Curtain wall cleaning robot

Abstract

The present application relates to a curtain wall cleaning robot, including robot body, winch traction device and cleaning assembly, the winch traction device is set to four groups, is set up respectively in the curtain wall roof two ends and the curtain wall building bottom two ends, each group winch traction device includes winch and winding on the winch traction rope, the traction rope is fixed with the robot body;Still include: rotor assembly, for the robot body provides the thrust of the curtain wall surface;Telescopic platform, the telescopic platform includes telescopic assembly and adsorption assembly, the adsorption assembly is for the robot body provides the adsorption force of the curtain wall surface, the cleaning assembly is set in the telescopic platform;Arch force assembly, through the traction rope for the robot body provides the inward arch force of the curtain wall surface or the outward arch force away from the curtain wall surface.This curtain wall cleaning robot rotor assembly power consumption is small, the process of obstacle avoidance is stable.

Description

Technical Field

[0001] This invention relates to an automatic cleaning robot, specifically a curtain wall cleaning robot. Background Technology

[0002] Traditional curtain wall cleaning primarily involves aerial workers carrying water hoses, squeegees, and buckets. A suspension system with ropes and a base provides the tools and a platform for the workers to stand on, allowing them to manually clean the glass. This manual cleaning method suffers from problems such as inconsistent skill levels, low efficiency, high costs, and high safety risks. Current curtain wall cleaning robots, in order to successfully navigate obstacles, extend the support frame of their winch traction device significantly beyond the curtain wall surface, resulting in a considerable gap between the rope's working surface and the outermost edge of the obstacle. To achieve close proximity and contact with the curtain wall, the robot utilizes the thrust of its rotors; the thrust provided by the rotors equals the outward bowing force plus the force required for cleaning. When the gap is large, the traction rope deviates significantly from the working surface of the traction rope, generating a large outward bowing force. In order to counteract this outward bowing force, the thrust provided by the rotor needs to be increased accordingly, which increases the load on the rotor. This requires the use of a large-size rotor or a large-size rotor motor, which affects the stable adhesion performance between the robot and the curtain wall and significantly reduces the service life of the rotor.

[0003] Meanwhile, in existing technologies, to enable the robot to traverse obstacles on the curtain wall surface, the rotor assembly is shut down, and the traction rope is returned to its working surface. Throughout the obstacle-crossing process, a gap always exists between the robot and the obstacle. In extreme wind conditions, this can cause the robot to sway in the air, potentially colliding with the curtain wall and causing damage to both the robot and the wall. Furthermore, if the obstacle surface needs cleaning, the rotor assembly is still required to provide thrust for cleaning. In addition, while recently developed four-cable parallel robots can achieve large-area cleaning of the curtain wall surface without moving the winch traction device, current technologies lack a design scheme for four-cable parallel curtain wall cleaning robots to cross obstacles.

[0004] It is evident that existing curtain wall cleaning robots suffer from several problems during operation, including the fact that the working surface of the rope is farther from the curtain wall surface, resulting in high power consumption of the required rotor components and instability during obstacle crossing. Summary of the Invention

[0005] This invention aims to address at least one of the problems existing in the prior art. To this end, this invention proposes a curtain wall cleaning robot that can stably and safely overcome obstacles while minimizing rotor wear.

[0006] According to an embodiment of the present invention, a curtain wall cleaning robot includes a robot body, a winch traction device, and a cleaning component. The winch traction device is configured in four groups, respectively disposed at both ends of the curtain wall roof and both ends of the curtain wall floor. Each group of the winch traction device includes a winch and a traction rope wound around the winch, the traction rope being fixed to the robot body. The robot also includes: a rotor assembly providing thrust to the robot body to conform to the curtain wall surface; a telescopic platform including a telescopic component and an adsorption component, the adsorption component providing adsorption force to the robot body to conform to the curtain wall surface, the cleaning component being disposed on the telescopic platform; and an arc force component providing an inward arc force conforming to the curtain wall surface or an outward arc force away from the curtain wall surface to the robot body via the traction rope.

[0007] In some embodiments, the robot body is arranged in a direction perpendicular to the curtain wall surface, with the outer layer, middle layer, and inner layer being the furthest from the curtain wall surface; the telescopic platform is disposed in the inner layer; and the bow-shaped force assembly is disposed in the middle layer, including two traction rings, which are respectively fixed to the traction ropes at the top and bottom of the curtain wall.

[0008] Furthermore, the rotor assembly is disposed on the outer layer.

[0009] In some embodiments, when performing a cleaning task, the rotor assembly and the adsorption assembly operate to attach the robot body to the curtain wall surface, and the traction rope of the bow-shaped force assembly pulls away from the rope working surface to form a bow-shaped force.

[0010] Furthermore, when the robot body is not in contact with the curtain wall surface, the rotor power of the rotor assembly increases, and the telescopic platform extends; when the adsorption assembly is in contact with the curtain wall surface, the adsorption power of the adsorption assembly increases, the power of the rotor assembly decreases, and the adsorption force and the thrust work together to provide the cleaning force required by the cleaning assembly.

[0011] Furthermore, after the telescopic platform is extended, when the traction ring deviates from the working plane of the rope in a direction away from the curtain wall surface (3), the traction rope provides an inward bowing force, the rotor assembly is adjusted to a standby state, and the inward bowing force and the suction force work together to provide the cleaning force required by the cleaning assembly.

[0012] In some embodiments, before performing an obstacle-crossing task, the bow-shaped force assembly provides an outward bow-shaped force. When performing the obstacle-crossing task, the rotor assembly and the adsorption assembly are adjusted to a standby state, the traction rope returns to the rope working surface, and the bow-shaped force formed by the traction rope causes the robot body to move away from the curtain wall surface.

[0013] In some embodiments, before performing an obstacle crossing task, the bow force assembly provides an inward bow force; when performing the obstacle crossing task, the rotor assembly and the adsorption assembly are adjusted to a standby state, and the telescopic platform is shortened so that the traction rope returns to the rope working surface.

[0014] Furthermore, after the telescopic platform extends, when the traction ring is higher than the working plane of the rope, the traction rope deviates from the working plane of the rope in a direction away from the curtain wall surface, providing an arcing force toward the curtain wall surface. The arcing force, the suction force, and the thrust work together to provide the cleaning force required by the cleaning component.

[0015] In some embodiments, before performing an obstacle-crossing task, the traction ring is lower than the working plane of the rope. When performing the obstacle-crossing task, the rotor assembly and the adsorption assembly stop, the traction rope returns to the working plane of the rope, and the bow-shaped force formed by the traction rope causes the robot body to move away from the curtain wall surface.

[0016] Furthermore, before performing the obstacle crossing task, the traction ring is higher than the working plane of the rope. When performing the obstacle crossing task, the rotor assembly and the adsorption assembly stop, and the telescopic platform shortens so that the traction rope returns to the working plane of the rope.

[0017] In some embodiments, the adsorption assembly includes a negative pressure device and an adsorption plane. When the adsorption plane is in contact with the curtain wall surface, the negative pressure device performs a vacuum treatment between the adsorption plane and the curtain wall surface. A sealing layer is provided on the adsorption plane.

[0018] In some embodiments, the system further includes a total station, which is used to perform three-dimensional mapping and modeling of the workspace and to capture the position of the robot body.

[0019] The curtain wall cleaning robot proposed in this embodiment of the invention, when performing obstacle-crossing tasks, after the traction rope returns to the rope working surface, regardless of whether there is a gap between the robot body and the obstacle, the front end of the telescopic platform can contact the obstacle and use the adsorption components to adsorb the obstacle. By adopting a method of alternating adsorption by multiple adsorption components, the robot moves on the obstacle. Therefore, when setting the rope working surface, the curtain wall cleaning robot provided in this embodiment of the invention does not need to consider whether the robot body will contact the obstacle during the suspension process, so that the gap between the curtain wall surface and the rope working surface is too large.

[0020] If it is necessary to clean obstacles, the curtain wall cleaning robot extends its telescopic components. When the extension and retraction of the telescopic components is equal to or even greater than the gap width, the traction rope can deflect away from the curtain wall surface, so that the traction rope provides the robot body with an inward bowing force that fits the curtain wall surface. At this time, the inward bowing force and the suction force together provide the cleaning force required.

[0021] Before performing the curtain wall cleaning task, if the telescopic component's extension is equal to or even greater than the gap width, the adsorption component can contact the curtain wall surface without the rotor assembly providing thrust. The traction rope can then deflect away from the curtain wall, allowing the traction rope to provide an inward bowing force to the robot body to adhere to the curtain wall surface. This significantly reduces the rotor's power requirement. The cleaning component relies solely on the inward bowing force and adsorption force to provide the necessary cleaning force.

[0022] When the depth difference of the curtain wall is too large, the telescopic component, even when fully extended, still cannot reach the curtain wall. In this case, the rotor assembly can be activated to provide thrust towards the curtain wall, allowing the robot to move towards it. Compared to existing technologies where the rope working surface is set far apart, in this invention, the rope working surface is set closer together, reducing the outward bowing force required to overcome the rope, shortening the distance to be moved, and significantly reducing the power consumption of the rotor assembly.

[0023] In some cases, when the telescopic component's extension or retraction is equal to or even greater than the gap width, the traction rope can deflect away from the curtain wall surface. This allows the traction rope to provide the robot body with an inward bowing force that adheres to the curtain wall surface, further reducing the rotor's power requirement significantly. In some cases, the rotor can even be shut off. At this point, the inward bowing force and the suction force work together to provide the cleaning force required.

[0024] In some embodiments, if the rope working surface is located far away, the present invention can also reduce the power consumed by the rotor assembly by means of a telescopic platform.

[0025] Specifically, by extending the telescopic components of the telescopic platform before the cleaning process, the gap width that needs to be crossed is reduced, thereby reducing the distance the robot body moves and the distance that the rotor assembly needs to provide thrust. This effectively reduces the power consumption of the rotor assembly. At the same time, due to the extension of the telescopic components, the offset of the traction rope towards the curtain wall surface is reduced, which weakens the outward bowing force provided by the traction rope to the robot body. The outward bowing force that the rotor assembly needs to overcome is reduced, which can also reduce the power consumption of the rotor assembly. Unlike existing technologies that rely on the thrust provided by the rotor assembly to overcome the outward bowing force of the traction rope and meet the cleaning requirements of the curtain wall surface, the adsorption component of this invention can adhere to the curtain wall surface, providing adsorption force to the robot body. The presence of adsorption force reduces the power consumption of the rotor assembly. The adsorption force and thrust work together to overcome the outward bowing force of the traction rope and meet the cleaning requirements of the curtain wall surface. Furthermore, due to the extension of the telescopic component, the offset of the traction rope towards the curtain wall surface is reduced, weakening the outward bowing force provided by the traction rope to the robot body. This reduces the outward bowing force that the adsorption force and thrust need to overcome, further reducing the power consumption of the rotor assembly while still meeting the cleaning requirements. During obstacle crossing, the rotor and adsorption components are shut down, allowing the traction rope to return to its working surface. When crossing obstacles, the telescopic components can be extended to allow the telescopic platform to touch the obstacle, where it is then adsorbed by the adsorption components and allowed to cross along the obstacle surface. This effectively prevents the robot from crashing into obstacles on the curtain wall surface due to strong winds, making the obstacle crossing process more stable.

[0026] Meanwhile, if the surface of the obstacle needs to be cleaned, the extension and telescopic components can be used to deviate the working surface of the traction rope away from the curtain wall surface. This allows the traction rope to provide an inward bowing force to the robot body. If the inward bowing force and the adsorption force provided by the adsorption components can meet the cleaning requirements of the cleaning components, then it is not necessary to open the rotor assembly, thus reducing the power consumption of the rotor assembly.

[0027] As can be seen from the above, the curtain wall cleaning robot proposed in this embodiment of the invention can solve the problems of excessively long rope working surfaces, high power consumption of the rotor assembly during the cleaning process, and instability during obstacle crossing in existing curtain wall cleaning robots. It provides a curtain wall cleaning robot with low rotor assembly power consumption and stable obstacle crossing. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a side view schematic diagram of a curtain wall cleaning robot provided in an embodiment of the present invention; Figure 2 This is a front view schematic diagram of a curtain wall cleaning robot provided in an embodiment of the present invention; Figure 3 A schematic diagram of a robot body provided in an embodiment of the present invention; Figure 4 A top view of a robot body provided in an embodiment of the present invention; Figure 5 A side view of a robot body provided in an embodiment of the present invention; Figure 6 A cross-sectional view of a robot body provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the operation of a prior art curtain wall cleaning robot provided as an embodiment of the present invention; Figure 8 This is a schematic diagram of the operation of a curtain wall cleaning robot provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of another curtain wall cleaning robot provided in an embodiment of the present invention.

[0030] Figure label: Robot body 1; Robot body first state 101; Robot body second state 102; Robot body third state 103; Robot body fourth state 104; Robot body fifth state 105; Robot body seventh state 107; Robot body eighth state 108; Cleaning assembly 11; Rotor assembly 12; Telescopic platform 13; Telescopic assembly 131; Adsorption assembly 132; Negative pressure device 1321; Adsorption plane 1322; Bow-shaped force assembly 14; Traction ring 141; Winch traction device 2; Winch 21; Traction rope 22; Support frame 23; Curtain wall surface 3; Rope working surface 4. Detailed Implementation

[0031] The description of the embodiments in this specification should be taken in conjunction with the accompanying drawings, which should form part of the complete specification. In the drawings, the shape or thickness of the embodiments may be exaggerated and may be indicated in a simplified or convenient manner. Furthermore, parts of the various structures in the drawings will be described separately; it is worth noting that elements not shown in the figures or not described in words are in a form known to those skilled in the art.

[0032] The descriptions of the embodiments herein, including any references to directions and orientations, are for ease of description only and should not be construed as limiting the scope of the invention. The following description of preferred embodiments involves combinations of features, which may exist independently or in combination; the invention is not particularly limited to the preferred embodiments. The scope of the invention is defined by the claims.

[0033] This embodiment provides a curtain wall cleaning robot, including: robot body 1, winch traction device 2, cleaning component 11, rotor component 12, telescopic platform 13, and bow force component 14.

[0034] like Figure 1-2 As shown, four sets of winch traction devices 2 are provided, respectively located at both ends of the curtain wall roof and both ends of the curtain wall base. Each set of winch traction devices 2 includes a winch 21, traction ropes 22 wound on the winch 21, and a support frame 23. The free ends of the two traction ropes 22 located at the top of the curtain wall are fixed to the fixed points at the upper end of the robot body 1, and the free ends of the two traction ropes 22 located at the bottom of the curtain wall are fixed to the fixed points at the lower end of the robot body 1. The support frame 23 extends out of the curtain wall surface 3, and the traction ropes 22 extend out of the curtain wall surface 3 after passing through the pulley device on the support frame 23, connecting to the robot body 1.

[0035] like Figure 3-6 As shown, the telescopic platform 13 includes a telescopic component 131 and an adsorption component 132. The adsorption component 132 provides the robot body 1 with an adsorption force to adhere to the curtain wall surface 3. While the telescopic component 131 extends and retracts, it also drives the adsorption component 132 to extend and retract. The telescopic component 131 includes a telescopic rod and a driver. The driver drives the telescopic rod to extend or retract. The driver can be a drive motor, which controls the telescopic rod to achieve the extension and retraction of the telescopic component 131. In some embodiments, the driver can be a telescopic cylinder, which allows the telescopic component 131 to extend and retract by inlet and outlet air.

[0036] The cleaning assembly 11 consists of a roller brush, a telescopic rod, a roller brush bearing, and a motor. The motor drives the roller brush and bearing to rotate, thus cleaning the curtain wall surface 3. The cleaning assembly is telescopic, extending when performing cleaning tasks and retracting when performing obstacle-crossing tasks. A waterproof cover may be optionally installed on the outside of the cleaning assembly 11 to prevent splashing of cleaning liquid.

[0037] The bow-shaped force assembly 14 consists of a traction rope 22, a working surface of the traction rope 22, and a fixing point of the traction rope 22 on the robot body 1. The working surface of the traction rope 22 is determined by the distance from the support frame 23 extending out of the curtain wall surface 3. When the fixing point deviates from the working surface of the traction rope 22, the restoring force of the rope exerts an inward bow-shaped force on the robot body 1, either conforming to the curtain wall surface 3 or an outward bow-shaped force moving away from the curtain wall.

[0038] The rotor assembly 12 is mounted on the robot body 1, and the rotation of the rotor provides the robot body 1 with thrust to fit against the curtain wall surface 3.

[0039] During the cleaning process, the cleaning component 11 requires the robot body 1 to continuously provide sufficient pressure to meet the cleaning requirements, which depend on the material of the curtain wall surface 3 and the degree of dirt.

[0040] In the preparatory state before the curtain wall cleaning robot performs its task, the robot body 1 is suspended outside the curtain wall surface 3 by the traction ropes 22 of four sets of winch traction devices 2, with a gap between it and the curtain wall surface 3. Before performing the cleaning task, the curtain wall cleaning robot needs to approach and fit against the curtain wall.

[0041] like Figure 7 As shown, in the prior art, since the robot body does not have a telescopic platform, the thrust of the rotor is used to achieve the purpose of approaching and fitting the curtain wall. As shown in the first state 101 of the robot body, the thrust provided by the rotor = outward bowing force + cleaning demand force. When the gap is large, the traction rope 22 deviates significantly from the working surface of the traction rope 22, generating a large outward bowing force. In order to counteract this outward bowing force, the thrust provided by the rotor needs to be increased accordingly, which increases the load on the rotor and significantly reduces the service life of the rotor.

[0042] Meanwhile, in order for the robot to successfully traverse obstacles during obstacle-crossing tasks, existing technologies extend the support frame of the winch traction device far beyond the curtain wall surface, resulting in a significant safety gap between the rope working surface and the outermost edge of the obstacle. This causes the curtain wall cleaning robot to traverse excessively large gaps through which the rotor assembly crosses during cleaning, increasing the load on the rotors and significantly reducing their lifespan.

[0043] Furthermore, in existing technologies, to enable the robot body 1 to cross obstacles on the curtain wall surface 3, the rotor assembly 12 is shut down, and the traction rope 22 is restored to the rope working surface 4. Throughout the obstacle crossing process, a safe gap is always maintained between the robot assembly and the obstacle, as shown in the second state 102 of the robot body in the figure. In this situation, if extreme winds occur, the robot may sway in the air, potentially colliding with the curtain wall surface 3, causing damage to both the robot body 1 and the curtain wall surface 3. Moreover, if the obstacle surface needs to be cleaned, the rotor assembly 12 is still required to provide thrust for cleaning the obstacle surface.

[0044] It is evident that in the existing technology, the curtain wall cleaning robot suffers from problems such as high power consumption of the rotor assembly 12 and instability during obstacle crossing due to the excessive gap between the working surface of the rope and the curtain wall surface.

[0045] The curtain wall cleaning robot proposed in this embodiment of the invention, such as Figure 9As shown, when the robot performs obstacle-crossing tasks, after the traction rope returns to the rope working surface, regardless of whether there is a gap between the robot body and the obstacle, the front end of the telescopic platform can contact the obstacle and use the adsorption components to adsorb the obstacle. By using multiple adsorption components to adsorb alternately, the robot moves on the obstacle. Therefore, when setting the rope working surface, the curtain wall cleaning robot provided in this embodiment of the invention does not need to consider whether the robot body will contact the obstacle during the suspension process, thus avoiding an excessively large gap between the curtain wall surface and the rope working surface.

[0046] If it is necessary to clean the obstacles, the curtain wall cleaning robot extends the telescopic component 131. When the extension of the telescopic component 131 is equal to or even greater than the gap width, the traction rope 22 can deflect away from the curtain wall surface 3, so that the traction rope 22 provides the robot body 1 with an inward bowing force that fits against the curtain wall surface 3. At this time, the inward bowing force and the suction force together provide the cleaning force required, as shown in the eighth state 108 of the robot body in the figure.

[0047] Before performing the curtain wall cleaning task, if the extension and retraction of the telescopic component 131 is equal to or even greater than the gap width, then the suction component 13 can contact the curtain wall surface without the rotor component 12 providing thrust, and the traction rope 22 can deflect away from the curtain wall surface 3. This allows the traction rope 22 to provide an inward bowing force to the robot body 1 to adhere to the curtain wall surface 3, significantly reducing the power required by the rotor. The cleaning component is provided with the cleaning force solely by the inward bowing force and suction force.

[0048] When the depth difference of the curtain wall is too large, the telescopic component 131, even when fully extended, still cannot contact the curtain wall. The rotor component 12 can be activated to provide thrust towards the curtain wall, allowing the robot to move towards it. Compared to existing technologies where the rope working surface is far apart, in this invention, the rope working surface is closer together, reducing the outward bowing force required to overcome the rope, shortening the distance to be moved, and significantly reducing the power consumption of the rotor component 12.

[0049] In some cases, such as Figure 9 As shown, when the telescopic component 131 can extend or retract to the same extent as the gap width, or even extend or retract to the extent of the gap width, the traction rope 22 can deflect away from the curtain wall surface 3, so that the traction rope 22 provides the robot body 1 with an inward bowing force to conform to the curtain wall surface 3. The power required by the rotor is further reduced significantly, and the rotor can even be shut off. At this time, the inward bowing force and the suction force together provide the cleaning force required, as shown in the seventh state 107 of the robot body in the figure.

[0050] In some embodiments, if the rope working face is located at a distance, such as Figure 8As shown, the present invention can also reduce the power consumed by the rotor assembly 12 by means of the telescopic platform 13.

[0051] Specifically, by extending the telescopic component 131 of the telescopic platform 13 before the cleaning process, the gap width that needs to be crossed is reduced, thereby reducing the distance the robot body 1 moves and the distance that the rotor assembly 12 needs to provide thrust is reduced, effectively reducing a portion of the power consumption of the rotor assembly 12; at the same time, due to the extension of the telescopic component 131, the offset of the traction rope 22 towards the curtain wall surface 3 is reduced, thereby weakening the outward bowing force provided by the traction rope 22 to the robot body 1, reducing the outward bowing force that the rotor assembly 12 needs to overcome, which can also reduce a portion of the power consumption of the rotor assembly 12, as shown in the third state 103 of the robot body in the figure; During the cleaning process, unlike existing technologies where the thrust provided by the rotor assembly 12 is always used to overcome the outward bowing force of the traction rope 22 and meet the cleaning force required to clean the curtain wall surface 3, such as... Figure 8 As shown, the adsorption component 132 of the present invention can adsorb onto the curtain wall surface 3, providing adsorption force for the robot body 1. The presence of adsorption force can reduce the power consumption of the rotor component 12. The adsorption force and thrust together overcome the outward bowing force of the traction rope 22 and meet the cleaning requirements of cleaning the curtain wall surface 3. At the same time, due to the extension of the telescopic component 131, the offset of the traction rope 22 towards the curtain wall surface 3 is reduced, which weakens the outward bowing force provided by the traction rope 22 to the robot body 1. The outward bowing force that the adsorption force and thrust need to overcome is reduced. Under the same cleaning requirements, the power consumption of the rotor component 12 can be further reduced, as shown in the third state 103 of the robot body in the figure. During obstacle crossing, such as Figure 8 As shown, the rotor and adsorption assembly 132 are shut down, allowing the traction rope 22 to return to the rope working surface 4, as shown in the fourth state 104 of the robot body. When crossing obstacles, the telescopic assembly 131 can be extended to allow the telescopic platform 13 to touch the obstacle and be adsorbed by the adsorption assembly 132, allowing it to cross along the obstacle surface. This effectively prevents the robot body 1 from hitting the obstacle on the curtain wall surface 3 due to strong winds, making the obstacle-crossing process of the robot body 1 more stable, as shown in the fifth state 105 of the robot body.

[0052] Meanwhile, if the surface of the obstacle needs to be cleaned, the extension and telescopic component 131 can be extended to make the traction rope 22 deviate from the rope working surface 4 in a direction away from the curtain wall surface 3, so that the traction rope 22 provides an inward bowing force to the robot body 1. If the inward bowing force and the adsorption force provided by the adsorption component 132 can meet the cleaning requirements of the cleaning component 11, then it is not necessary to open the rotor component 12, thus reducing the power consumption of the rotor component 12, as shown in the eighth state 108 of the robot body in the figure.

[0053] As can be seen from the above, the curtain wall cleaning robot proposed in this embodiment of the invention can solve the problems of excessively long rope working surfaces, high power consumption of the rotor assembly 12 during the cleaning process, and unstable obstacle-crossing process in existing curtain wall cleaning robots. It provides a curtain wall cleaning robot with low power consumption of the rotor assembly 12 and stable obstacle-crossing capabilities.

[0054] In some embodiments, the robot body 1 is arranged in a direction perpendicular to the curtain wall surface 3, with the outer layer, middle layer and inner layer being the farthest from the curtain wall surface 3 respectively; the telescopic platform 13 is disposed in the inner layer; the bow-shaped force component 14 is disposed in the middle layer, including two traction rings 141, which are fixed to the traction rope 22 at the top of the curtain wall and the traction rope 22 at the bottom of the curtain wall respectively.

[0055] When the curtain wall cleaning robot is shut down, the traction ring 141 is brought back to the rope working surface 4 by the traction rope 22. The telescopic platform 13 is located at the end of the rope working surface 4 closest to the curtain wall surface 3. Adjusting the telescopic length of the telescopic platform 13 controls the position of the traction ring 141 relative to the rope working platform. When the traction ring 141 is located at the end of the rope working platform closest to the curtain wall, it provides the curtain wall cleaning robot with an outward bowing force away from the curtain wall surface 3; when the traction ring 141 is located at the end of the rope working platform furthest from the curtain wall, it provides the curtain wall cleaning robot with an inward bowing force close to the curtain wall surface 3.

[0056] Furthermore, the rotor assembly 12 is disposed on the outer layer of the robot body 1. Since the rotor assembly 12 needs to provide sufficient thrust to allow the robot body 1 to fit against the curtain wall surface 3, and the middle layer of the robot body 1 includes components such as water tanks and controllers, in order to prevent the rotor assembly 12 from damaging these components during operation, the rotor assembly 12 is disposed on the outer layer of the robot body 1.

[0057] In some embodiments, when performing a cleaning task, the rotor assembly 12 and the adsorption assembly 132 operate. The thrust provided by the rotor assembly 12 towards the curtain wall surface 3 and the adsorption force provided by the adsorption assembly 132 work together to make the robot body 1 adhere to the curtain wall surface 3. The traction rope 22 of the bow-shaped force assembly 14 pulls the robot away from the rope working surface 4, forming an outward bow-shaped force. At this time, the thrust + adsorption force > the outward bow-shaped force, giving the curtain wall cleaning robot a moving speed towards the curtain wall surface 3.

[0058] Furthermore, when the robot body 1 is not in contact with the curtain wall surface 3, the rotor power of the rotor assembly 12 increases, and the telescopic platform 13 extends, causing the adsorption assembly 132 to gradually approach the curtain wall surface 3. At this time, the thrust provided by the rotor assembly 12 overcomes the outward bowing force provided by the traction rope 22, driving the robot body 1 to move towards the curtain wall surface 3. As the robot body 1 moves, the distance that the robot body 1 needs to move gradually decreases due to the extension of the telescopic platform 13. The telescopic platform 13 and the rotor assembly 12 cooperate with each other, making the process of the curtain wall cleaning robot approaching the curtain wall surface 3 more rapid.

[0059] When the adsorption component 132 contacts the curtain wall surface 3, its adsorption power increases, providing the robot body 1 with an adhesion force towards the curtain wall surface 3. After the combined force of the adhesion force and the thrust meets the cleaning requirements, the adhesion force is gradually increased while the power of the rotor component 12 decreases. The adsorption force and thrust work together to provide the cleaning force required by the cleaning component. This reduces the energy consumption of the rotor component 12, extends its service life, or a lighter, lower-power rotor component 12 can be selected to reduce the weight of the curtain wall cleaning robot.

[0060] If, after the telescopic platform 13 extends, the traction ring 141 still deviates from the rope working plane towards the curtain wall surface 3, the traction rope 22 provides an outward bowing force to the robot body 1. Therefore: Adsorption force + Thrust = Outward bowing force + Cleaning requirement force. However, due to the extension of the telescopic platform 13, compared to a robot without a telescopic platform 13, the traction ring 141 in this embodiment is closer to the rope working surface 4, reducing the outward bowing force provided by the traction rope 22. This also reduces the thrust required by the rotor assembly 12, saving energy consumption and significantly improving the service life of the rotor assembly 12. Alternatively, a lower-power but lighter rotor assembly 12 can be selected.

[0061] When the rope working surface 4 is close to the curtain wall surface 3, that is, with the traction ring 141 as the boundary, the width of the part of the curtain wall cleaning robot approaching the curtain wall surface 3 is greater than the gap between the curtain wall surface 3 and the rope working surface 4. At this time, the traction ring 141 will deviate from the rope working surface 4 in a direction away from the curtain wall surface 3, and the traction rope 22 will provide an inward bowing force to the robot body 1. The extension telescopic platform 13 not only shortens the distance required for the curtain wall cleaning robot to approach the curtain wall surface 3, but also reduces the suction force and thrust required to meet the cleaning requirements.

[0062] Specifically, when the telescopic platform 13 extends, the width of the portion of the curtain wall cleaning robot near the curtain wall surface 3, bounded by the traction ring 141, is greater than the gap between the curtain wall surface 3 and the rope working surface 4. The traction ring 141 is higher than the rope working plane. At this point, the traction rope 22 deviates from the rope working surface 4 in a direction away from the curtain wall surface 3, providing an inward bowing force towards the curtain wall surface 3. The inward bowing force, suction force, and thrust can work together to provide the cleaning force required by the cleaning components; that is, inward bowing force + suction force + thrust = cleaning required force. With the required cleaning force remaining constant, this embodiment minimizes the power required by the rotor assembly 12 during the cleaning process, significantly reducing the energy consumption of the rotor assembly 12.

[0063] In some embodiments, before performing an obstacle-crossing task, the traction rope provides an outward bowing force. When performing the obstacle-crossing task, the rotor assembly 12 and the adsorption assembly 132 stop, and the traction rope 22 returns to the rope working surface 4. The outward bowing force generated by the traction rope 22 causes the robot body 1 to move away from the curtain wall surface 3. A gap still exists between the rope working surface 4 and the most prominent obstacle on the curtain wall surface 3. When the traction rope 22 returns to the rope working surface 4, the four sets of winches 21 cooperate to enable the curtain wall cleaning robot to move laterally and longitudinally to overcome the obstacle.

[0064] Furthermore, if the traction rope provides an inward bowing force before performing the obstacle-crossing task, the rotor assembly 12 and the adsorption assembly 132 stop, and the telescopic platform 13 shortens, causing the traction rope 22 to return to the rope working surface 4. Because there is still a gap between the rope working surface 4 and the most prominent obstacle on the curtain wall surface 3 when the winch traction device 2 is set up, when the traction rope 22 returns to the rope working surface 4, the four sets of winches 21 cooperate with each other to enable the curtain wall cleaning robot to move laterally and longitudinally to overcome the obstacle.

[0065] If cleaning of the obstacle's surface is required during the obstacle-crossing process, the adsorption component 132 adheres to the obstacle's surface to provide adsorption force. The telescopic platform 13's extension length is adjusted, causing the traction ring 141 to deviate from the rope working surface 4 away from the curtain wall surface 3. This allows the traction rope 22 to provide an inward bowing force. This inward bowing force, combined with the adsorption force, provides the cleaning force required by the curtain wall cleaning robot. In other words: inward bowing force + adsorption force = cleaning force required. This obstacle-crossing method not only allows for safe and stable obstacle crossing but also enables surface cleaning, resulting in a more comprehensive cleaning of the curtain wall by the curtain wall cleaning robot.

[0066] In some embodiments, the adsorption component 132 includes a negative pressure device 1321 and an adsorption plane 1322. When the adsorption plane 1322 is attached to the curtain wall surface 3, the negative pressure device 1321 performs vacuum treatment between the adsorption plane 1322 and the curtain wall surface 3. A sealing layer is provided on the adsorption plane 1322. The negative pressure device 1321 uses vacuum negative pressure to attach the adsorption plane 1322 to the curtain wall surface 3. By selecting vacuum negative pressure as the source of adsorption force, it can solve the shortcomings of traditional magnetic curtain wall robots, such as the need for the curtain wall surface 3 to cooperate with the curtain wall robot and the bulkiness of the magnetic system. The negative pressure device 1321 can quickly adsorb the adsorption plane 1322 onto the curtain wall surface 3. Preferably, a sealing layer is provided on the adsorption plane 1322 to prevent gas from entering from the gap between the adsorption plane 1322 and the curtain wall surface 3 when the negative pressure device 1321 performs vacuum treatment, thereby disrupting the vacuum state between the adsorption plane 1322 and the curtain wall surface 3.

[0067] In some embodiments, the system further includes a total station, which is used to perform three-dimensional mapping and modeling of the workspace and to capture the position of the robot body 1 for platform spatial position tracking and feedback. The total station can be set on the roof of the curtain wall, the bottom of the curtain wall, or any stable platform capable of capturing the position of the robot body 1. Before setting up the support frame 23, the entire workspace is modeled in three dimensions using the total station. The workspace includes the curtain wall surface 3 and obstacles on the curtain wall surface 3. The distance that the support frame 23 needs to extend beyond the curtain wall surface 3 is determined using the three-dimensional model established by the total station, thereby determining the distance between the rope working surface 4 and the curtain wall surface 3.

[0068] Secondly, the method for capturing the position of robot body 1 can be as follows: set the three-dimensional coordinates of the station where the total station is located; set the coordinates of the backsight point or set the horizontal circle reading of the backsight direction as its azimuth. When setting the coordinates of the backsight point, the total station will automatically calculate the azimuth of the backsight direction and set the horizontal circle reading of the backsight direction as its azimuth; set the prism constant of the total station; set the atmospheric correction value or temperature and pressure values ​​at this time; measure the instrument height and prism height of the total station and input them into the total station; aim at the target prism, press the coordinate measurement key on the total station, and the total station will start measuring distance and calculate and display the three-dimensional coordinates of robot body 1.

[0069] The 3D modeling using a total station can determine the gap between the rope working surface 4 and the curtain wall surface 3, and can display the 3D coordinates of the robot body 1, thus enabling better control of the curtain wall cleaning robot.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A curtain wall cleaning robot, comprising a robot body (1), a winch traction device (2), and a cleaning assembly (11), characterized in that: The winch traction device (2) is configured in four groups, respectively located at both ends of the curtain wall roof and both ends of the curtain wall floor. Each group of the winch traction device (2) includes a winch (21) and a traction rope (22) wound around the winch (21). The traction rope (22) is fixed to the robot body (1). It also includes: The rotor assembly (12) provides thrust to the robot body (1) toward the curtain wall surface (3); The telescopic platform (13) includes a telescopic component (131) and an adsorption component (132), wherein the adsorption component (132) provides the robot body (1) with an adsorption force to adhere to the curtain wall surface (3); The bow-shaped force assembly (14) provides the robot body (1) with an inward bow-shaped force that conforms to the curtain wall surface (3) or an outward bow-shaped force that moves away from the curtain wall surface (3) via the traction rope (22); The robot body (1) is arranged in a direction perpendicular to the curtain wall surface (3), with the outer layer, middle layer and inner layer being the farthest from the curtain wall surface (3) respectively; the telescopic platform (13) is located in the inner layer; the bow-shaped force component (14) is located in the middle layer, including two traction rings (141), which are fixed to the traction rope (22) at the top of the curtain wall and the traction rope (22) at the bottom of the curtain wall respectively; The hoisting traction device (2) also includes a support frame (23) which extends out of the curtain wall surface (3) by a distance that determines the rope working surface (4) of the traction rope (22), which is configured to maintain a gap with the most prominent obstacle on the curtain wall surface (3). During the cleaning of the curtain wall, the rotor assembly (12) and the adsorption assembly (132) first operate to drive the robot body (1) to adhere to the curtain wall surface (3). Then, the telescopic assembly (131) is controlled to extend, causing the traction rope (22) to deflect away from the curtain wall surface (3), so that the traction rope (22) provides the robot body (1) with an inward bowing force to adhere to the curtain wall surface (3), and the rotor assembly (12) is adjusted to standby state.

2. The curtain wall cleaning robot according to claim 1, characterized in that: The rotor assembly (12) is disposed on the outer layer.

3. The curtain wall cleaning robot according to claim 1, characterized in that: Before performing the obstacle crossing task, the bow force component (14) provides an outward bow force. When performing the obstacle crossing task, the rotor component (12) and the adsorption component (132) are adjusted to standby state, and the traction rope (22) returns to the rope working surface (4). The bow force formed by the traction rope (22) causes the robot body (1) to move away from the curtain wall surface (3).

4. The curtain wall cleaning robot according to claim 1, characterized in that: Before performing an obstacle crossing task, the bow force assembly (14) provides an inward bow force. When performing the obstacle crossing task, the rotor assembly (12) and the adsorption assembly (132) are adjusted to a standby state, and the telescopic platform (13) is shortened so that the traction rope (22) returns to the rope working surface (4).

5. The curtain wall cleaning robot according to claim 4, characterized in that: The adsorption component (132) includes a negative pressure device (1321) and an adsorption plane (1322). When the adsorption plane (1322) is in contact with the curtain wall surface (3), the negative pressure device (1321) performs vacuum treatment between the adsorption plane (1322) and the curtain wall surface (3). A sealing layer is provided on the adsorption plane (1322).

6. The curtain wall cleaning robot according to claim 1, characterized in that, Also includes: The total station is used to perform three-dimensional mapping and modeling of the workspace and to capture the position of the robot body (1).

Images