall cleaning robot so that the cleaning device (3) is close to the curtain wall; The cleaning device adjustment mechanism (4) adjusts the angle between the cleaning device (3) and the curtain wall surface so that the cleaning device (3) fits the curtain wall surface; The cleaning device (3) starts to work, adsorbs onto the surface of the curtain wall, and cleans the curtain wall; The vertical moving mechanism (1) drives the curtain wall cleaning robot to adjust to the next curtain wall cleaning position; Repeat the above steps until cleaning is completed.

15. The curtain wall cleaning robot working method according to claim 14, characterized in that: Also includes the curtain wall cleaning robot as described in claim 11 above; During the cleaning process, when the obstacle detection device (5) detects that there is an obstacle at the next position of the cleaning path, The obstacle crossing mechanism (6) is adsorbed on the curtain wall to support and limit the curtain wall cleaning robot to move within a set range. The body control mechanism (2) adjusts the posture of the curtain wall cleaning robot to move the cleaning device (3) away from the curtain wall. At the same time, the vertical movement mechanism (1) drives the curtain wall cleaning robot to move downward to the next target cleaning position to continue cleaning.

16. The curtain wall cleaning robot working method according to claim 14, characterized in that: Also includes the curtain wall cleaning robot as described in claim 4 above; The cleaning operation includes The spray assembly (302) sprays cleaning liquid onto the curtain wall; The cleaning liquid sprayed into the cleaning space adheres to the rotating first roller brush (304) to scrape and clean the curtain wall, and then the second roller brush (305) wipes and cleans the cleaned curtain wall.

17. The curtain wall cleaning robot working method according to claim 16, characterized in that: The cleaning operation also includes The recovery and filtering component recovers and filters the cleaning liquid in the cleaning space for recycling.

18. A curtain wall cleaning robot control system, characterized in that: It comprises a processor (8) and a memory (9), wherein the memory (9) stores an instruction set for the processor (8) to call to control the curtain wall cleaning robot to implement the cleaning work included in the curtain wall cleaning robot working method as claimed in any one of claims 14 to 17.

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