Cable type curtain wall cleaning robot for glass curtain wall

Abstract

The invention relates to the technical field of curtain wall cleaning, in particular to a cable type curtain wall cleaning robot for a glass curtain wall. The cable type curtain wall cleaning robot for the glass curtain wall comprises a support; the moving mechanism is used for driving the bracket to move; the cleaning mechanism is arranged on the support and used for spraying cleaning liquid and cleaning the glass curtain wall. The negative pressure mechanism is arranged on the support and used for being adsorbed to the glass curtain wall. Wherein the cleaning mechanism comprises a sealed cleaning unit. In the embodiment of the invention, particle stains on the glass surface are scattered or converted into sewage through the cleaning solution, the sewage stains can be sucked away or wiped away through the cleaning rag, and the residual sewage after cleaning can be sucked away through the exhaust fan, so that the glass surface is completely clean without water marks.

Description

Technical Field

[0001] The present invention relates to the technical field of curtain wall cleaning, and in particular to a cable-type curtain wall cleaning robot for a glass curtain wall. Background Art

[0002] Glass curtain walls can be divided into four types: flat glass curtain walls, horizontal hidden and vertical visible glass curtain walls, vertical hidden and horizontal visible glass curtain walls, and vertical visible and horizontal visible glass curtain walls. Currently, curtain wall cleaning robots on the market mainly use large roller brushes to clean vertical and horizontal visible glass curtain walls. Large rollers are used to overcome obstacles, and the long bristles of the roller brushes are deformed to adapt to obstacles. However, this type of cleaning will leave water marks and water spots, and will also cause secondary pollution during cleaning. Summary of the invention

[0003] The present disclosure provides a cable-type curtain wall cleaning robot for a glass curtain wall, so as to at least solve the above technical problems existing in the prior art.

[0004] The present invention provides a cable-type curtain wall cleaning robot for a glass curtain wall.

[0005] Bracket;

[0006] A moving mechanism, used for driving the support to move;

[0007] A cleaning mechanism, arranged on the bracket, for spraying cleaning liquid and cleaning the glass curtain wall;

[0008] A negative pressure mechanism, disposed on the bracket and used for adsorbing on the glass curtain wall;

[0009] In which, the cleaning mechanism includes a sealed cleaning unit, and the sealed cleaning unit includes a cleaning fixed cover, the cleaning fixed cover forms a cleaning cavity, the cleaning fixed cover is equipped with a nylon roller brush, the nylon roller brush is rotatably connected to the cleaning fixed cover, at least part of the nylon roller brush is located in the cleaning cavity, the nylon roller brush is driven by a roller brush motor, and a negative pressure adsorption sponge and a cleaning rag are sequentially installed at the opening of the cleaning fixed cover, the negative pressure adsorption sponge and the cleaning rag are both arranged around the opening, the negative pressure mechanism is used to compress the negative pressure adsorption sponge to form a negative pressure in the cleaning cavity, and the cleaning rag forms a seal in the cleaning cavity after the negative pressure adsorption sponge is compressed; the cleaning fixed cover is equipped with an exhaust fan, and an exhaust port is provided at the bottom of the cleaning fixed cover, and the exhaust fan is connected to the exhaust port so that the stains and water in the cleaning cavity after cleaning are drawn into the water-gas separation cavity.

[0010] Furthermore, the cleaning mechanism includes a scraper assembly, and the scraper assembly includes a scraper, an outer scraper strip and an inner scraper strip:

[0011] The outer scraper strip and the inner scraper strip are both connected to the scraper plate, the outer scraper strip and the inner scraper strip are arranged at intervals, the inner scraper strip is provided with a plurality of holes, the scraper plate is provided with an exhaust hole, and the exhaust hole is connected to the fan interface.

[0012] Further, the bracket is provided with a rope safety mechanism, the rope safety mechanism comprises a first compression plate and a wire splitter fixing plate, the wire splitter fixing plate is connected to the bracket, the first compression plate is slidably matched with the wire splitter fixing plate, and a first spring is provided between the first compression plate and the wire splitter fixing plate;

[0013] The splitter fixing plate is provided with a limit contact switch, and the first compression plate is provided with a first contact contact piece, and the first contact contact piece is arranged corresponding to the limit contact switch.

[0014] Further, the rope safety mechanism includes a second compression plate, the second compression plate is slidably matched with the first compression plate, and a second spring is provided between the second compression plate and the first compression plate;

[0015] The second compression plate is provided with a second contact piece, and the second contact piece is arranged corresponding to the limit contact switch.

[0016] Furthermore, the bracket is provided with a mobile winch, the mobile winch is provided with a rope, the rope is wound around the splitter fixing plate, the rope is passed through a compression spring, the rope is provided with a fixed buckle seat, the fixed buckle seat is fixed to the rope, and the fixed buckle seat is located above the compression spring.

[0017] Furthermore, the number of the rope safety mechanisms is two, and the two rope safety mechanisms are arranged at intervals.

[0018] Furthermore, the negative pressure mechanism forms a first negative pressure chamber, a second negative pressure chamber and a third negative pressure chamber, and the openings of the first negative pressure chamber, the second negative pressure chamber and the third negative pressure chamber are each provided with a negative pressure sponge and a negative pressure cleaning rag, and the first negative pressure chamber, the second negative pressure chamber and the third negative pressure chamber are respectively connected to a negative pressure fan to draw the stains and water in the first negative pressure chamber, the second negative pressure chamber and the third negative pressure chamber into the water-gas separation chamber.

[0019] Furthermore, the distance between the adsorption surface of the negative pressure mechanism and the bracket is greater than the distance between the adsorption surface of the cleaning mechanism and the bracket;

[0020] The distance from the adsorption surface of the cleaning mechanism to the bracket is greater than the maximum distance from the moving mechanism to the bracket.

[0021] Furthermore, the moving mechanism includes a pulley, and a plurality of the pulleys are respectively arranged on both sides of the negative pressure mechanism.

[0022] Furthermore, it also includes a water tank, a return water joint is provided at the bottom of the water tank, the return water joint is connected to the water tank through a return water pump, and a filter assembly is provided between the return water joint and the return water pump.

[0023] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0024] In the cable-type curtain wall cleaning robot for glass curtain walls provided by the embodiment of the present disclosure, the suction of the exhaust fan causes the negative pressure adsorption sponge to produce an internal and external pressure difference. After the sponge is compressed, the cleaning cavity is maintained at a certain negative pressure value. The pressure difference allows the cleaning unit to have a positive compressing force on the cleaning unit, maintaining a pressure of about 5KG-10kg. The cleaning rag can be used as a seal after the sponge is compressed, and can also be used as a cleaning module. The rotation of the nylon roller brush inside the cleaning mechanism can break up large particles or stubborn stains. Under the compression of the positive force of the negative pressure, the bristles of the nylon roller brush will be compressed and deformed, and the gaps when passing through the seams can also be cleaned to a certain extent. When the cleaning rag and the negative pressure adsorption sponge are maintained at a stable negative pressure value, a certain amount of gas will still enter the cavity around the cleaning rag. Driven by the intake air, the water inside the cleaning cavity will not flow out, achieving a water-tight effect. After cleaning, the stains are mixed with water, and due to weight reasons, they accumulate at the bottom of the cavity. Through the suction of the exhaust fan at the air outlet, the mixed sewage is pumped into the water-gas separation cavity. The cleaning mechanism can generate positive pressure on the glass surface by itself, and does not completely rely on the pressure transmitted by the negative pressure mechanism. It has little impact on the up and down operations, and the cleaning effect is stable. In the disclosed embodiment, the particle stains on the glass surface are broken up or converted into sewage by the cleaning liquid, and the sewage stains can be sucked away or wiped off with a cleaning rag, and the residual sewage after cleaning can be sucked away by the exhaust fan, so that the glass surface is completely clean without water marks.

[0025] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which:

[0027] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0028] Figure 1 The structure of the cable-type curtain wall cleaning robot for the glass curtain wall provided by the embodiment of the present disclosure is shown. Figure 1;

[0029] Figure 2 The structure of the cable-type curtain wall cleaning robot for the glass curtain wall provided by the embodiment of the present disclosure is shown. Figure 2 ;

[0030] Figure 3 The structure of the sealed cleaning unit in the cable-type curtain wall cleaning robot for the glass curtain wall provided by the embodiment of the present disclosure is shown. Figure 1 ;

[0031] Figure 4 The structure of the sealed cleaning unit in the cable-type curtain wall cleaning robot for the glass curtain wall provided by the embodiment of the present disclosure is shown. Figure 2 ;

[0032] Figure 5 The structure diagram of the scraper assembly in the cable-type curtain wall cleaning robot for the glass curtain wall provided by the embodiment of the present disclosure is shown. Figure 1 ;

[0033] Figure 6 The structure diagram of the scraper assembly in the cable-type curtain wall cleaning robot for the glass curtain wall provided by the embodiment of the present disclosure is shown. Figure 2 ;

[0034] Figure 7 The structure diagram of the scraper assembly in the cable-type curtain wall cleaning robot for the glass curtain wall provided by the embodiment of the present disclosure is shown. Figure 3 ;

[0035] Figure 8 A partial structural schematic diagram of a scraper assembly in a cable-type curtain wall cleaning robot for a glass curtain wall provided in an embodiment of the present disclosure is shown;

[0036] Fig. 9 A schematic diagram of the structure of a rope safety mechanism in a rope-type curtain wall cleaning robot for a glass curtain wall provided by an embodiment of the present disclosure is shown;

[0037] Fig.10 The structure diagram of the negative pressure mechanism and the moving mechanism in the cable-type curtain wall cleaning robot for the glass curtain wall provided by the embodiment of the present disclosure is shown. Figure 1 ;

[0038] Fig.11 The structure diagram of the negative pressure mechanism and the moving mechanism in the cable-type curtain wall cleaning robot for the glass curtain wall provided by the embodiment of the present disclosure is shown. Figure 2 ;

[0039] Fig.12 A schematic structural diagram of a water circulation system in a cable-type curtain wall cleaning robot for a glass curtain wall provided in an embodiment of the present disclosure is shown;

[0040] Fig.13A schematic structural diagram of a water-gas separation chamber in a cable-type curtain wall cleaning robot for a glass curtain wall provided in an embodiment of the present disclosure is shown.

[0041] Explanation of the reference numerals in the figure: 100, cleaning mechanism; 200, scraper assembly; 300, mobile hoisting system; 400, negative pressure mechanism; 500, mobile mechanism; 600, de-suction and re-suction mechanism; 310, rope safety mechanism; 350, hoisting machine; 111, upper cleaning unit fan; 211, upper scraping strip fan; 711, lower cleaning unit fan; 811, lower scraping strip fan; 980, filter assembly; 981, filter cotton body; 982, filter mesh body; 983, return water pump; 603, suction cup; 604, air extraction joint; 605, negative pressure air pump; 101, cleaning fixed cover; 102, connecting fixing piece; 103, guide shaft; 104, air extraction port; 105, fan connector; 106, nylon roller brush; 108, negative pressure adsorption sponge; 109, cleaning rag; 1011, water outlet joint; 1012, roller brush motor; 1013, support wheel; 1014, synchronous belt; 1, motor with screw; 15, motor fixing seat; 3, rotating shaft; 6, fixing piece; 41, exhaust pipe; 12, first rotating piece; 13, second rotating piece; 31, scraper fixing seat; 14, rotating piece fixing seat; 53, main fixing plate; 50, contact switch fixing piece; 49, contact switch for retraction; 51, contact switch contact piece; 32, scraper; 47, coil spring fixing seat; 28, flange nut; 4, bearing with shaft; 26, extension Contact switch; 52, contact switch fixing; 39, air duct joint; 36, fan interface; 38, outer scraper; 33, inner scraper; 44, constant force coil spring; 311, fixing buckle; 312, fixing buckle seat; 313, compression spring; 314, spring action seat; 315, first compression plate; 316, second compression plate; 317, distributor fixing plate; 319, limit contact switch; 3111, contact contact piece; 401, negative pressure cleaning rag; 405, negative pressure sponge; 402, exhaust interface; 403, exhaust filter cotton; 404, negative pressure sensor; 406, negative pressure main frame; 407, negative pressure fan; 408, fan outlet duct; 501 , pulley; 502, pulley fixing seat; 503, rotating joint; 504, rotating servo; 505, rotating connecting rod; 506, rotating shaft; 901, water filling port; 902, lower cleaning water and gas separation chamber; 903, water tank; 904, upper cleaning water and gas separation chamber; 905, upper cleaning fan interface; 906, upper clean air path interface; 907, return water fixing seat; 908, return water joint; 9011, water tank outlet joint; 9012, water tank water volume detection joint; 9013, lower clean air path interface; 9014, water volume detection sensor; 9015, fan interface; 9016, return water tank joint; 9017, exhaust joint; 9018, water filling interface. DETAILED DESCRIPTION

[0042] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0043] The cable-type curtain wall cleaning robot for a glass curtain wall provided by the present disclosure comprises a bracket, a moving mechanism 500, a cleaning mechanism 100 and a negative pressure mechanism 400; the moving mechanism 500 is used to drive the bracket to move; the cleaning mechanism 100 is arranged on the bracket, and is used to spray cleaning liquid and clean the glass curtain wall; the negative pressure mechanism 400 is arranged on the bracket, and is used to be adsorbed on the glass curtain wall; wherein the cleaning mechanism 100 comprises a sealed cleaning unit, and the sealed cleaning unit comprises a cleaning fixed cover 101, and the cleaning fixed cover 101 is provided with a connecting fixing member 102, and the cleaning fixed cover 101 forms a cleaning cavity, and the cleaning fixed cover 101 is installed with a nylon roller brush 106, and the nylon roller brush 106 is rotatably connected to the cleaning fixed cover 101, until A small number of nylon roller brushes 106 are located in the cleaning cavity, and the nylon roller brushes 106 are driven by a roller brush motor 1012. A negative pressure adsorption sponge 108 and a cleaning rag 109 are installed at the opening of the cleaning fixed cover 101 in sequence. The negative pressure adsorption sponge 108 and the cleaning rag 109 are arranged around the opening. The negative pressure mechanism 400 is used to compress the negative pressure adsorption sponge 108 to form a negative pressure in the cleaning cavity, and the cleaning rag 109 forms a seal in the cleaning cavity after the negative pressure adsorption sponge 108 is compressed; the cleaning fixed cover 101 is installed with an exhaust fan, and an exhaust port 104 is provided at the bottom of the cleaning fixed cover 101. The exhaust fan is connected to the exhaust port 104 so that the stains and water in the cleaning cavity after cleaning are drawn into the water-gas separation cavity.

[0044] In the disclosed embodiment, the suction of the exhaust fan causes the negative pressure adsorption sponge 108 to produce an internal and external pressure difference. After the sponge is compressed, the cleaning cavity is maintained at a certain negative pressure value. The pressure difference allows the cleaning unit to have a positive compressing force on the cleaning unit, maintaining a pressure of about 5KG-10kg. The cleaning rag 109 can be used as a seal after the sponge is compressed, and can also be used as a cleaning module. The rotation of the nylon roller brush 106 inside the cleaning mechanism 100 can break up large particles or stubborn stains. Under the compression of the positive force of the negative pressure, the bristles of the nylon roller brush 106 will be compressed and deformed, and the gaps when passing through the seams can also be cleaned to a certain extent. When the cleaning rag 109 and the negative pressure adsorption sponge 108 are maintained at a stable negative pressure value, a certain amount of gas will still enter the cavity around the cleaning rag 109. Driven by the intake air, the water inside the cleaning cavity will not flow out, achieving a water-tight effect. The stains after cleaning are mixed with water and accumulated at the bottom of the cavity due to weight. The mixed sewage is pumped into the water-gas separation chamber through the suction of the exhaust fan at the exhaust port 104. The cleaning mechanism 100 can generate positive pressure on the glass surface by itself, and does not completely rely on the pressure transmitted by the negative pressure mechanism 400. It has little impact on the up and down operations, and the cleaning effect is stable. In the disclosed embodiment, the particulate stains on the glass surface are broken up or converted into sewage by the cleaning liquid, and the sewage stains can be sucked away or wiped off by the cleaning rag 109, and the sewage remaining after cleaning can be sucked away by the exhaust fan, so that the glass surface is completely clean without water marks.

[0045] Combination Figure 1 and Figure 2 As shown, there are two cleaning mechanisms 100, namely, an upper sealed cleaning mechanism 100 and a lower sealed cleaning mechanism 100: a mobile hoisting system 300 can provide power for the cleaning robot to move up and down, and a rope safety mechanism 310 includes an upper right rope safety mechanism 310, an upper left rope safety mechanism 310, a lower right rope safety mechanism 310, and a lower left rope safety mechanism 310. The rope safety mechanism 310 is a safety control mechanism for the up and down movement, and provides in-place detection for the up and down movement; a negative pressure mechanism 400 can provide positive pressure of the cleaning robot to the glass surface. The moving mechanism 500 can allow the cleaning robot to clean and offset against the frame; the desorption and resorption mechanism 600, after the cleaning robot is desorbed at high altitude, due to the influence of wind or the remoteness of the hanging point, it is difficult to regenerate negative pressure, and this mechanism provides resorption control to ensure that the cleaning robot is re-adsorbed on the glass surface.

[0046] The adsorption mechanism includes a suction cup 603, an air extraction joint 604 and a negative pressure air pump 605. The exhaust fan includes an upper cleaning unit fan 111 and a lower cleaning unit fan 711;

[0047] like Figure 3 and Figure 4As shown, the sealed cleaning unit includes a cleaning fixed cover 101, a connecting fixture 6102, a guide shaft 103, an air outlet 104, a fan connector 105, a nylon roller brush 106, a negative pressure adsorption sponge 108, a cleaning rag 109, a water outlet joint 1011, a roller brush motor 1012, a support wheel 1013 and a synchronous belt 1014. The sealed cleaning unit, through the suction of the negative pressure fan 407, causes the negative pressure adsorption sponge 108 to produce an internal and external pressure difference. After the sponge is compressed, the cleaning cavity is maintained at a certain negative pressure value. The pressure difference allows the cleaning unit to have a positive compressing force on the cleaning unit, maintaining a pressure of about 5KG-10kg. The cleaning rag 109 can be used as a seal after the sponge is compressed, and can also be used as a cleaning module. The rotation of the nylon roller brush 106 inside the cleaning unit can break up large particles or stubborn stains. Under the compression of the negative pressure positive force, the bristles of the nylon roller brush 106 will be compressed and deformed, and the gaps when passing through the seams can also be cleaned to a certain extent.

[0048] In some specific embodiments, the cleaning mechanism 100 includes a scraper assembly 200, and the scraper assembly 200 includes a scraper 32, an outer scraper strip 38, and an inner scraper strip 33: the outer scraper strip 38 and the inner scraper strip 33 are both connected to the scraper 32, the outer scraper strip 38 and the inner scraper strip 33 are arranged at intervals, the inner scraper strip 33 is provided with a plurality of holes, the scraper 32 is provided with an exhaust hole, and the exhaust hole is connected to the fan interface 9015. The sewage can be sucked away through the exhaust hole, so that the glass surface is completely clean without water marks.

[0049] The cleaning mechanism 100 includes an upper scraper fan 211 and a lower scraper fan 811. The scraper assembly 200 includes a main fixing plate 53 and a rotating member fixing seat 14, the main fixing plate 53 is connected to the bracket, and the rotating member fixing seat 14 is arranged on the main fixing plate 51 for connecting with the scraper 32. The scraper assembly 200 also includes a retracting contact switch 49, a contact switch contact 51, a coil spring fixing seat 47, a contact switch fixing member 52, an air duct joint 39 and a fan interface 36.

[0050] Combination Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, the retraction and extension of the scraper assembly 200 is achieved by rotating the screw motor 1, driving the flange nut 28 to move. The stop judgment signal is made by the retraction contact switch and the extension contact switch 26. There is no hard connection between the flange nut 28 and the scraper fixing seat 31, and the flange nut 28 is in contact with the scraper fixing seat 31 through the tension of the coil spring. In this way, the force that the scraper can withstand during compression is mainly the tension of the constant force coil spring 44. The tension of the constant force coil spring 44 changes little in the extended and retracted states. Within a 20% change, the scraper can be kept in a stable pressure range. The scraper can achieve the best cleaning effect under a pressure between 3.4-5kg. If the force is too large, the compression deformation of the scraper is too large, the sealing of the end of the scraper will be affected, and the contact with the glass will change from line to surface contact, which will lead to a poor scraping effect; if the force is too small, the compression deformation of the scraper is small, it is easy to jump, and it is easy to leave water marks and watermarks. The residual sewage needs to be sucked away through the holes of the scraper strip 33 in the scraper assembly 200 and the exhaust holes of the scraper 32, so that the glass surface is completely clean without water marks, and a flexible contact-type markless scraper strip mechanism is formed by the coil spring.

[0051] The left-right symmetrical first rotating member 12 and the second rotating member 13 are used to fix the Z-direction freedom, X-axis rotation and Y-axis rotation of the scraper 32; the left-right symmetrical shaft bearing 4 and the contact between the motor fixing seat 15 limit the X-direction freedom of the scraper 32, and also limit the angle range of the Z-axis rotation of the scraper 32 (the design can meet the Z-axis rotation range of ±15 degrees). Therefore, the scraper 32 can finally meet the Y-direction movement and a certain angle of Z-axis rotation. The Y-direction movement is mainly for protrusions, gaps and cleaning U-turns, and the Z-axis rotation can adaptively fit when the two pieces of glass are uneven and have a certain angle deviation. The total telescopic length of the constant force coil spring 44 is 200mm, and the total stroke in the working state is 50mm, which can extend the tension and contraction life of the constant force coil spring 44 and reduce the change value of the tension. When the moving platform is cleaning, it can meet obstacles with a protrusion of 10mm. Since the scraper part is not rigidly connected to the flange nut 28, it can generate a component force toward the Y axis through its own inclined surface when encountering an obstacle, retract the scraper, and adaptively overcome the obstacle. When passing through the glass gap, since the flange nut 28 limits the maximum extension, it ensures that the extension of the scraper 32 between the gaps is kept at a certain controllable value, so that after passing through the glass gap, it can return to normal working state. When cleaning and turning around, after the moving platform has finished cleaning upward, when it starts to clean downward, the upper scraper is extended and the lower scraper is retracted. The 50mm stroke ensures that the retracted scraper part is away from obstacles and is not affected during cleaning.

[0052] The double-belt screw motors 1 have no rigid connection with each other during control, are not disturbed during movement, and can be asynchronous in speed, thereby simplifying the control operation. The control signals of the two motors are independent contact switches.

[0053] The outer scraping strip 38 and the inner scraping strip 33 are fixed on the scraper 32. There is a gap between the two layers of scraping strips. At the same time, the inner scraping strip 33 has a gap hole on the line that contacts the glass surface. In this way, when the air path is sucked, the sewage can be sucked into the cavity of the scraper 32, and finally enter the sewage separation chamber through the fan interface 9015.

[0054] The exhaust pipe 41 connects the three scrapers 32 so that the three scrapers 32 form a negative pressure chamber.

[0055] First, the granular stains on the glass surface are dispersed or turned into sewage by the cleaning liquid. Second, the sewage stains can be sucked away by a rag. Third, the residual sewage needs to be sucked away by the scraper. Make the glass surface completely clean without water marks. The scraper in the third step may encounter the problems of broken scraping, jumping, unstable force, crossing obstacles, crossing gaps and uneven glass surface.

[0056] In some specific embodiments, the bracket is provided with a rope safety mechanism 310, and the rope safety mechanism 310 includes a first compression plate 315 and a splitter fixing plate 317. The splitter fixing plate 317 is connected to the bracket, and the first compression plate 315 is slidably matched with the splitter fixing plate. A first spring is provided between the first compression plate 315 and the splitter fixing plate 317; the splitter fixing plate 317 is provided with a limit contact switch 319, and the first compression plate 315 is provided with a first contact contact piece 3111, and the first contact contact piece 3111 is provided corresponding to the limit contact switch 319.

[0057] In some specific embodiments, the rope safety mechanism 310 includes a second compression plate 316, which is slidably matched with the first compression plate 315, and a second spring is provided between the second compression plate 316 and the first compression plate 315; the second compression plate 316 is provided with a second contact contact piece 3111, and the second contact contact piece 3111 is arranged corresponding to the limit contact switch 319.

[0058] The main function of the mobile winch 350 is to provide the moving platform with power to move up and down. The working principle is that two special ropes are lowered from the roof to the ground, which is the same as the operation method during manual cleaning. The ropes are fixed at a good hanging point on the roof. A compression spring 313 is strung on the rope, and then strung into the winch. Through the rotation of the motor, the up and down climbing force on the rope is provided. The bearing capacity of the special rope is more than 1 ton. Under the action of the two ropes, the safety factor is high.

[0059] Combination Fig. 9As shown, in the process of the moving platform running up and down, the required restricted height position and the bottom position are adjusted according to the on-site cleaning requirements through the fixed buckle 311 and the fixed buckle seat 312. During operation, the compression spring 313 is compressed. After the compression spring 313 hits the fixed buckle 311 seat, the pressure of the compression spring 313 acts on the first compression plate 315 through the spring action seat 314. When the pressure reaches the pressure under the first compression plate 315, the contact contact member 3111 then collides with the limit contact switch 319. The feedback control of the contact switch stops the motor and then rotates in the opposite direction, so that the moving platform can be automatically operated and cleaned, reducing manual participation. When there is a problem with the control system, the motor may continue to move upward, and the compression amount of the compression spring 313 increases. When the force reaches the trigger force of the emergency stop pressure plate, it will trigger an emergency stop to protect the moving platform from losing control and colliding with the machine.

[0060] In some specific embodiments, the bracket is provided with a mobile winch 350, the mobile winch 350 is provided with a rope, the rope is wound around the divider fixing plate 317, the rope is passed through a compression spring 313, the rope is provided with a fixed buckle seat 312, the fixed buckle 311 seat is fixed to the rope, and the fixed buckle 311 seat is located above the compression spring 313.

[0061] When the dynamic platform is tested on site, the top is mainly watched by the roof personnel. There is no limit switch and safety emergency stop at the top during the test, and the robot may crash in the out-of-control state. Adding limit switches and emergency stops allows the two ropes to be laid out at the same time.

[0062] In some specific embodiments, the number of rope safety mechanisms 310 is two, and the two rope safety mechanisms 310 are arranged at intervals. In the disclosed embodiment, the double ropes are placed in a staggered manner, and when the emergency stop on one side fails, there is a second emergency stop; the two ends of the compression spring 313 are designed to be pagoda-shaped to avoid rope jamming and increase the compression contact area; the clamp ring can be quickly disassembled when the emergency stop is triggered; ④ All trigger forces act on the splitter to avoid damage to the shell.

[0063] The negative pressure adsorption of the negative pressure mechanism 400 generates a pressure difference between the inside and outside of the negative pressure sponge 405 and the negative pressure cleaning rag 401109 through the suction of the negative pressure fan 407, thereby generating a positive force toward the glass surface. The internal air intake is reduced by the compression of the negative pressure sponge 405, and the pressure value of the negative pressure chamber formed at this time will reach an equilibrium value with the compression. The negative pressure cleaning rag 401109 can be used as a seal after compression, and can also be used as a cleaning part. After the cleaning unit is cleaned, it can be cleaned and wiped again through the negative pressure adsorbed rag surface.

[0064] The moving mechanism 500 generates a positive force after the negative pressure mechanism 400 is adsorbed. At this time, the pulley 501 acts as a support member, and the positive force is mainly transmitted to the pulley 501. Then, by rotating the servo, the left and right steering of the pulley 501 is controlled, and the positive force is divided into left and right components and up and down components, so that the moving platform can move left and right when going up and down. Mainly during the cleaning operation, if it goes off the track and needs to be corrected, the servo can be adjusted to control the moving platform to return to the original cleaning path. Or when it is necessary to clean by the frame, the pulley 501 is turned to the frame to keep the moving platform always having an appropriate component of force on the frame to reduce the leakage of cleaning space.

[0065] Combination Fig.10 and Fig.11 As shown, the negative pressure mechanism 400 includes a negative pressure cleaning rag 401, a negative pressure sponge 405, an exhaust port 402, an exhaust filter 403, a negative pressure sensor 404, a negative pressure main frame 406, a negative pressure fan 407, and a fan outlet pipe 408. The moving mechanism 500 includes a pulley 501, a pulley fixing seat 502, a rotating joint 503, a rotating steering gear 504, a rotating connecting rod 505, and a rotating shaft 506.

[0066] In some specific embodiments, the negative pressure mechanism 400 is formed with a first negative pressure chamber, a second negative pressure chamber and a third negative pressure chamber, and the openings of the first negative pressure chamber, the second negative pressure chamber and the third negative pressure chamber are provided with a negative pressure sponge 405 and a negative pressure cleaning rag 401109, and the first negative pressure chamber, the second negative pressure chamber and the third negative pressure chamber are respectively connected to a negative pressure fan 407 to draw the stains and water in the first negative pressure chamber, the second negative pressure chamber and the third negative pressure chamber into the water-gas separation chamber.

[0067] The negative pressure adsorption adopts three-chamber controlled adsorption, which is mainly used to solve the adaptation of crossing obstacles and gaps. The initial compression amount of the sponges in the three chambers is 12mm, and the maximum compressible amount is 20mm. When encountering a raised obstacle surface (mainly the height difference generated at the joint of the glass surface), after passing through the pulley 501, the contacted sponge will be compressed again, and the cavity contacting the obstacle surface will leak a lot before the entire cavity size is completed due to the height difference. At this time, the first cavity will not be able to generate positive negative pressure. At this time, the negative pressure sensor 404 can read the data, and the negative pressure value is lower than normal. The other two negative pressure chambers can maintain positive negative pressure. After detecting that the negative pressure value of the first chamber has decreased, the fan speed can be adjusted to appropriately increase the negative pressure and keep the total positive negative pressure unchanged. This also keeps the cleaning pressure of the cleaning unit unchanged, and does not cause the cleaning effect to fluctuate. When encountering a concave obstacle surface, the sponge that is initially compressed is released and attached to the concave surface, and the process is consistent with the above. When passing through the gap, also after the first cavity is desorbed, the fans of the other two cavities are controlled through detection by the negative pressure sensor 404 to increase the fan power and keep the negative pressure consistent.

[0068] In some specific embodiments, the distance from the adsorption surface of the negative pressure mechanism 400 to the bracket is greater than the distance from the adsorption surface of the cleaning mechanism 100 to the bracket; the distance from the adsorption surface of the cleaning mechanism 100 to the bracket is greater than the maximum distance from the moving mechanism 500 to the bracket.

[0069] The required pressure of a single non-sealed type is 5kg. The maximum adsorption negative pressure can reach 600N. D1 is the maximum distance from the moving mechanism 500 to the bracket, D2: the maximum distance from the adsorption surface of the cleaning mechanism 100 to the bracket; D3 is the maximum distance from the adsorption surface of the negative pressure mechanism 400 to the bracket;

[0070] Negative pressure formation and force distribution: At the beginning, the negative pressure chamber contacts the wall, generating a negative pressure adsorption force F, at this time F = N3; the negative pressure chamber is compressed, D3↓, F↑, until the cleaning unit contacts the wall, at this time D3 = D2; F continues to increase, generating N1 and N2, at this time F = N1+N2+N3; D3 continues to ↓, F continues to ↑, until the support wheel 1013 contacts the wall, at this time D3 = D1; F continues to increase, generating N4 and N5, the distance no longer decreases, N1+N2+N3 reaches the maximum value, at this time F = N1+N2+N3+N4+N5; when F increases again, only N4 and N5 increase.

[0071] In some specific implementations, the moving mechanism 500 includes a pulley 501 , and a plurality of pulleys 501 are respectively disposed on both sides of the negative pressure mechanism 400 .

[0072] In some specific embodiments, a water tank 903 is further included, a return water joint 908 is provided at the bottom of the water tank 903, the return water joint 908 is connected to the water tank 903 via a return water pump 983, and a filter assembly 980 is provided between the return water joint 908 and the return water pump 983. The filter assembly 980 includes a filter mesh body 982 and a filter cotton body 981.

[0073] Combination Fig.12 and Fig.13 As shown, the water circulation system includes a water inlet, a lower cleaning water-gas separation chamber 902, a water tank 903, an upper cleaning water-gas separation chamber 904, an upper cleaning fan interface 905, an upper clean air path interface 906, a return water fixing seat 907, a return water joint 908, a water tank water outlet joint 9011, a water tank water level detection joint 9012, a lower clean air path interface 9013, a water level detection sensor 9014, a fan interface 9015, a return water tank joint 9016, an exhaust joint 9017 and a water inlet interface 9018.

[0074] The water inlet is connected to the water inlet interface 9018 through a silicone tube, and is connected to the water tank 903 when adding water. The water pressure of the water tank 903 needs to be balanced, and the exhaust joint 9017 is used as a pressure discharge port. Through the water tank outlet joint 9011, it is connected to the water outlet pump, and the outlet water acts on the upper and lower cleaning units, and the stains are cleaned in the cleaning unit to synthesize sewage. Through the suction of the fan, it is transferred to the water-gas separation chamber (902 and 904), and the water is deposited at the bottom inside according to the principle of inconsistent gravity between water and gas. Through the return water joint 908 and the return water pump 983, the sewage in the separation chamber is pumped out. A two-stage filter is connected between the return water joint 908 and the return water pump 983, first through the filter mesh body 982, then through the filter cotton body 981, and then through the return water pump 983 to the return water tank joint 9016, and enters the water tank 903. The filter mesh body 982 uses a dense filter mesh to filter out large particles and coarse stains in the sewage. The filter cotton body 981 uses filter cotton material to filter the sewage into clean water without stains. After returning to the water tank 903, since the flow rate of the return pump 983 is greater than the water outlet pump, the air pressure in the water tank 903 will increase, and then the pressure will be released through the exhaust joint 9017 to maintain balance.

[0075] The suction connection of the fan, the upper cleaning unit fan 111 is connected to the upper cleaning water-gas separation chamber 904, the lower cleaning unit fan 711 is connected to the lower cleaning water-gas separation chamber 902, and a connector is connected to the cleaning unit on the chamber. In this way, the sewage suction of the cleaning unit will not directly enter the fan port, and all sewage will be transferred to the water-gas separation chamber.

[0076] The wastewater from glass cleaning is sucked back by negative pressure. The pumped back water is wastewater, which mainly consists of silt, particles, oil, cleaning fluid and water.

[0077] The water volume is 200mL / min, and the water volume in the water tank is 9035L. The estimated minimum return efficiency is 70%, and the water volume based on the return efficiency is 5+(5*0.7)+(5*0.72)+(5*0.73)+…≈15L, 15(L) / 0.2(L / MIN)=75min. The cleaning time for up and down cleaning at a speed of 10m / min is 24min for 120m, which can meet the cleaning requirements for multiple cleaning. The measured water volume can last for 2-3 hours.

[0078] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0079] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0080] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A cable-type curtain wall cleaning robot for a glass curtain wall, characterized in that: Bracket; A moving mechanism (500) is used to drive the support to move; A cleaning mechanism (100), arranged on the bracket, for spraying cleaning liquid and cleaning the glass curtain wall; A negative pressure mechanism (400) is arranged on the bracket and is used for adsorbing on the glass curtain wall; The cleaning mechanism (100) comprises a sealed cleaning unit, the sealed cleaning unit comprises a cleaning fixed cover (101), the cleaning fixed cover (101) forms a cleaning cavity, the cleaning fixed cover (101) is equipped with a nylon roller brush (106), the nylon roller brush (106) is rotatably connected to the cleaning fixed cover (101), at least part of the nylon roller brush (106) is located in the cleaning cavity, the nylon roller brush (106) is driven by a roller brush motor (1012), and a negative pressure adsorption sponge (108) and a cleaning rag (109) are sequentially installed at the opening of the cleaning fixed cover (101). ), the negative pressure adsorption sponge (108) and the cleaning rag (109) are both arranged around the opening, the negative pressure mechanism (400) is used to compress the negative pressure adsorption sponge (108) to form a negative pressure in the cleaning cavity, and the cleaning rag (109) forms a seal in the cleaning cavity after the negative pressure adsorption sponge (108) is compressed; the cleaning fixed cover (101) is equipped with an exhaust fan, and the bottom of the cleaning fixed cover (101) is provided with an exhaust port (104), and the exhaust fan is connected to the exhaust port (104) so ​​that the stains and water in the cleaning cavity after cleaning are sucked into the water-gas separation chamber.

2. The cable-type curtain wall cleaning robot for a glass curtain wall according to claim 1, characterized in that: The cleaning mechanism (100) comprises a scraper assembly (200), wherein the scraper assembly (200) comprises a scraper (32), an outer scraper strip (38) and an inner scraper strip (33): The outer scraper strip (38) and the inner scraper strip (33) are both connected to the scraper plate (32); the outer scraper strip (38) and the inner scraper strip (33) are arranged at intervals; the inner scraper strip (33) is provided with a plurality of holes; the scraper plate (32) is provided with an exhaust hole; and the exhaust hole is connected to the fan interface (9015).

3. The cable-type curtain wall cleaning robot for a glass curtain wall according to claim 1, characterized in that: The bracket is provided with a rope safety mechanism (310), the rope safety mechanism (310) comprises a first compression plate (315) and a wire splitter fixing plate (317), the wire splitter fixing plate (317) is connected to the bracket, the first compression plate (315) is slidably matched with the wire splitter fixing plate, and a first spring is provided between the first compression plate (315) and the wire splitter fixing plate (317); The splitter fixing plate (317) is provided with a limit contact switch (319), and the first compression plate (315) is provided with a first contact piece (3111), and the first contact piece (3111) is arranged corresponding to the limit contact switch (319).

4. The cable-type curtain wall cleaning robot for a glass curtain wall according to claim 3, characterized in that: The rope safety mechanism (310) comprises a second compression plate (316), the second compression plate (316) is slidably matched with the first compression plate (315), and a second spring is provided between the second compression plate (316) and the first compression plate (315); The second compression plate (316) is provided with a second contact piece (3111), and the second contact piece (3111) is arranged corresponding to the limit contact switch (319).

5. The cable-type curtain wall cleaning robot for a glass curtain wall according to claim 3, characterized in that: The bracket is provided with a mobile hoist (350), and the mobile hoist (350) is provided with a rope, and the rope is wound around the splitter fixing plate (317), and the rope is penetrated by a compression spring (313), and the rope is provided with a fixed buckle (311) seat, and the fixed buckle (311) seat is fixed to the rope, and the fixed buckle (311) seat is located above the compression spring (313).

6. The cable-type curtain wall cleaning robot for a glass curtain wall according to claim 3, characterized in that: The number of the rope safety mechanisms (310) is two, and the two rope safety mechanisms (310) are arranged at intervals.

7. The cable-type curtain wall cleaning robot for a glass curtain wall according to claim 1, characterized in that: The negative pressure mechanism (400) is formed with a first negative pressure chamber, a second negative pressure chamber and a third negative pressure chamber. Negative pressure sponges (405) and negative pressure cleaning rags (401)(109) are provided at the openings of the first negative pressure chamber, the second negative pressure chamber and the third negative pressure chamber. The first negative pressure chamber, the second negative pressure chamber and the third negative pressure chamber are respectively connected to a negative pressure fan (407) to draw the dirt and water in the first negative pressure chamber, the second negative pressure chamber and the third negative pressure chamber into the water-gas separation chamber.

8. The cable-type curtain wall cleaning robot for a glass curtain wall according to claim 1, characterized in that: The distance between the adsorption surface of the negative pressure mechanism (400) and the bracket is greater than the distance between the adsorption surface of the cleaning mechanism (100) and the bracket; The distance between the adsorption surface of the cleaning mechanism (100) and the bracket is greater than the maximum distance between the moving mechanism (500) and the bracket.

9. The cable-type curtain wall cleaning robot for a glass curtain wall according to claim 1, characterized in that: The moving mechanism (500) comprises a pulley (501), and a plurality of the pulleys (501) are respectively arranged on both sides of the negative pressure mechanism (400).

10. The cable-type curtain wall cleaning robot for a glass curtain wall according to claim 1, characterized in that: It also includes a water tank (903), wherein a return water joint (908) is provided at the bottom of the water tank (903), the return water joint (908) is connected to the water tank (903) via a return water pump (983), and a filter assembly (980) is provided between the return water joint (908) and the return water pump (983).

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