A glass curtain wall cleaning robot platform lifting mechanism

Abstract

The application provides a glass curtain wall cleaning robot platform lifting mechanism, comprising: a lifting platform base provided with a rotary leveling assembly mounting portion and a circular arc leveling groove; a rotary leveling assembly, the upper end of which is connected to the rotary leveling assembly mounting portion and the lower end of which is clamped to a main beam support through the leveling groove; and two hook supports connecting the lifting platform base and two side ropes. Through scheme optimization of the lifting platform, self-adjustment of the position of the main beam support is realized under the synergistic effect of the rotary leveling assembly and the two hook support assemblies, so that the robot on the mounting support is not affected by the shaking and left-right swinging caused by the speed difference of the two side ropes, the robot operation efficiency is improved, and the operation safety and stability are improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more specifically, to a lifting mechanism for a glass curtain wall cleaning robot platform. Background Technology

[0002] Currently, the vertical movement of glass curtain wall cleaning robots is generally achieved using ropes for lifting and lowering. Based on the number of ropes used, there are two main types: one using a single rope for lifting and lowering, and the other using multiple ropes. However, when using a single rope, the cleaning robot is prone to lateral deviation or swaying. Using multiple ropes requires a high degree of uniformity in rope speed; even slight speed deviations can cause the machine to tilt and sway, resulting in poor stability and reduced work efficiency.

[0003] Therefore, how to design a stable and anti-sway glass curtain wall cleaning robot platform lifting mechanism is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] This application provides a lifting mechanism for a glass curtain wall cleaning robot platform, which solves the technical problem of body tilting and swaying and poor stability caused by the speed difference between the ropes on both sides during the robot cleaning process.

[0005] This application provides a lifting mechanism for a glass curtain wall cleaning robot platform, including:

[0006] The lifting platform base is provided with a rotary leveling component mounting part for fixing and connecting the rotary leveling component. The lower part of the rotary leveling component mounting part is provided with an arc-shaped leveling groove centered on the axis of the rotary leveling component.

[0007] The upper end of the rotary leveling component is fixed to the mounting part of the rotary leveling component and passes through the lifting platform seat and is clamped to the main beam support, while the lower end passes through the leveling groove and is clamped to the main beam support.

[0008] Two hook brackets, each with one end fixedly connected to the lifting platform base and the other end fitted with a rope from the side, are symmetrically distributed relative to the mounting portion of the rotary leveling assembly; and are configured as follows:

[0009] The lifting platform base is subjected to gravity and, under the rotational leveling action of the rotational leveling component, automatically adjusts its position along the leveling groove with the axis as the rotation center, so that the main beam support always remains vertical.

[0010] In some embodiments, the rotary leveling assembly includes: a bearing housing, a bearing housing fixing shaft, an upper nut and an upper clamp, a wheel axle, a lower nut and a lower clamp, the bearing housing fixing shaft passing through the bearing housing of the connecting plate, the two ends of the bearing housing being locked by the upper nut and the upper clamp respectively, and the upper clamp clamping the main beam support; the wheel axle passing through the lower end of the connecting plate and inserted into the leveling groove, and the two ends being locked by the lower nut and the lower clamp respectively, and the lower clamp clamping the lifting platform seat of the main beam support.

[0011] In some embodiments, two climbing devices are integrated and mounted on the lifting platform base.

[0012] In some embodiments, the rotary leveling assembly is disposed in the middle of the lifting platform base.

[0013] In some embodiments, the hook bracket is disposed on the outside of the elastic member that elastically connects the lifting platform base and the wrench.

[0014] In some embodiments, a gyroscope disposed on the lifting platform for detecting the levelness of the lifting platform is also included. The gyroscope is electrically connected to a controller, and the controller is electrically connected to two of the climbing devices.

[0015] The glass curtain wall cleaning robot platform lifting mechanism provided in this application allows the robot to move up and down along its ropes during cleaning operations. When the rope speeds on the left and right sides are inconsistent during this movement, the lifting platform base, under the influence of gravity and the rotational leveling component, automatically adjusts its position along an arc-shaped leveling groove around its axis to maintain a vertical state. Since both ends of the rotational leveling component are fixedly connected to the main beam support, the main beam support remains vertical, achieving self-adjustment during the glass curtain wall cleaning process. This ensures that the robot on the main beam support remains stable regardless of the rope speed. This application features a simple structure, easy installation, significantly improved cleaning efficiency, and reduced operating costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 A three-dimensional structural diagram of the lifting mechanism of the glass curtain wall cleaning robot platform provided in this application when it is in the installation state;

[0018] Figure 2 and Figure 3 for Figure 1 Enlarged view of the central lifting platform;

[0019] Figure 4 This is a schematic diagram of the structure of the rotary leveling assembly provided in this application;

[0020] Figure 5 for Figure 4 A schematic diagram of the rotating leveling assembly with the connecting plate removed;

[0021] Figure 6 A cross-sectional view of the rotary leveling assembly provided in this application;

[0022] Among them, 1-lifting platform base, 2-rotation leveling component, 3-rope, 4-hook bracket, 5-main beam bracket, 6-climbing device, 7-elastic component, 8-lifting platform;

[0023] 11-Leveling groove, 21-Bearing seat, 22-Bearing seat fixing shaft, 23-Upper nut, 24-Upper clamp, 25-Wheel axle, 26-Lower nut, 27-Lower clamp, 28-Reinforced mounting plate, 29-Connecting plate. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] refer to Figures 1 to 3 as well as Figure 5 This application provides a lifting mechanism for a glass curtain wall cleaning robot platform, which mainly includes: a lifting platform base 1, a rotary leveling assembly 2, and two hook brackets 4.

[0026] The lifting platform base 1 is vertically arranged and has a rotary leveling component mounting part and an arc-shaped leveling groove 11 on it. The rotary leveling component mounting part is fixedly connected to the rotary leveling component 2 by a locking member, and the lower part has an arc-shaped leveling groove 11. The arc-shaped leveling groove 11 is an arc-shaped groove located directly below the rotary leveling component mounting part and centered on the axis of the rotary leveling component mounting part.

[0027] The upper end of the rotary leveling component 2 is locked and fixed to the rotary leveling component mounting part, and passes through the lifting platform base 1 and is clamped to the main beam support 5. The lower end of the rotary leveling component 2 passes through the leveling groove 11 and is clamped to the main beam support 5. The bottom of the main beam support 5 is connected to the robot work platform, which is generally horizontal.

[0028] Both hook brackets 4 are fixedly connected to the lifting platform base 1 at one end and hung on the rope 3 on the left and the rope 3 on the right at the other end. The two hook brackets 4 are symmetrically distributed with respect to the rotating leveling component mounting part, thereby forming a stable mounting structure.

[0029] It is configured such that: the lifting platform seat 1 is subjected to gravity and the rotational leveling component 2, and its position is automatically adjusted along the leveling groove 11 with the axis of the rotational leveling component 2 as the rotation center, so that the main beam support 5 always remains vertical.

[0030] During the operation of the glass curtain wall cleaning robot, when the robot body tilts or swings due to inconsistent speeds of the left and right ropes 3, the rotating leveling component 2 automatically adjusts itself along the leveling groove 11 with the axis of rotation between the mounting part of the rotating leveling component and the connection point of the rotating leveling component 2 as the center, thanks to the mounting brackets 4 on both sides. This ensures that the lifting platform base 1 remains horizontal at all times, while the main beam support 5 remains vertical. This design prevents the lifting platform base 1 from tilting even when the speeds of the left and right ropes 3 are inconsistent, thus maintaining relative stability of the cleaning robot.

[0031] The glass curtain wall cleaning robot platform lifting mechanism provided by the present invention can automatically adjust the degree of freedom of the lifting platform seat 1 when the robot is driven by the climbing devices 6 on both sides and its position changes, resulting in tilting and swaying of the machine body and poor stability. This overcomes the left and right swaying and swinging of the machine. Even if there is a speed deviation, it will not affect the balance performance of the machine itself, effectively improving the stability of the machine.

[0032] refer to Figure 4 , Figure 5 and Figure 6In one specific embodiment, the rotary leveling assembly 2 includes: a bearing seat 21, a bearing seat fixing shaft 22, an upper nut 23 and an upper clamp 24, a wheel axle 25, a lower nut 26 and a lower clamp 27. The bearing seat fixing shaft 22 passes through the upper end of the connecting plate 29 and the bearing seat 21. Its front end is locked to the connecting plate 29 and the bearing seat 21 by the upper nut 23. The rear end of the bearing seat fixing shaft 22 is clamped to the main beam support 5 by the upper clamp 24 and locked. The wheel axle 25 passes through the lower end of the connecting plate 29, is inserted into the leveling groove 11, and is locked at both ends by the lower nut 26 and the lower clamp 27, respectively. The lower clamp 27 is clamped to the lifting platform seat 1 of the main beam support 5. The lifting platform seat 1 automatically rotates and levels itself along the leveling groove 11 with the axis of the bearing seat fixing shaft 22 as the rotation center.

[0033] To increase the connection strength of the rotary leveling assembly, the rotary leveling assembly 2 also includes a reinforcing mounting plate 28, which is a rectangular short plate and is disposed between the bearing housing 21 and the lifting platform base 1. The bearing housing 21 is mounted on the lifting platform base 1 by means of the reinforcing mounting plate 28 to increase the installation strength.

[0034] The climbing devices 6 on both sides include rotary motors. After the two rotary motors rotate, they move up and down by winding ropes around the motor shafts. In a preferred embodiment, the two climbing devices 6 are integrated and installed on the lifting platform base 1, and are symmetrically distributed relative to the rotary leveling assembly 2. The layout is more compact, the lifting is more stable, the number of parts is reduced, and the cost is saved.

[0035] The rotary leveling assembly 2 is preferably, but not limited to, located in the center of the lifting platform base 1 and installed vertically. An elastic element 7 is respectively connected between the lifting platform base 1 and the left wrench, and between the lifting platform base 1 and the right wrench, allowing the tension of the rope 3 to be adjusted using the wrench and the elastic element 7. The two elastic elements 7 are symmetrically distributed relative to the mounting portion of the rotary leveling assembly to form a stable elastic connection structure. Specifically, the elastic element 7 can be a tension spring.

[0036] The hook bracket 4 is located on the outside of the elastic member 7, and the elastic members 7 and hook bracket 4 on both sides are symmetrically arranged relative to the central rotation leveling component 2.

[0037] Since the mechanical platform leveling mechanism has a certain balance error, in order to improve the adjustment accuracy of the lifting platform 8 and reduce the accuracy error of the mechanical leveling, this application adopts an automatic balance detection and leveling scheme to achieve automated and precise leveling.

[0038] Specifically, a gyroscope is installed on the lifting platform 8, the gyroscope is electrically connected to the controller, and the controller is electrically connected to two climbing devices 6.

[0039] If errors still exist after the rotary leveling component 2 is leveled, this application installs a gyroscope on or inside the platform. When the gyroscope detects that the platform is in an unbalanced state, it transmits the data information to the controller based on the difference in balance between the two sides. The controller then controls the climbing devices 6 at both ends, and the overall balance of the machine is achieved by adjusting the speed of the climbing devices 6 on both sides.

[0040] Therefore, based on the mechanical leveling scheme of the rotary leveling component 2, when there is a speed deviation of the climbing devices 6 on both sides or slight slippage of the ropes 3 on both sides (i.e., the speed is not uniform), the balance state of the lifting platform 8 is automatically detected and automatically adjusted by the coordinated action of the gyroscope, controller and climbing devices 6 on both sides, so that the lifting platform 8 maintains a horizontal state, thereby keeping the machine as a whole stable and not shaking.

[0041] This invention provides a novel lifting mechanism for a glass curtain wall cleaning robot platform. By employing a platform with multiple degrees of freedom, it overcomes the problem of lateral swaying and improves the machine's stability. Specifically, it achieves this by using a slotted hole and a limiting bolt structure.

[0042] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0043] The lifting mechanism of the glass curtain wall cleaning robot platform provided in this application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A lifting mechanism for a glass curtain wall cleaning robot platform, characterized in that, include: The lifting platform base (1) is provided with a rotary leveling component mounting part for fixing and connecting the rotary leveling component (2). The lower part of the rotary leveling component mounting part is provided with an arc-shaped leveling groove (11) centered on the axis of the rotary leveling component (2). The upper end of the rotary leveling component (2) is fixed to the rotary leveling component mounting part and passes through the lifting platform seat (1) and is clamped to the main beam support (5), and the lower end passes through the leveling groove (11) and is clamped to the main beam support (5). Two hook brackets (4) are each fixedly connected at one end to the lifting platform base (1) and the other end is fitted with a rope (3) on the side, and are symmetrically distributed relative to the mounting part of the rotating leveling assembly; and are configured as follows: The lifting platform base (1) is subjected to gravity and, under the rotational leveling action of the rotational leveling component (2), automatically adjusts its position along the leveling groove (11) with the axis as the rotation center, so that the main beam support (5) always remains vertical.

2. The lifting mechanism of the glass curtain wall cleaning robot platform according to claim 1, characterized in that, The rotary leveling assembly (2) includes: a bearing seat (21), a bearing seat fixing shaft (22), an upper nut (23) and an upper clamp (24), a wheel axle (25), a lower nut (26), a lower clamp (27), and a connecting plate (29). The bearing seat fixing shaft (22) passes through the bearing seat (21) and is locked at both ends by the upper nut (23) and the upper clamp (24), respectively. The upper clamp (24) is clamped to the main beam support (5). The wheel axle (25) passes through the lower end of the connecting plate (29) and is inserted into the leveling groove (11). The two ends of the bearing seat are locked by the lower nut (26) and the lower clamp (27), respectively. The lower clamp (27) is clamped to the lifting platform seat (1) of the main beam support (5).

3. The lifting mechanism of the glass curtain wall cleaning robot platform according to claim 2, characterized in that, The rotary leveling assembly (2) also includes a reinforcing mounting plate (28) disposed between the bearing seat (21) and the lifting platform seat (1).

4. The lifting mechanism of the glass curtain wall cleaning robot platform according to claim 1, characterized in that, Two climbing devices (6) are integrated and installed on the lifting platform base (1).

5. The lifting mechanism of the glass curtain wall cleaning robot platform according to any one of claims 1 to 4, characterized in that, The rotary leveling component (2) is located in the middle of the lifting platform base (1).

6. The lifting mechanism of the glass curtain wall cleaning robot platform according to claim 1, characterized in that, The hook bracket (4) is located on the outside of the elastic member (7) that elastically connects the lifting platform base (1) and the wrench.

7. The lifting mechanism of the glass curtain wall cleaning robot platform according to claim 4, characterized in that, It also includes a gyroscope installed on the lifting platform (8) for detecting the levelness of the lifting platform (8), the gyroscope being electrically connected to a controller, and the controller being electrically connected to two of the climbing devices (6).

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