A flexible cable driven peristaltic cleaning glass curtain wall cleaning robot and cleaning method

Abstract

A kind of glass curtain wall cleaning robot of flexible cable drive peristalsis cleaning, including cleaning main body (10), front foot pair (20), peristalsis cleaning (30) and adsorption mechanism (60), the cleaning main body (10) is coupled to flexible cable pair (11) connection;The front foot pair (20) is respectively drivenly connected to the flexible cable pair (11);The peristalsis cleaning (30) includes cleaning mechanism (40) and peristalsis foot pair (50), the peristalsis foot pair (50) is respectively drivenly connected the flexible cable pair (11), and the peristalsis foot pair (50) is simultaneously coupled to front foot pair (20) and cleaning main body (10), along the flexible cable pair (11) drive cleaning main body (10) reciprocating peristalsis between stretch position (31) and hump position (32), while, cleaning mechanism (40) carries out different cleaning procedure to glass curtain wall along up-down direction.The glass curtain wall cleaning robot of flexible cable drive peristalsis cleaning, cleaning efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of cleaning robots, and more specifically to a glass curtain wall cleaning robot and cleaning method that uses a flexible cable-driven peristaltic cleaning mechanism. Background Technology

[0002] Window cleaning robots are automated devices used to automatically clean window surfaces, thereby replacing manual cleaning of the exterior walls or windows of high-rise buildings. This can significantly reduce cleaning costs for high-rise buildings and improve the working environment for workers. Since most windows are typically perpendicular to the ground, these window cleaning robots must solve the technical problem of attaching the robot to a vertical wall while moving it along that wall.

[0003] For wall movement, Harbin University of Science and Technology disclosed a glass curtain wall cleaning robot driven by two flexible cables (Publication No.: CN103445731A, Publication Date: December 18, 2013). It uses two flexible cables 1, one end of which is fixed to the two top ends of the curtain wall cleaning area and suspended in an inverted V shape. The flexible cables 1 are spirally wound between the active roller 14 and the driven roller 12. The active roller 14 is driven to rotate by the roller drive motor 6. The flexible cables are retracted and extended by the friction between the flexible cables 1 and the roller. Therefore, the movement of the invention in the up, down and left and right directions in the cleaning plane can be achieved by the coordinated action between the two roller drive motors 6. However, there is a problem that when the two active rollers 14 rotate at the same speed, they move in a straight line; when their speeds are different, they cannot move in a straight line. Therefore, an angle detection mechanism as described in this invention is designed to detect the angle between the flexible cable 1 and the sliding rod 3, and then feeds this information back to the microcontroller. The microcontroller calculates the required operating speed and revolutions of the roller drive motor 6 through its program, and then records the motor revolutions through the encoder 5 and feeds them back to the microcontroller, achieving closed-loop control of the motor. This allows the two roller drive motors 6 to coordinately drive the two wheel sets to retract and extend the flexible cable 1. When both rollers retract or extend the flexible cable 1 simultaneously, it moves upward or downward; when one wheel set retracts and the other extends the flexible cable, it moves left or right. However, this method of controlling movement is somewhat overly complex; achieving left-right movement of the vertical flexible cable is rather difficult. It also complicates the planning of the cleaning path for the cleaning mechanism.

[0004] There is a problem with using tires, tracks, or other traveling wheels to press against a flat wall surface W1 and drive it to move: when the wall surface W is curved, there is a gap between the traveling wheels and the wall surface W in principle, the traveling wheels are not in contact with the ground, and it is impossible to achieve adsorption and movement. SHARP KK Corporation of Japan disclosed a wall cleaning device that can stably adsorb and move on walls composed of concave or convex surfaces (Publication No.: JP2017007372A, Publication Date: January 12, 2017), which includes a housing 10, with an adsorption part 22 in the middle of the housing 10. Two moving mechanisms 2A and 2B are symmetrically arranged on the left and right sides of the adsorption part 22. The adsorption part 22 abuts against the back of the moving mechanisms 2A and 2B through a pressing part 9. The moving mechanisms 2A and 2B are rotating wheels 23 around a rotating axis 23c perpendicular to the wall surface. If the traveling wheels 23 rotate, friction is generated at the contact points 23a and 23b between the traveling wheels 23 and the wall surface W in the tangential direction. Furthermore, the traveling wheels 23 of the moving mechanisms 2A and 2B generate a propulsive force in the opposite direction to the frictional force. This propulsive force causes the wall-walking device 1A to travel on the wall W. During travel, the friction between the adsorption bottom surface of the adsorption part 22 and the wall W becomes the resistance to the travel drive. Therefore, to ensure good sliding properties of the adsorption bottom surface of the adsorption part 22, a structure that reduces the coefficient of friction, such as a fluororesin coating, is preferably implemented. However, the aforementioned walking mechanism has the drawback of being difficult to cross obstacles such as window frames.

[0005] Therefore, there is an urgent need in this field for a glass curtain wall cleaning robot that can overcome obstacles and move along the vertical wall while adhering to it. This is a problem that the industry urgently needs to solve in the development of glass curtain wall robots. Summary of the Invention

[0006] To address the shortcomings of the existing technology, the present invention aims to provide a glass curtain wall cleaning robot with flexible cable-driven peristaltic cleaning capability, which has strong obstacle crossing ability and can effectively move along the vertical wall while adhering to it, thereby solving the technical difficulties in developing glass curtain wall robots.

[0007] The objective of this invention is achieved by providing a flexible cable-driven peristaltic cleaning robot for glass curtain walls, comprising:

[0008] A cleaning body is coupled to a pair of flexible cables, which are vertically suspended on the side of the glass curtain wall.

[0009] The forward-extending feet are respectively connected to the flexible cable pair, and the forward-extending feet are used to drive the cleaning body to move upward or downward along the flexible cable pair;

[0010] The peristaltic cleaning method includes a cleaning mechanism and a pair of peristaltic legs. The peristaltic legs are respectively connected to the flexible cable pair and simultaneously coupled to the forward-extending legs pair and the cleaning body. Along the flexible cable pair, the cleaning body reciprocates between an extended position and a curved position. Simultaneously, the cleaning mechanism performs different cleaning processes on the glass curtain wall in the vertical direction. In the extended position, the peristaltic legs are stationary, and the forward-extending legs pair move forward to a maximum distance L from the peristaltic legs pair. max In the arched position, the forward-extending foot remains stationary, while the creeping foot moves forward to a minimum distance L from the forward-extending foot. min Location;

[0011] An adsorption mechanism is used to provide positive pressure to the cleaning mechanism relative to the glass curtain wall surface during peristaltic cleaning.

[0012] Furthermore, the forward-extending foot pair is connected to the flexible cable pair via a forward-extending flexible cable winding drive. The forward-extending flexible cable winding is a flexible cable drive, which includes a drive frame, a forward winding roller, and a driven roller shaft. The forward winding roller and the driven roller shaft are symmetrically mounted on the drive frame about the central axis. The forward motor is fixed to the side of the drive frame along the central axis and is connected to the forward winding roller drive. Specifically, each flexible cable of the flexible cable pair is spirally wound between the forward winding roller and the driven roller shaft, and the flexible cable pair is spirally wound with at least 3 complete spirals.

[0013] Furthermore, the peristaltic mechanism includes an upper peristaltic leg pair and a lower peristaltic leg pair pivotally connected end to end. The other end of the upper peristaltic leg pair is pivotally connected to the driven roller shaft of the forward-extending soft rope roll, and the other end of the lower peristaltic leg is connected to the soft rope pair via the peristaltic soft rope roll drive. The peristaltic soft rope roll is pivotally connected to the left and right sides of the cleaning body, and the peristaltic soft rope roll is driven by the soft rope.

[0014] Furthermore, the forward motors of the extended flexible rope roll and the peristaltic flexible rope roll are connected to the forward rolls via a reducer. The speed ratio between the forward roll of the peristaltic flexible rope roll and the forward roll of the extended flexible rope roll is 1:10-1:4. The reducer has a self-locking function when stopped.

[0015] Furthermore, the cleaning mechanism includes spray cleaning, coarse roller washing, fine roller washing, and bright wiping, which are sequentially arranged on the cleaning body in the forward direction. The spray cleaning consists of multiple spray heads spaced apart on the spray pipe, which is connected to a water storage tank located on the cleaning body via a water pump.

[0016] Furthermore, the coarse roller scrubbing and fine roller scrubbing are respectively water-absorbing scrubbing roller structures. The water-absorbing scrubbing roller structure includes a scrubbing roller that is rolled on the roller frame and rolls against each other and a suction hard roller. The surface of the suction hard roller is provided with a Z-shaped water groove. The parallel branches of the water groove are connected to the inner hole of the rotating shaft through multiple water suction holes. The end of the rotating shaft is connected to the main suction pipe through an adapter. The main suction pipe is connected to the axial flow fan located on the cleaning body (10). The axial flow fan blows an air-water mixture outward perpendicular to the cleaning body.

[0017] The brightening scrubber includes a scrubbing plate and brightener nozzles. Multiple brightener nozzles are spaced apart on a brightener tube, which is connected to a brightener pump located in a brightener storage tank within the main cleaning unit.

[0018] Furthermore, it also includes fixed-distance transverse movement, which includes a slide rail, a transverse crane, and a suspension roller shaft. The slide rail is located on the top of the glass curtain wall building and is equipped with a drive rack. The drive motor is installed on the transverse crane, and the drive gear is located on the output shaft of the drive motor (76). The drive gear meshes with the drive rack. The flexible cable is fixed at its beginning to the transverse crane and at its end to a counterweight. The fixed-distance transverse movement is used to drive the flexible cable to move laterally by a fixed distance along the slide rail to clean the next row of surfaces to be cleaned.

[0019] A cleaning method for a glass curtain wall using a cable-driven peristaltic cleaning robot.

[0020] S1 moves forward while the peristaltic foot pair remains stationary. The extended foot pair moves forward while coiling around the flexible cord pair, so that the extended foot pair moves to a new extended position relative to the peristaltic foot pair.

[0021] S2 peristaltic cleaning: the peristaltic mechanism moves while the cleaning mechanism performs cleaning.

[0022] Return to S1 until the cleaning of column C is complete;

[0023] S3 moves one column horizontally, causing the flexible cable to move a certain width horizontally to reach the new column C to be cleaned;

[0024] Return to S1.

[0025] Furthermore, the S2 peristaltic cleaning is a fine mode, which includes the following steps:

[0026] S21 First contraction and peristalsis, the forward extending feet remain stationary, the peristaltic feet move forward from their original position along the flexible rope, driving the cleaning body forward to the arched position; at the same time, the cleaning mechanism performs the spray coarse roller washing process: the coarse roller scrubbing extends downward and presses against the wall surface W with a resistance force less than the adsorption positive pressure, the coarse roller motor starts, and the spray cleaning sprays out detergent; while spraying detergent, the coarse roller scrubbing rotates; when it reaches the arched position, the coarse roller scrubbing rises;

[0027] S22 stretches and peristalsizes, with the forward-extending legs remaining stationary. The peristaltic legs drive the cleaning body to move backward from the arched position back to its original position. Simultaneously, the cleaning mechanism performs the spray and fine roller washing process: the fine roller extends downward and presses against the wall surface W with a resistance force less than the adsorption positive pressure. The fine roller motor starts, and the spray cleaning sprays out detergent while rotating the fine roller to wash. When it reaches the original position, the fine roller wash rises.

[0028] S23 Second contraction and peristalsis, the forward extended foot pair remains stationary, the peristaltic foot pair drives the cleaning body to peristalse forward again to the arched position; at the same time, the cleaning mechanism performs the bright wiping process: the bright wiping extends downward, pressing against the wall surface W with a contact force less than the adsorption positive pressure, spraying out brightener while the wiping plate continues to contact the wall surface; when it reaches the arched position, the bright wiping rises.

[0029] Furthermore, the S2 peristaltic cleaning is a general cleaning mode, which includes the following steps:

[0030] S21 contracts and peristalses, the forward-extending legs remain stationary, the peristaltic legs move forward along the flexible rope, driving the cleaning body to peristalse forward to the arched position;

[0031] At the same time, the cleaning mechanism performs the spraying and wiping process: the coarse roller wiping and the bright wiping extend downwards simultaneously, pressing against the wall surface W with a contact force less than the adsorption positive pressure. The coarse roller motor starts, and the spraying cleaning sprays out detergent. While spraying detergent, the coarse roller wiping rotates. At the same time, the bright wiping sprays out brightener while the wiping plate continues to press against the wall surface. When it reaches the arched position, the coarse roller wiping and the bright wiping rise simultaneously.

[0032] Compared to existing technologies, the described flexible cable-driven peristaltic cleaning robot and method for glass curtain walls features vertical up-and-down movement, allowing it to traverse obstacles such as glass frames and is suitable for curved or stepped glass surfaces. The peristaltic cleaning process combines fine cleaning and general cleaning modes simultaneously, catering to different cleaning requirements and ensuring a sparkling clean finish. The peristaltic mechanism 40 also drives the cleaning body forward via flexible cables, ensuring that the positive pressure of the adsorption mechanism does not affect its forward peristaltic movement, effectively resolving the conflict between adsorption and forward movement. Attached Figure Description

[0033] Figure 1 This is a front view of Embodiment 1 of the glass curtain wall cleaning robot with flexible cable-driven peristaltic cleaning according to the present invention, in its extended position;

[0034] Figure 2 This is a front view of Embodiment 1 of the glass curtain wall cleaning robot with flexible cable-driven peristaltic cleaning according to the present invention, located in the retracted position.

[0035] Figure 3This is a side view of Embodiment 1 of the glass curtain wall cleaning robot of the present invention in its retracted position;

[0036] Figure 4 This invention relates to a cable-driven peristaltic cleaning robot for glass curtain walls. Figure 1 Enlarged image I;

[0037] Figure 5 This is a front sectional view of the cleaning body 10 of a glass curtain wall cleaning robot with flexible cable-driven peristaltic cleaning according to the present invention.

[0038] Figure 6 This is a top view of the cleaning body 10 of a cable-driven peristaltic cleaning robot for cleaning glass curtain walls according to the present invention.

[0039] Figure 7 This is a left sectional view of the cleaning body 10 of a glass curtain wall cleaning robot with flexible cable-driven peristaltic cleaning according to the present invention.

[0040] Figure 8 This is a front view of a cable-driven peristaltic cleaning robot for cleaning glass curtain walls, showing a fixed-distance lateral movement of 70 degrees according to the present invention.

[0041] Figure 9 This is a left cross-sectional view of a cable-driven peristaltic cleaning robot for cleaning glass curtain walls, showing a fixed-distance lateral movement of 70 degrees.

[0042] The reference numerals in the above figure:

[0043] 10. Cleaning main body, 11. Soft rope pair, 12. Cleaning base plate, 13. Side plates, 14. Splash-proof soft bristles

[0044] 20. Forward extension foot pair, 21. Forward extension flexible rope coil, 22. Counterweight block

[0045] 30. Peristaltic cleaning, 31. Stretching position, 32. Arching position

[0046] 40 Cleaning mechanism, 41 Spray cleaning, 42 Coarse roller washing, 43 Fine roller washing, 44 Brightening scrubbing

[0047] 50. Peristaltic foot pair, 51. Upper peristaltic leg pair, 52. Lower peristaltic leg pair, 53. Peristaltic flexible rope coil

[0048] 60 Adsorption mechanism, 61 Suction cup, 62 Suction branch channel, 63 Suction main channel, 64 Spring tube section, 65 Suction fan, 66 Pressure reducing chamber, 67 Telescopic cylinder

[0049] 70 Fixed-distance lateral movement, 71 Slide rail, 72 Lateral movement crane, 73 Suspension roller shaft, 74 Drive rack and pinion, 75 Drive gear, 76 Drive motor

[0050] 80 Flexible cable drive, 81 Drive frame, 82 Leading roll, 83 Driven roller, 84 Leading motor, 85 Reducer Detailed Implementation

[0051] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but are not intended to limit the scope of the present invention.

[0052] Example 1

[0053] A cable-driven peristaltic cleaning robot for glass curtain walls, including

[0054] The cleaning body 10 is used to fix and install functional mechanisms and water storage and energy storage components.

[0055] The forward extension foot pair 20 is respectively driven to the flexible cable pair 21, and the forward extension foot pair 20 is mechanically coupled to the cleaning body 10, for driving the cleaning body 10 to move upward or downward along the flexible cable pair 12;

[0056] The peristaltic cleaning system 30 includes a cleaning mechanism 40 and a pair of peristaltic feet 50. The pair of peristaltic feet 50 is coupled to the forward-extending foot pair 20 and the cleaning body 10. The pair of peristaltic feet 50 is driven by the flexible cable pair 21. Along the flexible cable pair 12, the cleaning body 10 is driven to reciprocate between the extended position 31 and the arched position 32. At the same time, the cleaning mechanism 40 performs different cleaning processes on the glass curtain wall in the vertical direction. In the extended position 31, the peristaltic feet are stationary, and the forward-extending foot pair 20 moves forward to the position of the maximum distance Lmax from the peristaltic foot pair 50. In the arched position 32, the forward-extending foot pair 20 is stationary, and the peristaltic foot pair 50 moves forward to the position of the minimum distance Lmin from the forward-extending foot pair 20.

[0057] The adsorption mechanism 60 is located on the left and right sides of the cleaning body 10 and is used to provide positive pressure to the cleaning mechanism 40 relative to the glass curtain wall surface when the peristaltic cleaning 30 is peristaltic and cleaning.

[0058] The cleaning body 10 includes a cleaning base plate 11, which includes a side plate 12. The bottom of the side plate 12 is provided with anti-splash soft bristles 13 to prevent the detergent sprayed from the spray head from splashing onto both sides of the wall and affecting the adsorption force of the adsorption mechanism 60.

[0059] The forward extension foot pair 20 is connected to the flexible cable pair 21 via a forward extension flexible cable reel 22. The forward extension flexible cable reel 22 is a flexible cable drive 80, which includes a drive frame 81, a forward winding roller 82, and a driven roller shaft 83. The drive frame 81 is releasably pivotally mounted on the traversing crane 72 along its central axis. The forward winding roller 82 and the driven roller shaft 83 are rotatably and symmetrically mounted on the drive frame 81 about its central axis. The forward motor 84 is fixed along its central axis to the side of the drive frame 81 and is connected to the forward winding roller 82. Specifically, each flexible cable of the flexible cable pair 21 is alternately wound between the forward winding roller 82 and the driven roller shaft 83 of the flexible cable drive 80 of the forward extension flexible cable reel 22. The flexible cable pair 12 is wound with at least three complete spirals between the forward winding roller 82 and the driven roller shaft 83. The forward motor 84 is a motor with a self-locking function.

[0060] The peristaltic foot pair 50 includes an upper peristaltic leg pair 51 and a lower peristaltic leg pair 52 connected end to end by a pivot. The other end of each of the upper peristaltic leg pairs 51 is pivotally connected to the forward foot pair 20, and the other end of the lower peristaltic leg 52 is hinged to the cleaning body 10.

[0061] Preferably, the upper peristaltic leg pair 51 and the lower peristaltic leg pair 52 are of equal length. In the arched position, the angle between the upper peristaltic leg pair 51 and the lower peristaltic leg pair 52 is 60 degrees, forming an equilateral triangle between the forward-extending flexible cord coil 21, the pivot end, and the peristaltic flexible cord coil 53. At this point, further forward peristalsis will raise the peristaltic flexible cord coil 53, so at this moment, Lmax-Lmin has reached the maximum limit of peristaltic forward movement.

[0062] The lower peristaltic leg pair 52 is connected to the flexible rope pair 21 via the peristaltic flexible rope roll 53. The peristaltic flexible rope roll 53 is a flexible rope drive 80. The forward motor 84 of the peristaltic flexible rope roll 53 is connected to the forward roll roller 82 via the reducer 85.

[0063] Preferably, the reducer 85 is a planetary gear reducer or a worm gear reducer, and the reduction ratio of the reducer 85 is 6, 8, or 10.

[0064] The cleaning mechanism 40 includes a spray cleaning 41, a coarse roller washing 42, a fine roller washing 43, and a bright wiping 44 arranged in sequence. The spray cleaning 41 consists of multiple spray heads spaced apart on a spray pipe, which is connected to a water storage tank located in the main cleaning body via a water pump. The water storage tank contains detergent.

[0065] The coarse roller scrubbing 42 and the fine roller scrubbing 43 are respectively water-absorbing scrubbing roller structures. The water-absorbing scrubbing roller structure includes a scrubbing roller and a suction roller that are rolled on the roller frame and roll against each other. The suction roller has a Z-shaped water groove on its surface. The parallel branches of the Z-shaped water groove are connected to the inner hole of the rotating roller shaft through multiple water suction holes. The end of the roller shaft is connected to the main suction pipe through an adapter. The main suction pipe is connected to the axial flow fan installed in the cleaning body 10. The axial flow fan blows out an air-water mixture perpendicular to the cleaning body.

[0066] The coarse roller 101 of the coarse roller scrubbing 42 is equipped with a sponge-filled bladder. The bladder is made of a blended fabric made of metal wires and plastic wires. The metal wires of the coarse roller 42 scrub the glass surface, and the dirt removal ability is strong.

[0067] The wiping roller 101 of the fine roller scrubbing 43 is equipped with a sponge-filled bladder. The bladder is made of cotton long-pile fabric, which has good water absorption and wiping properties for glass surfaces, making it easy to wet and wipe the glass wall.

[0068] The brightening scrubber 44 includes a scrubbing plate and brightening agent nozzles. Multiple brightening agent nozzles are spaced apart on a brightening agent pipe, which is connected to a brightening agent pump located in a brightening agent storage tank of the main cleaning unit.

[0069] It also includes a fixed-distance transverse movement 70, which includes a slide rail 71, a transverse crane 72, a suspension roller shaft 73, a drive rack 74, and a drive gear 75. The slide rail 71 is located on the top of the glass curtain wall building. The slide rail 71 is equipped with a drive rack 74. The drive gear 75 is located on the transverse crane 72. The drive gear 75 is connected to a drive motor 76. The drive motor 76 is installed on the transverse crane 72. The beginning of the flexible cable pair 11 is fixedly connected to the transverse crane 72 and the end is fixedly connected to a counterweight. The fixed-distance transverse movement 70 is used to drive the flexible cable pair 11 to move laterally by a fixed distance along the slide rail 71 to clean the next row of surfaces to be cleaned.

[0070] The adsorption mechanism 60 includes a suction cup 61, a suction branch 62, a suction main duct 63, and a suction fan 65. The tail of the suction cup 61 is airtightly connected to the head of the suction branch 62. A spring tube section 64 is provided in the middle of the suction branch 62. The tail of the suction branch 62 is airtightly connected to the suction fan 65 located on the cleaning body 10. The suction fan 65 is an axial flow fan that blows air perpendicular to the cleaning body 10.

[0071] The cleaning body 10 shown has a suction cup 61 on each of its left and right sides. The two suction cups 61 are connected to the suction main channel 63 through the suction branch channel 62, and are connected to the suction fan 65 through the suction main channel 63.

[0072] During the cleaning operation, the operator adjusts the position of the flexible rope relative to the wall surface W and pushes it against the wall surface W by hand. The suction fan 65 is then started. At this time, the wall surface W and the suction cup 61 form a pressure-reducing chamber 66, which serves as the suction space.

[0073] The neck of the suction branch 62 is fixedly connected to the piston end of the telescopic cylinder 67, and the cylinder of the telescopic cylinder 67 is vertically fixed to the lower part of the cleaning body 10. To reduce the influence of wind on the flexible cable pair 21, counterweights are provided at the bottom of the flexible cable pair 21, and the counterweights are basically suspended 15-20cm above the ground. The telescopic cylinder 67 is set so that if there is wind interference in the middle section of the flexible cable, the adsorption force of the adsorption mechanism 60 adsorbing onto the wall surface W will be weakened. The telescopic cylinder 67 can be activated to extend slightly to counteract the wind interference on the trolley.

[0074] For curved glass or stepped walls, pressure sensors 68 are respectively installed at the bottom of the two suction cups 61. The pressure sensors 68 detect the positive pressure F1 and F2 applied by the suction cups to the wall. When F1-F2≥th threshold F, the telescopic cylinder 65 corresponding to the smaller positive pressure extends down until F1-F2<th threshold F.

[0075] It also includes a dirt detection system, located at the front foot pair 20, used to detect whether there is bird droppings or stains on the glass wall to be cleaned. If so, the system automatically selects the fine cleaning mode; if no bird droppings or stains are detected, the system automatically selects the normal cleaning mode. The dirt detection system includes a camera and a judgment module. The judgment module is used to automatically determine whether there are contaminants in the camera footage. When automatic operation is selected, the judgment module will automatically select the cleaning mode based on the judgment result. When manual mode is selected, the user manually observes the camera footage on the computer screen to determine whether there are bird droppings or stains. If so, the system selects the fine cleaning mode; otherwise, the system selects the normal cleaning mode.

[0076] A cleaning method for a glass curtain wall using a cable-driven peristaltic cleaning robot.

[0077] S1 moves forward while the peristaltic foot pair 50 remains stationary. The forward extending foot pair 20 moves forward while coiling around the flexible cord pair 12, so that the forward extending foot pair 20 moves to a new extended position 31 relative to the peristaltic foot pair 50.

[0078] S2 peristaltic cleaning: the peristaltic mechanism 50 performs peristaltic action while the cleaning mechanism 40 performs cleaning.

[0079] Return to S1 until the cleaning of column C is complete;

[0080] S3 moves one column horizontally, starts the drive motor 76 for fixed-distance horizontal movement 70, drives the horizontal moving crane 72 to move the column to be cleaned C by one column width; returns to S1.

[0081] The width of the column is the width of the cleaning body's cleaning coverage.

[0082] Preferably, the S2 peristaltic cleaning is a fine cleaning mode, which includes the following steps:

[0083] S21 First contraction and peristalsis, the forward extended feet remain stationary, the peristaltic feet 50 move forward from their original position along the flexible rope 12, driving the cleaning body 10 to peristalse forward to the arched position; at the same time, the cleaning mechanism 40 performs the spray coarse roller washing process: the coarse roller scrubbing 42 extends downward and presses against the wall surface W with a contact force less than the adsorption positive pressure, the coarse roller motor starts, and the spray cleaning 41 sprays out detergent; while spraying detergent, the coarse roller scrubbing 42 rotates; when it reaches the arched position, the coarse roller scrubbing 42 rises;

[0084] S22 stretches and undulates, with the forward extended foot remaining stationary. The undulating foot 50 drives the cleaning body 10 to undulate backward from the arched position back to its original position. At the same time, the cleaning mechanism 40 performs the spraying and fine roller washing process: the fine roller scrubbing 43 extends downward and presses against the wall surface W with a resistance force less than the adsorption positive pressure. The fine roller motor starts, and the spraying cleaning 41 sprays out detergent while rotating the fine roller scrubbing 43. When it reaches the original position, the fine roller scrubbing 43 rises.

[0085] S23 Second contraction and peristalsis, the forward extended foot is stationary, the peristaltic foot 50 drives the cleaning body 10 to peristalse forward again to the arched position; at the same time, the cleaning mechanism 40 performs the bright wiping process: the bright wiping 44 extends downward and presses against the wall surface W with a contact force less than the adsorption positive pressure, sprays out brightener while the wiping plate continues to contact the wall surface; when it reaches the arched position, the bright wiping 44 rises.

[0086] More preferably, the S2 peristaltic cleaning is a general washing mode, which includes the following steps:

[0087] S21 contracts and peristalses, with the forward-extending feet remaining stationary. The peristaltic feet 50 move forward along the flexible rope 12, driving the cleaning body 10 to peristalse forward to the arched position. Simultaneously, the cleaning mechanism 40 performs the spraying and wiping process: the coarse roller wiping 42 and the bright wiping 44 extend downwards simultaneously, pressing against the wall surface W with a contact force less than the adsorption positive pressure. The coarse roller motor starts, and the spraying wiping 41 sprays out detergent. While spraying detergent, the coarse roller wiping 42 rotates. At the same time, the bright wiping 44 sprays out brightener while the wiping plate continues to contact the wall surface. When reaching the arched position, the coarse roller wiping 42 and the bright wiping 44 rise simultaneously.

[0088] Fine mode is suitable for glass surfaces with bird droppings, raindrops, or water marks, while normal mode is suitable for surfaces with only dust. Fine and normal modes can be switched remotely at any time.

[0089] A flexible cable-driven peristaltic cleaning robot for glass curtain walls solves the technical problem of "strong obstacle crossing ability and the ability to simultaneously adhere to and move along a vertical wall surface" through the following technical means.

[0090] (1) Bionic crawling: forward movement is responsible for movement, and crawling movement is responsible for cleaning. The two work together.

[0091] For a column C to be cleaned, the forward leg pair 20 is responsible for moving forward and opening up a new area to be cleaned; while the peristaltic leg pair 50 is responsible for reciprocating peristalsis relative to the forward leg pair 20 to clean the area to be cleaned.

[0092] There are two crawling methods. Crawling method I involves crawling downwards from the rooftop to the ground. In this method, the forward-extending flexible rope roll 21 is positioned below the cleaning body 10, and the peristaltic flexible rope roll 53 with its extension rope pair 21 is positioned above the forward-extending flexible rope roll 21. The cleaning body 10 is connected to the peristaltic flexible rope roll 53. Crawling method II involves crawling upwards from the groundtop to the rooftop. In this method, the forward-extending flexible rope roll 21 is positioned above the cleaning body 10, and the peristaltic flexible rope roll 53 is positioned below the forward-extending flexible rope roll 21. The cleaning body 10 is connected to the peristaltic flexible rope roll 53. Crawling method I, which involves crawling downwards from the rooftop to the ground, is preferred. Figure 1 As shown in the image, this way the detergent flows down the wall without contaminating the already cleaned wall surface.

[0093] It is precisely because of the division of labor and cooperation between forward movement and creeping movement that the speed of forward movement is faster than the speed of creeping movement.

[0094] this

[0095] (2) Peristaltic movement, combined with different cleaning processes, completes the cleaning and brightening of the wall surface.

[0096] The peristaltic cleaning system has two modes: fine cleaning and general cleaning. In fine cleaning mode, the first contraction peristaltic motion corresponds to coarse roller washing, the subsequent expansion peristaltic motion corresponds to fine roller washing, and the second contraction peristaltic motion corresponds to polishing. In general cleaning mode, the first contraction peristaltic motion corresponds to coarse roller washing, and the polishing motion is performed sequentially and simultaneously. General cleaning mode is suitable for glass areas with only dust, while fine cleaning mode is suitable for glass areas with bird droppings, stains, etc. The two modes can be switched at any time.

[0097] (3) The adsorption mechanism 60 is equipped with a telescopic oil cylinder to balance the positive pressure on the left and right sides, which is suitable for non-planar walls.

[0098] The adsorption mechanism 60 is symmetrically arranged on both sides of the cleaning body 10 with two suction cups 61. For curved glass or stepped wall surfaces, pressure sensors are respectively installed at the bottom of the two suction cups 61. The pressure sensors detect the positive pressure F1 and F2 applied by the suction cups to the wall surface. When F1-F2≥th threshold F, the telescopic cylinder 65 corresponding to the smaller positive pressure extends down until F1-F2<th threshold F.

[0099] Compared to existing technologies, the described flexible cable-driven peristaltic cleaning robot and method for glass curtain walls features vertical up-and-down movement, allowing it to traverse obstacles such as glass frames and is suitable for curved or stepped glass surfaces. The peristaltic cleaning process combines fine cleaning and general cleaning modes simultaneously, catering to different cleaning requirements and ensuring a sparkling clean finish. The peristaltic mechanism 40 also drives the cleaning body 10 forward via flexible cables, ensuring that the positive pressure of the adsorption mechanism 60 does not affect its peristaltic forward movement, effectively resolving the conflict between adsorption and forward movement.

Claims

1. A cable-driven peristaltic cleaning robot for glass curtain walls, comprising: A cleaning body (10) is coupled to a flexible cable pair (11), which is vertically suspended on the side of the glass curtain wall. The forward-extending foot pair (20) is connected to the flexible cable pair (11) respectively. The forward-extending foot pair (20) is used to drive the cleaning body (10) to move upward or downward along the flexible cable pair (11); The peristaltic cleaning (30) includes a cleaning mechanism (40) and a pair of peristaltic feet (50). The pair of peristaltic feet (50) is connected to the flexible cable pair (11) and is also coupled to the forward extension pair (20) and the cleaning body (10). The cleaning body (10) is driven to reciprocate between the extended position (31) and the arched position (32) along the flexible cable pair (11). At the same time, the cleaning mechanism (40) performs different cleaning processes on the glass curtain wall in the vertical direction. In the extended position (31), the peristaltic feet are stationary and the forward extension pair (20) moves forward to the position of the maximum distance Lmax from the peristaltic feet pair (50). In the arched position (32), the forward extension pair (20) is stationary and the peristaltic feet pair (50) moves forward to the position of the minimum distance Lmin from the forward extension pair (20). An adsorption mechanism (60) is used to provide positive pressure to the cleaning mechanism (40) relative to the glass curtain wall surface during the peristaltic cleaning (30) process.

2. The glass curtain wall robot with flexible cable-driven peristaltic cleaning as described in claim 1, characterized in that, The forward foot pair (20) is connected to the flexible rope pair (11) via a forward flexible rope roll (21). The forward flexible rope roll (21) is a flexible rope drive (80). The flexible rope drive (80) includes a drive frame (81), a forward roll (82), and a driven roller shaft (83). The forward roll (82) and the driven roller shaft (83) are symmetrically mounted on the drive frame (81) about the central axis. The forward motor (84) is fixed on the side of the drive frame (81) along the central axis and is connected to the forward roll (82) via a drive. Specifically, each flexible rope of the flexible rope pair (11) is spirally wound between the forward roll (82) and the driven roller shaft (83). The flexible rope pair (11) is spirally wound with at least 3 complete spirals.

3. The glass curtain wall robot with flexible cable-driven peristaltic cleaning as described in claim 2, characterized in that, The peristaltic leg pair (50) includes an upper peristaltic leg pair (51) and a lower peristaltic leg pair (52) pivotally connected end to end. The other end of the upper peristaltic leg pair (51) is pivotally connected to the driven roller shaft (83) of the forward flexible rope roll (21). The other end of the lower peristaltic leg pair (52) is connected to the flexible rope pair (11) via the peristaltic flexible rope roll (53). The peristaltic flexible rope roll (53) is pivotally connected to the left and right sides of the cleaning body (10), and the peristaltic flexible rope roll (53) is the flexible rope drive (80).

4. The glass curtain wall robot with flexible cable-driven peristaltic cleaning as described in claim 3, characterized in that, The forward motors (84) of the forward flexible rope roll (21) and the peristaltic flexible rope roll (53) are connected to the forward roll roller (82) via a reducer (85). The speed ratio of the forward roll roller (82) of the peristaltic flexible rope roll (53) to the forward roll roller (82) of the forward flexible rope roll (21) is 1:10-1:

4. The reducer (85) has a self-locking function when stopped.

5. The glass curtain wall robot with flexible cable-driven peristaltic cleaning as described in claim 1, characterized in that, The cleaning mechanism (40) includes spray cleaning (41), coarse roller washing (42), fine roller washing (43) and bright wiping (44) arranged sequentially on the cleaning body (10) in the forward direction. Spray cleaning (41) consists of multiple spray heads arranged at intervals on the spray pipe. The spray pipe is connected to a water storage tank arranged on the cleaning body through a water pump.

6. The cable-driven peristaltic cleaning robot for glass curtain walls as described in claim 5, characterized in that, The coarse roller washing (42) and fine roller washing (43) are respectively water-absorbing wiping roller structures (100). The water-absorbing wiping roller structure (100) includes a wiping roller (101) that is rolled on the roller frame and rolls against each other and a suction hard roller (102). The surface of the suction hard roller (102) is provided with a Z-shaped water groove (103). The parallel branches of the water groove (103) are connected to the inner hole of the rotating shaft (105) through multiple water suction holes (104). The end of the rotating shaft is connected to the main suction pipe (106) through an adapter. The main suction pipe (106) is connected to the axial flow fan (107) provided on the cleaning body (10). The axial flow fan (107) blows the air-water mixture outward perpendicular to the cleaning body (10). The brightening scrubber (44) includes a scrubbing plate and a brightening agent nozzle. Multiple brightening agent nozzles are spaced apart on the brightening agent pipe, which is connected to a brightening agent pump located in the brightening agent storage tank of the main cleaning body.

7. The glass curtain wall robot with flexible cable-driven peristaltic cleaning as described in claim 1, characterized in that, It also includes a fixed-distance transverse movement (70), which includes a slide rail (71), a transverse crane (72), and a suspension roller shaft (73). The slide rail (71) is located on the top of the glass curtain wall building. The slide rail is equipped with a drive rack (74). The drive motor (76) is installed on the transverse crane (72). The drive gear (75) is located on the output shaft of the drive motor (76). The drive gear (75) meshes with the drive rack (74). The beginning of the flexible cable pair (11) is fixedly connected to the transverse crane (72) and the end is fixedly connected to a counterweight. The fixed-distance transverse movement (70) is used to drive the flexible cable pair (11) to move laterally by a fixed distance along the slide rail (71) to clean the next row of surfaces to be cleaned.

8. A cleaning method for a glass curtain wall robot using a flexible cable-driven peristaltic cleaning system as described in any one of claims 2-7, characterized in that, S1 moves forward. For a column C to be cleaned, the peristaltic foot pair (50) remains stationary, while the forward foot pair (20) moves forward along the flexible cord pair (11) so that the forward foot pair (20) moves to a new extended position (31) relative to the peristaltic foot pair (50). S2 Peristaltic Cleaning: The forward leg pair (20) remains stationary, while the peristaltic leg pair (50) moves peristally relative to the forward leg pair (20) and the cleaning mechanism (40) performs cleaning. Return to S1 until the cleaning of column C is complete, then proceed to step S3; S3 moves one column horizontally, causing the flexible rope pair (11) to move horizontally by a certain width to reach the new column C to be cleaned; Return to S1 and continue until all columns C to be cleaned have been cleaned, then exit.

9. The cleaning method as described in claim 8, characterized in that, The S2 peristaltic cleaning is a fine mode, which includes the following steps: S21 First contraction and peristalsis, the forward extended foot pair remains stationary, the peristaltic foot pair (50) moves forward along the flexible rope pair (11) from its original position, driving the cleaning body (10) to peristalse forward to the arched position; at the same time, the cleaning mechanism (40) performs the spray coarse roller washing process: the coarse roller washing (42) extends downward and presses against the wall surface W with a contact force less than the adsorption positive pressure, the coarse roller motor starts, and the spray washing (41) sprays out detergent; while spraying detergent, the coarse roller washing (42) rotates; when it reaches the arched position, the coarse roller washing (42) rises; S22 stretches and undulates, the forward extended foot pair remains stationary, the undulating foot pair (50) drives the cleaning body (10) to undulate backward from the arched position to the original position; at the same time, the cleaning mechanism (40) performs the spraying fine roller washing process: the fine roller washing (43) extends downward and presses against the wall surface W with a contact force less than the adsorption positive pressure, the fine roller motor starts, the spraying cleaning (41) sprays out detergent, and the fine roller washing (43) rotates while spraying detergent; when it reaches the original position, the fine roller washing (43) rises; S23 Second contraction and peristalsis, the forward extended foot pair remains stationary, the peristaltic foot pair (50) drives the cleaning body (10) to peristalse forward again to the arched position; at the same time, the cleaning mechanism (40) performs the bright wiping process: the bright wiping (44) extends downward and presses against the wall surface W with a contact force less than the adsorption positive pressure, spraying out brightener while the wiping plate continues to contact the wall surface; when it reaches the arched position, the bright wiping (44) rises.

10. The cleaning method as described in claim 8, characterized in that, The S2 peristaltic cleaning is a general washing mode, which includes the following steps: S21 contracts and peristalses, the forward extended feet remain stationary, the peristaltic feet (50) move forward along the flexible rope (11) and drive the cleaning body (10) to peristalse forward to the arched position; At the same time, the cleaning mechanism (40) performs the spraying and wiping process: the coarse roller washing (42) and the bright wiping (44) extend downwards at the same time and press against the wall surface W with a contact force less than the adsorption positive pressure. The coarse roller motor starts and the spray washing (41) sprays out detergent. While spraying detergent, the coarse roller washing (42) rotates. At the same time, the bright wiping (44) sprays out brightener and the wiping plate continues to press against the wall surface. When it reaches the arched position, the coarse roller washing (42) and the bright wiping (44) rise at the same time.

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