A window cleaning equipment mounting device and multi-dimensional adjustment method

Abstract

The present invention discloses a mounting device for window cleaning equipment, comprising a track frame and a chassis running mechanism. The track frame is arranged on a curved roof, and a chassis running mechanism is movably arranged on the track frame. The track frame comprises a support frame and two circular tube tracks. The support frame is adapted to the curved roof, and the two circular tube tracks are installed on both sides of the top of the support frame. A rack is arranged between the two circular tube tracks and on the top of the support frame. The chassis running mechanism comprises a chassis base, fixed legs, floating legs, swing legs, a running wheel assembly, and a drive mechanism. A multi-dimensional adjustment method includes rotational adjustment of the chassis running mechanism in the x-y plane, rotational adjustment of the chassis running mechanism in the x-z plane, and rotational adjustment of the chassis running mechanism in the y-z plane. The mounting device is arranged to fully cover the complex roof and operate flexibly. The multi-dimensional adjustment method can adapt to complex roofs with multiple curvature changes.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a window cleaning equipment mounting device and a multi-dimensional adjustment method. Background Art

[0002] With the development of urban modernization, the shapes of super high-rise buildings are becoming more and more novel and unique, and the roof structures are becoming more and more complex. This also brings new difficulties to the layout and full coverage operation of window cleaning machines, especially for buildings with large buildings and sloping roof structures. It is impossible to arrange flat tracks on the roof. If a window cleaning machine with a fixed chassis that does not move is used, it may not be possible to achieve full coverage operation. Therefore, it is only possible to arrange inclined climbing tracks on the sloping structure of the roof and use an inclined climbing window cleaning machine for operation.

[0003] Traditional inclined window cleaning machines typically climb straight at a fixed angle or in a spiral at a fixed slope. Their columns are fixed, and there's no need to adjust them perpendicular to the horizontal plane as the angle changes. Some inclined window cleaning machines with slightly variable angles only adjust in a single direction, with the columns adjusted in one direction. However, if the roof structure is shaped like a tilted petal, the inclined track must follow the edge of the petals, resulting in a multi-dimensional, multi-angle track configuration, such as climbing uphill, turning flat, then turning flat, and finally turning downhill. Existing inclined window cleaning machines cannot accommodate this type of track configuration, and are even less capable of multi-dimensional turning and adaptive angle travel. Summary of the Invention

[0004] The purpose of the present invention is to provide a window cleaning equipment mounting device and a multi-dimensional adjustment method, which solves the problem of full coverage arrangement and flexible operation of the window cleaning equipment mounting device on the roof of a complex building.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A window cleaning equipment mounting device includes a track frame and a chassis traveling mechanism. The track frame is arranged on a curved roof in a contoured manner, and the chassis traveling mechanism is movably arranged on the track frame.

[0007] The track frame includes a support frame and two circular tube tracks. The support frame is adapted to the curved roof. The two circular tube tracks are installed on both sides of the top of the support frame. A rack is provided between the two circular tube tracks and on the top of the support frame.

[0008] The chassis walking mechanism includes a chassis base, a fixed leg, a floating leg, a swing leg, a walking wheel assembly and a driving mechanism. The main structure of the chassis base is in the shape of a U.S. character. A fixed leg is installed on one side of the chassis base, and the other side is rotatably connected to two floating legs through a floating pin shaft. The fixed leg is located above one of the circular tube tracks, and the two floating legs are located above the other circular tube track; a swing leg is connected to one end of the floating leg through a swing vertical shaft, and a walking wheel assembly is connected to both ends of the fixed leg and one end of the swing leg through a slewing pair, and the walking wheel assembly is anti-detachment installed on the circular tube track; a connecting frame is connected to the front and rear sides of the chassis base through a rotating vertical shaft, and a driving mechanism is connected to the bottom of the connecting frame through a rotating horizontal shaft.

[0009] Preferably, the driving mechanism includes a reduction motor, a gear and a backup brake. The reduction motor is mounted on a motor bracket, and the motor bracket is connected to the bottom of the connecting frame through the rotating horizontal axis. A gear is installed at the output end of the reduction motor, and the gear is engaged with the rack. The backup brake is electrically connected to the reduction motor.

[0010] Preferably, the traveling wheel assembly includes a rotating frame, an anti-slip frame, a traveling wheel and a guide wheel. The rotating frame is suspended at one end of the swing leg through the slewing pair. The anti-slip frame is hinged to the bottom of the rotating frame through a traveling wheel shaft. The anti-slip frame is wrapped around the outside of the circular tube track. Travel wheels are rotatably installed on both sides of the bottom of the anti-slip frame. Guide wheels are provided on the side of the anti-slip frame and on both sides of the entry and exit points of the circular tube track.

[0011] Preferably, the guide wheel is rotatably mounted on a guide wheel bracket, one end of the guide wheel bracket is hinged to the anti-slip frame, and the other end is elastically hinged to the anti-slip frame.

[0012] Preferably, a main rotating mechanism is rotatably provided on the chassis base, and a window wiping part is movably connected to the main rotating mechanism.

[0013] Preferably, an electric control box is also installed on the column, and the reduction motor, the backup brake and the drive motor are all electrically connected to the electric control box.

[0014] A multi-dimensional adjustment method for a window cleaning device mounting device, comprising rotational adjustment of a chassis traveling mechanism in an xy plane, rotational adjustment of a chassis traveling mechanism in an xz plane, and rotational adjustment of a chassis traveling mechanism in a yz plane;

[0015] The chassis walking mechanism is rotatably adjusted in the xy plane by the coordinated adjustment of the walking wheel assembly rotating around the slewing pair, the connecting frame rotating around the rotating vertical axis, and the swing leg rotating around the swing vertical axis.

[0016] The chassis running mechanism is rotatably adjusted in the xz plane by the coordinated adjustment of the floating legs rotating around the floating pins, the driving mechanism rotating around the horizontal axis of rotation, and the anti-slip frame rotating around the running wheel axis.

[0017] The chassis walking mechanism is rotatably adjusted in the yz plane by the floating legs rotating around the floating pin.

[0018] In the present invention, the track frame is contoured and installed on the curved roof to achieve full coverage of the window cleaning machine. The walking part moves on the track frame and can be adjusted in multiple dimensions to adapt to the multiple curvature changes of the track frame, which makes the operation flexible.

[0019] The multi-dimensional angular adjustment of the chassis running mechanism includes rotational adjustment of the chassis running mechanism within the xy plane, the xz plane, and the yz plane. Rotational adjustment of the chassis running mechanism within the xy plane involves the coordinated adjustment of the running wheel assembly around the slewing pair, the connecting frame around the vertical rotation axis, and the swing leg around the vertical swing axis. Rotational adjustment of the chassis running mechanism within the xz plane involves the coordinated adjustment of the floating leg around the floating pin, the drive mechanism around the horizontal rotation axis, and the anti-slip frame around the running wheel axis. Rotational adjustment of the chassis running mechanism within the yz plane involves the coordinated adjustment of the floating leg around the floating pin. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 A top view of the overall structure of the present invention

[0022] Figure 3 It is a partial structural diagram of the present invention;

[0023] Figure 4 For the present invention Figure 3 Main view;

[0024] Figure 5 This is a schematic diagram of the structure of the window cleaning unit of the present invention;

[0025] Figure 6 For the present invention Figure 5 Schematic diagram of some structures;

[0026] In the figure: 1. Traveling unit; 2. Main slewing mechanism; 3. Window cleaning unit; 10. Track frame; 11. Chassis traveling mechanism; 20. Rotating column; 21. Main slewing assembly; 22. Rotating shaft; 23. Column fixed shaft; 24. Trigger limit switch; 25. Adjusting cylinder; 30. Column; 31. Main boom; 32. Pitching cylinder; 33. Small boom; 34. Counterweight arm; 35. Pull rod; 36. Boom head; 37. Main hoist; 38. Material hoist; 39. Hanging basket; 40. Glass hook; 41. Electric control box; 100. Support frame; 101. Circular track; 102. Rack; 110. Chassis base; 111. Fixed leg ;112. Floating leg;113. Swinging leg;114. Travel wheel assembly;115. Driving mechanism;116. Floating pin;117. Swinging vertical shaft;118. Rotating pair;119. Rotating vertical shaft;120. Connecting frame;121. Rotating horizontal shaft;210. Driving motor;211. Small gear;212. Large gear ring;330. Tilting arm;331. Horizontal arm;1140. Rotating frame;1141. Anti-slip frame;1142. Travel wheel;1143. Guide wheel;1144. Guide wheel bracket;1145. Travel wheel axle;1150. Reducer motor;1151. Gear;1152. Backup brake. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings:

[0028] like Figures 1 to 6 The window cleaning equipment mounting device shown includes a track frame 10 and a chassis traveling mechanism 11 . The track frame 10 is arranged on a curved roof in a contoured manner, and the chassis traveling mechanism 11 is movably arranged on the track frame 10 .

[0029] The track frame 10 includes a support frame 100 and two circular tube tracks 101. The support frame 100 is adapted to the curved roof. The two circular tube tracks 101 are installed on both sides of the top of the support frame 100. A rack 102 is provided between the two circular tube tracks 101 and on the top of the support frame 100.

[0030] The chassis running mechanism 11 includes a chassis base 110, a fixed leg 111, a floating leg 112, a swing leg 113, a running wheel assembly 114, and a drive mechanism 115. The main structure of the chassis base 110 is in the shape of a square. A fixed leg 111 is bolted to one side of the chassis base 110, and two floating legs 112 are rotatably connected to the other side via a floating pin 116. The fixed leg 111 is located above one circular tube track 101, and the two floating legs 112 are located above the other circular tube track 101. The floating leg 112 can float up and down around the floating pin 116. A swing leg 113 is connected to one end of the floating leg 112 via a swing vertical shaft 117. The swing leg 113 can swing horizontally around the swing vertical shaft 117.

[0031] A travel wheel assembly 114 is connected to both ends of the fixed leg 111 and one end of the swing leg 113 via a slewing pair 118. The travel wheel assembly 114 is anti-slip mounted on the circular tube track 101. A connecting frame 120 is connected to the front and rear sides of the chassis body 110 via a rotating vertical shaft 119. A driving mechanism 115 is connected below the connecting frame 120 via a rotating horizontal shaft 121. The driving mechanism 115 is hinged to the vertical and horizontal rotation of the rotating vertical shaft 119 and the rotating horizontal shaft 121 to drive the window cleaning unit 3 to move along the track frame 10.

[0032] The driving mechanism 115 includes a reduction motor 1150, a gear 1151 and a backup brake 1152. The reduction motor 1150 is installed on the motor bracket, and the motor bracket is connected to the bottom of the connecting frame 120 through the rotating horizontal axis 121. A gear 1151 is installed at the output end of the reduction motor 1150, and the gear 1151 is engaged with the rack 102. The backup brake 1152 is electrically connected to the reduction motor 1150. The backup brakes 1152 installed on the front and rear sides of the chassis body 110 are in opposite directions. When the window cleaning machine shows a downward trend during the uphill process, the front backup brake 1152 works. When the speed of the window cleaning machine is higher than the driving speed during the downhill process, the rear backup brake 1152 works.

[0033] The travel wheel assembly 114 includes a rotating frame 1140, an anti-slip frame 1141, a travel wheel 1142, and a guide wheel 1143. The rotating frame 1140 is suspended at one end of the swing leg 113 via a slewing pair 118. The rotating frame 1140 can achieve horizontal free rotation through the slewing pair 118. The anti-slip frame 1141 is hinged to the bottom of the rotating frame 1140 via a travel wheel shaft 1145. When the anti-slip frame 1141 swings around the hinge shaft, the anti-slip frame 1141 floats up and down. The anti-slip frame 1141 is wrapped around the circular tube track 101. Travel wheels 1142 are rotatably installed on both sides of the bottom of the anti-slip frame 1141. Guide wheels 1143 are provided on the side of the anti-slip frame 1141 and on both sides of the entry and exit points of the circular tube track 101. In this example, the guide wheel 1143 is rotatably mounted on a guide wheel bracket 1144. One end of the guide wheel bracket 1144 is hinged to the anti-slip frame 1141, and the other end is elastically hinged to the anti-slip frame 1141. The elastic hinge is specifically formed as follows: the guide wheel bracket 1144 is connected to the anti-slip frame 1141 via a connecting pin, and a spring is sleeved on the connecting pin.

[0034] A main rotary mechanism 2 is rotatably provided on the chassis body 110 , and a window cleaning portion 3 is movably connected to the main rotary mechanism 2 .

[0035] The main slewing mechanism 2 comprises a slewing column 20 and a main slewing assembly 21. The slewing column 20 is rotatably connected to the middle portion of the chassis travel mechanism 11 and can rotate relative to the chassis travel mechanism 11 within a vertical plane. Specifically, the slewing column 20 is hingedly connected to a U-shaped notch in the chassis base 110 via a slewing shaft 22. An angle sensor and an adjustment cylinder 25 for adjusting the angle of the slewing column 20 are connected between the slewing column 20 and the chassis base 110. The adjustment cylinder 25 is connected to a hydraulic pump station via a hydraulic pipe. The angle sensor detects the angle between the slewing column 20 and the vertical plane. When the slewing column 20 deviates from the vertical plane by ±0.5°, the adjustment cylinder 25 is triggered to operate. By raising and retracting the adjustment cylinder 25, the angle between the slewing column 20 and the chassis base 110 is adjusted, ensuring that the slewing column 20 always remains vertical. This allows the window cleaning machine to achieve adaptive angle shape on a climbing track with multiple angles, such as climbing uphill, turning flat, traveling flat, and descending flat.

[0036] A column fixing shaft 23 is detachably connected between the rotating column 20 and the chassis base 110. The column fixing shaft 23 is in contact with a trigger-type limit switch 24. When the column fixing shaft 23 passes through the rotating column 20 to fix its position, the window cleaning machine can operate normally. When the column fixing shaft 23 is pulled out, the trigger-type limit switch 24 is triggered to stop the window cleaning machine and prevent danger.

[0037] A main rotary assembly 21 is mounted on the top of the rotating column 20. The main rotary assembly 21 includes a drive motor 210, a small gear 211, and a large gear ring 212. The bottom of the column 30 is rotatably mounted on the top of the rotating column 20, where the large gear ring 212 is mounted. At least two drive motors 210 are mounted on the bottom of the column 30. A small gear 211 is mounted at the output end of each drive motor 210. The small gear 211 meshes with the large gear ring 212, thereby driving the entire window cleaning unit 3 to rotate and achieve full coverage of the exterior wall.

[0038] The window cleaning section 3 includes a column 30, a main boom 31, a pitch cylinder 32, a small boom 33, a counterweight arm 34, a pull rod 35, an arm head 36, a main winch 37, a material winch 38, a hanging basket 39 and a glass hook 40. The column 30 is vertically arranged on the main rotary assembly 21, and a counterweight arm 34 is horizontally arranged at the top of the column 30, and a counterweight is arranged at one end of the counterweight arm 34. A main boom 31 is hinged on the counterweight arm 34, and a pitch cylinder 32 is diagonally supported between the column 30 and the main boom 31. The pitch cylinder 32 is connected to the hydraulic pump station through an oil pipe. When the hydraulic pump station activates the pitch cylinder 32 to lift, the main boom 31 is tilted up to a certain angle, so that the hanging basket 39 and the glass hook 40 are raised to pass over the outer wall of the building. When the machine is shut down, the hanging basket 39 and the glass hook 40 are retracted into the wall, the pitch cylinder 32 is retracted, and the main boom 31 is horizontal. The size of the entire window cleaning machine is minimized, which is convenient for hiding when shut down.

[0039] A small boom 33 is hinged at the top of the main boom 31, and a pull rod 35 is hinged between the counterweight arm 34 and the small boom 33. In this example, the small boom 33 includes a tilting arm 330 and a horizontal arm 331. The tilting arm 330 is located at one end of the horizontal arm 331, and one end of the pull rod 35 is hinged to the tilting arm 330. An arm head 36 is provided at one end of the small boom 33. The counterweight arm 34, main boom 31, small boom 33, and pull rod 35 form a parallelogram structure. When the main boom 31 is lifted and tilted by the pitch cylinder 32, the small boom 33 always remains parallel to the counterweight arm 34, thereby ensuring that the small boom 33 and arm head 36 are always horizontal during operation.

[0040] A main hoist 37 and a material hoist 38 are installed on the column 30. The wire rope of the main hoist 37 is guided through a pulley to the front end of the boom head 36 and connected to the hanging basket 39. The main hoist 37 is operated to raise and lower the hanging basket 39. The wire rope of the material hoist 38 is guided through a pulley to the front end of the small boom 33 and connected to the glass hook 40. The material hoist 38 is operated to lift the material hung on the glass hook 40.

[0041] An electric control box 41 is also installed on the column 30 , and the trigger limit switch 24 , the main hoist 37 , the material hoist 38 , the reduction motor 1150 , the backup brake 1152 and the drive motor 210 are all electrically connected to the electric control box 41 .

[0042] A multi-dimensional adjustment method for a window cleaning device includes rotational adjustment of the chassis running mechanism 11 within the xy plane, rotational adjustment of the chassis running mechanism 11 within the xz plane, and rotational adjustment of the chassis running mechanism 11 within the yz plane. In this example, the xy plane is a plane parallel to the ground or top surface of the chassis parallel running mechanism 11, the xz plane is a plane parallel to the side surface of the chassis parallel running mechanism 11 in the same direction of travel, and the yz plane is a plane perpendicular to both the xy and xz planes.

[0043] The chassis running mechanism 11 is rotatably adjusted in the xy plane by the coordinated adjustment of the running wheel assembly 114 rotating around the slewing pair 118, the connecting frame 120 rotating around the rotating vertical axis 119, and the swing leg 113 rotating around the swing vertical axis 117.

[0044] The chassis running mechanism 11 is rotated and adjusted in the xz plane by the coordinated adjustment of the floating leg 112 rotating around the floating pin 116, the driving mechanism 115 rotating around the horizontal rotation axis 121, and the anti-slip frame 1141 rotating around the running wheel shaft 1145.

[0045] The chassis running mechanism 11 is rotated and adjusted in the yz plane so that the floating leg 112 is rotated and adjusted around the floating pin 116 .

[0046] In a specific implementation, when the running section 1 rotates from an uphill position to a flat position on the track frame 10, the running wheel assemblies 114 mounted on the fixed legs 111 and the floating legs 112 are not in the same plane. The running wheel assembly 114 mounted on the fixed legs 111 rotates horizontally via the revolving pair 118 to adapt to the angle change of the track frame 10. The running wheel assembly 114 mounted on the floating leg 112 swings horizontally through the rotation of the swing leg 113 around the swing vertical axis 117, rotates horizontally via the revolving pair 118, and rotates vertically via the running wheel shaft 1145, thereby ensuring that the running wheel assembly 114 mounted on the floating leg 112 is always in contact with the circular tube track 101.

[0047] When the walking unit 1 rotates from an uphill slope to a flat surface on the track frame 10, the front and rear drive mechanisms 115 of the chassis body 110 are no longer in the same plane. The drive mechanism 115 rotates vertically about the horizontal axis 121 to adjust the angular position of the gear 1151 so that the gear 1151 is always engaged with the rack 102. The adjustment method for rotating from a flat surface to a downhill slope is the same as above and will not be repeated here.

[0048] When the walking unit 1 turns from a flat track, the swing leg 113 swings horizontally around the swing vertical axis 117, and the walking wheel assembly 114 rotates freely horizontally via the slewing pair 118, thereby adjusting the relative position and angle of the walking wheel assembly 114 and the chassis body 110, so that the guide wheel 1143 always fits the circular tube track 101. The driving mechanism 115 rotates horizontally around the rotating vertical axis 119, adjusting the angular position of the gear 1151, so that the gear 1151 always meshes with the rack 102, achieving a horizontal turn. In this way, the walking unit 1 can smoothly turn on a multi-dimensional turning inclined track, such as climbing uphill to a flat surface, turning on a flat surface, and turning on a flat surface to a downhill surface.

[0049] The above embodiments are merely some explanations of the concept and implementation of the present invention, and are not intended to limit the same. Under the concept of the present invention, technical solutions that have not been substantially changed are still within the scope of protection.

Claims

1. A window cleaning equipment carrying device, characterized by: It includes a track frame (10) and a chassis running mechanism (11), wherein the track frame (10) is arranged on the roof of a curved building in a contoured manner, and the chassis running mechanism (11) is movably arranged on the track frame (10); The track frame (10) comprises a support frame (100) and two circular tube tracks (101), the support frame (100) is adapted to the curved roof, the two circular tube tracks (101) are mounted on both sides of the top of the support frame (100), and a rack (102) is provided between the two circular tube tracks (101) and on the top of the support frame (100); The chassis walking mechanism (11) includes a chassis base (110), a fixed leg (111), a floating leg (112), a swing leg (113), a walking wheel assembly (114) and a driving mechanism (115). The main structure of the chassis base (110) is in the shape of a square. A fixed leg (111) is installed on one side of the chassis base (110), and two floating legs (112) are rotatably connected to the other side via a floating pin (116). The fixed leg (111) is located above one of the circular tube tracks (101), and the two floating legs (112) are located on the other side of the circular tube track (101). Above; a swing leg (113) is connected to one end of the floating leg (112) via a swing vertical shaft (117); a walking wheel assembly (114) is connected to both ends of the fixed leg (111) and one end of the swing leg (113) via a slewing pair (118); the walking wheel assembly (114) is anti-detachably mounted on the circular tube track (101); a connecting frame (120) is connected to the front and rear sides of the chassis body (110) via a rotating vertical shaft (119); and a driving mechanism (115) is connected below the connecting frame (120) via a rotating horizontal shaft (121); The travel wheel assembly (114) includes a rotating frame (1140), an anti-slip frame (1141), a travel wheel (1142) and a guide wheel (1143). The rotating frame (1140) is suspended at one end of the swing leg (113) via the slewing pair (118). The anti-slip frame (1141) is hingedly connected to the bottom of the rotating frame (1140) via a travel wheel shaft (1145). The anti-slip frame (1141) is wrapped around the outside of the circular tube track (101). Travel wheels (1142) are rotatably mounted on both sides of the bottom of the anti-slip frame (1141). Guide wheels (1143) are provided on the side of the anti-slip frame (1141) and on both sides of the entry and exit points of the circular tube track (101). A main rotary mechanism (2) is rotatably provided on the chassis base (110), and a window cleaning portion (3) is movably connected to the main rotary mechanism (2).

2. The window cleaning equipment mounting device according to claim 1, characterized in that: The driving mechanism (115) includes a reduction motor (1150), a gear (1151) and a backup brake (1152). The reduction motor (1150) is mounted on a motor bracket, and the motor bracket is connected to the bottom of the connecting frame (120) via the rotating horizontal shaft (121). A gear (1151) is mounted on the output end of the reduction motor (1150), and the gear (1151) is meshed with the rack (102). The backup brake (1152) is electrically connected to the reduction motor (1150).

3. The window cleaning equipment mounting device according to claim 1, characterized in that: The guide wheel (1143) is rotatably mounted on the guide wheel bracket (1144); one end of the guide wheel bracket (1144) is hinged to the anti-slip frame (1141), and the other end is elastically hinged to the anti-slip frame (1141).

4. The window cleaning equipment mounting device according to claim 2, characterized in that: It also includes an electric control box (41), and the reduction motor (1150) and the backup brake (1152) are both electrically connected to the electric control box (41).

5. A multi-dimensional adjustment method for a window cleaning device according to any one of claims 1 to 4, characterized in that: The invention comprises the following steps: the chassis running mechanism (11) is rotated and adjusted in the xy plane, the chassis running mechanism (11) is rotated and adjusted in the xz plane, and the chassis running mechanism (11) is rotated and adjusted in the yz plane; The chassis walking mechanism (11) is rotatably adjusted in the xy plane by the coordinated adjustment of the walking wheel assembly (114) rotating around the slewing pair (118), the connecting frame (120) rotating around the rotating vertical axis (119), and the swing leg (113) rotating around the swing vertical axis (117); The chassis walking mechanism (11) is rotatably adjusted in the xz plane so that the floating leg (112) rotates around the floating pin shaft (116), the driving mechanism (115) rotates around the horizontal rotation axis (121), and the anti-slip frame (1141) rotates around the walking wheel shaft (1145). The chassis walking mechanism (11) is rotationally adjusted in the yz plane so that the floating leg (112) is rotationally adjusted around the floating pin shaft (116).

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