Equipment and method for cleaning outer wall

Abstract

The invention discloses equipment and method for cleaning an outer wall, the equipment comprises a lifting elevator, a lifting plate and an equipment support, the equipment support is installed at the middle position in the lifting elevator, a top seat is installed at the upper end of the equipment support, and a mechanical arm support is positioned in the middle of the upper end of the top seat; a mechanical arm support is arranged on the lifting plate, a mechanical main arm is arranged on the mechanical arm support, a mechanical supporting arm is movably arranged at the end of the mechanical main arm, a cleaning mechanism is mounted at the end of the mechanical supporting arm, a crane is mounted on the lifting plate, a driving shaft is arranged on the crane, and a lifting gear is arranged at the end of the driving shaft. According to the device and method for cleaning the outer wall, the outer vertical face multi-dimensional map from the elevator platform of the elevator system is received, an ordered instruction sequence is generated based on the map, instructions comprise the mechanical arm operation instruction and the elevator platform instruction, and the instructions are executed alternately so that cleaning of the outer vertical face can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of exterior wall cleaning, and in particular to a device and a method for cleaning exterior walls. Background Art

[0002] The equipment used to clean the exterior walls is a supporting equipment for daily cleaning of the exterior walls of buildings. Exterior wall cleaning is divided into hanging board method and window wiping method. The hanging board method is to use a hanging rope and a hanging board to hang people to the working position for cleaning. This type is relatively simple and low in cost. As long as the workers have good physical fitness and the ropes are firmly connected, they can be carried out. With the continuous development of science and technology, people's requirements for equipment used to clean exterior walls are getting higher and higher.

[0003] The existing methods for cleaning exterior walls have certain drawbacks when used. First, the existing methods for cleaning exterior walls use manual cleaning. This type of operation must have safety measures in place, otherwise it is very dangerous. Casualties are caused by inadequate safety measures, which brings certain adverse effects to people's use process. For this reason, we propose a device and method for cleaning exterior walls. Summary of the invention

[0004] Technical problem to be solved: In view of the shortcomings of the prior art, the present invention provides a device and method for cleaning exterior walls. By receiving a multi-dimensional map of the facade from the elevator platform of the elevator system, an ordered instruction sequence is generated based on the map. The instructions include robot arm operation instructions and elevator platform instructions. These instructions are executed alternately to achieve cleaning of the facade, which can effectively solve the problems in the background technology.

[0005] Technical solution: To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a device for cleaning exterior walls, comprising a lifting elevator, a lifting plate and an equipment support, the equipment support is installed in the middle of the interior of the lifting elevator, a top seat is installed on the upper end of the equipment support, a mechanical arm support is positioned in the middle of the upper end of the top seat, a mechanical main arm is arranged on the mechanical arm support, a mechanical support arm is movably arranged at the end of the mechanical main arm, a cleaning mechanism is installed at the end of the mechanical support arm, a crane is installed on the lifting plate, a drive shaft is arranged on the crane, a lifting gear is arranged at the end of the drive shaft, a lifting gear is arranged between the lifting gear and the lifting elevator, the lifting chain is located at the four corners of the lifting elevator, and the crane is located at the four corners on the lifting plate.

[0006] As a preferred technical solution of the present application, support positioning frames are installed at the four corners of the top seat, strong fixers are installed at the four corners of the top of the lifting elevator, the support positioning frames are fixed to the strong fixers, an inner support frame is installed at the inner bottom of the equipment support, and a positioning bolt plate is positioned between the inner support frame and the lifting elevator.

[0007] As a preferred technical solution of the present application, a rotating disk and a first adjuster are arranged between the robotic arm support and the robotic main arm, a second adjuster is arranged between the robotic main arm and the robotic support arm, the cleaning mechanism includes a cleaning brush, a fixed bracket, a brush plate, a mounting plate, a rotating shaft and a rotating tube, a rotating shaft is arranged on the rotating tube, an adjusting arm is arranged between the rotating tube and the robotic support arm, and a rotating shaft is arranged between the adjusting arm and the robotic support arm.

[0008] As a preferred technical solution of the present application, a clamp is installed at the rear end of the brush plate, a hook is integrally formed at the bottom of the clamp, a socket is provided at the front end of the mounting plate corresponding to the position of the clamp, and a slot is provided on the inner side of the socket corresponding to the position of the hook.

[0009] As a preferred technical solution of the present application, the equipment support is fixed inside the lifting elevator, the mechanical main arm moves on the top seat, the mechanical support arm moves on the mechanical main arm, and the cleaning mechanism is installed at the end of the mechanical support arm and can be adjusted.

[0010] As a preferred technical solution of the present application, the bottom of the equipment support is fixed to the lifting elevator through a positioning bolt plate, and the top of the equipment support is fixed to the lifting elevator through a supporting positioning frame and a strong fixer.

[0011] As a preferred technical solution of the present application, the robotic main arm rotates on the robotic arm support through a rotating disk, the robotic main arm rotates on the robotic arm support through a first adjuster, the robotic main arm and the robotic support arm rotate through a second adjuster, the cleaning mechanism is adjusted through an adjusting arm and a rotating shaft, and the cleaning mechanism is rotationally adjusted through a rotating shaft and a rotating tube.

[0012] As a preferred technical solution of the present application, the brush plate and the mounting plate are fixed by means of a clamp and a clamping seat, and the clamp and the clamping seat are clamped by means of a clamp hook and a clamping groove.

[0013] A method for cleaning an exterior wall comprises the following steps: S1: A processing component receives a multi-dimensional map of at least one facade portion of at least one building; S2: Generate a 3D map, which will be stored in a memory that communicates with a processing component. Then, the processing component derives a cleaning pattern, which can be a sequence of periodic and non-periodic cleaning vectors, and the shape and direction of each cleaning vector correspond to the shape and direction in the 3D map; S3: The processing component determines an ordered instruction sequence according to the map, the instruction sequence including instructions for the robot arm and instructions for the building maintenance elevator; S4: the robot arm commands and the building maintenance elevator commands are time-interleaved to execute a cleaning pattern covering at least a portion of the facade; S5: The processing component sends the command of the robot arm to the control component to control the robot arm of the robot system, and sends the command of the building maintenance elevator to the control system to control the lifting and lowering of the building maintenance elevator, thereby executing the three-dimensional cleaning mode.

[0014] Beneficial effects: Compared with the prior art, the present invention provides a device and method for cleaning exterior walls, which have the following beneficial effects: the device and method for cleaning exterior walls, by receiving a multi-dimensional map of the exterior facade from the elevator platform of the elevator system, generates an ordered sequence of instructions based on the map, the instructions include robot arm operation instructions and elevator platform instructions, these instructions are executed alternately to achieve cleaning of the exterior facade, the processing component receives a multi-dimensional map of at least one facade portion of at least one building; generates a 3D map, which is stored in a memory communicating with the processing component, and then the processing component derives a cleaning mode, which can be a periodic and non-periodic cleaning vector sequence, each cleaning vector The shape and direction of the facade correspond to the shape and direction in the 3D map; the processing component determines an ordered instruction sequence according to the map, which includes instructions for the robot arm and instructions for the building maintenance elevator; the robot arm instructions and the building maintenance elevator instructions are intertwined in time to execute a cleaning mode covering at least part of the facade; the processing component sends the robot arm instructions to the control component to control the robot arm of the robot system, and sends the building maintenance elevator instructions to the control system to control the lifting of the building maintenance elevator, thereby executing the three-dimensional cleaning mode. The entire equipment for cleaning the exterior wall has a simple structure, is easy to operate, and has a better effect than the traditional method. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The present invention is a schematic diagram of the overall structure of an apparatus and method for cleaning exterior walls.

[0016] Figure 2 The present invention is a schematic structural diagram of the installation of a lifting elevator and an equipment support in an equipment and method for cleaning an exterior wall.

[0017] Figure 3The present invention is a schematic diagram of the structure of a cleaning mechanism in an apparatus and method for cleaning an exterior wall.

[0018] Figure 4 This is a structural schematic diagram of an enlarged view of point A in an apparatus and method for cleaning exterior walls of the present invention.

[0019] Figure 5 The present invention is a schematic diagram of the structure of a cleaning mechanism in an apparatus and method for cleaning an exterior wall.

[0020] Figure 6 This is a structural schematic diagram of an enlarged view of point B in an apparatus and method for cleaning exterior walls of the present invention.

[0021] In the figure: 1. lifting elevator; 2. top seat; 3. supporting and positioning frame; 4. strong fixer; 5. cleaning mechanism; 6. mechanical support arm; 7. lifting plate; 8. crane; 9. driving shaft; 10. lifting gear; 11. lifting chain; 12. second regulator; 13. first regulator; 14. rotating disk; 15. mechanical arm support; 16. equipment support; 17. positioning bolt disk; 18. inner support frame; 19. cleaning brush; 20. fixing bracket; 21. brush plate; 22. mounting plate; 23. shaft device; 24. adjusting arm; 25. rotating tube; 26. rotating shaft; 27. mechanical main arm; 28. clamp; 29. ​​hook; 30. clamp seat; 31. clamp slot. DETAILED DESCRIPTION

[0022] The technical scheme of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments, but it will be understood by those skilled in the art that the following described embodiments are part of embodiments of the present invention, rather than all embodiments, and are only used to illustrate the present invention, and should not be considered as limiting the scope of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention. If specific conditions are not specified in the embodiments, they are carried out according to normal conditions or conditions recommended by the manufacturer. If the manufacturer is not specified in the reagents or instruments used, they are all conventional products that can be purchased commercially.

[0023] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] like Figure 1-6 As shown, a device for cleaning an exterior wall comprises a lifting elevator 1, a lifting plate 7 and an equipment support 16, wherein the equipment support 16 is installed at a central position inside the lifting elevator 1, a top seat 2 is installed at the upper end of the equipment support 16, a mechanical arm support 15 is positioned at the middle of the upper end of the top seat 2, a mechanical main arm 27 is arranged on the mechanical arm support 15, a mechanical support arm 6 is movably arranged at the end of the mechanical main arm 27, a cleaning mechanism 5 is installed at the end of the mechanical support arm 6, a crane 8 is installed on the lifting plate 7, a driving shaft 9 is arranged on the crane 8, a lifting gear 10 is arranged at the end of the driving shaft 9, a lifting gear 10 is arranged between the lifting gear 10 and the lifting elevator 1, a lifting chain 11 is located at the four corners of the lifting elevator 1, and the crane 8 is located at the four corners of the lifting plate 7, by receiving a multi-dimensional map of the facade from the elevator platform of the elevator system, an ordered instruction sequence is generated based on the map, the instructions include mechanical arm operation instructions and elevator platform instructions, and these instructions are executed alternately to achieve cleaning of the facade.

[0026] Furthermore, support positioning frames 3 are positioned and installed at the four corners of the top seat 2, and strong fixers 4 are positioned and installed at the four corners of the top of the lifting elevator 1. The support positioning frames 3 are fixed to the strong fixers 4. An inner support frame 18 is positioned and installed at the inner bottom of the equipment support 16, and a positioning bolt plate 17 is positioned between the inner support frame 18 and the lifting elevator 1.

[0027] Furthermore, a rotating disk 14 and a first adjuster 13 are arranged between the robot arm support 15 and the robot main arm 27, a second adjuster 12 is arranged between the robot main arm 27 and the robot support arm 6, the cleaning mechanism 5 includes a cleaning brush 19, a fixed bracket 20, a brush plate 21, a mounting plate 22, a rotating shaft 23 and a rotating tube 25, a rotating shaft 23 is arranged on the rotating tube 25, an adjusting arm 24 is arranged between the rotating tube 25 and the robot support arm 6, and a rotating shaft 26 is arranged between the adjusting arm 24 and the robot support arm 6.

[0028] Furthermore, a clamp 28 is installed at the rear end of the brush plate 21, a hook 29 is integrally formed at the bottom of the clamp 28, a clamp seat 30 is opened at the front end of the mounting plate 22 corresponding to the position of the clamp 28, and a slot 31 is opened on the inner side of the clamp seat 30 corresponding to the position of the hook 29.

[0029] Furthermore, the equipment support 16 is fixed inside the lifting elevator 1, the mechanical main arm 27 moves on the top seat 2, the mechanical support arm 6 moves on the mechanical main arm 27, and the cleaning mechanism 5 is installed at the end of the mechanical support arm 6 and can be adjusted.

[0030] Furthermore, the bottom of the equipment support 16 is fixed to the lifting elevator 1 through a positioning bolt plate 17 , and the top of the equipment support 16 is fixed to the lifting elevator 1 through a supporting positioning frame 3 and a strong fixer 4 .

[0031] Furthermore, the robot main arm 27 rotates on the robot arm support 15 through the rotating disk 14, the robot main arm 27 rotates on the robot arm support 15 through the first adjuster 13, the robot main arm 27 and the robot support arm 6 rotate through the second adjuster 12, the cleaning mechanism 5 is adjusted through the adjusting arm 24 and the rotating shaft 26, and the cleaning mechanism 5 is rotated and adjusted through the rotating shaft 23 and the rotating tube 25.

[0032] Furthermore, the brush plate 21 and the mounting plate 22 are fixed by means of a clamp 28 and a clamp seat 30 , and the clamp 28 and the clamp seat 30 are clamped by means of a clamp hook 29 and a clamp slot 31 .

[0033] A method for cleaning an exterior wall comprises the following steps: S1: A processing component receives a multi-dimensional map of at least one facade portion of at least one building; S2: Generate a 3D map, which will be stored in a memory that communicates with a processing component. Then, the processing component derives a cleaning pattern, which can be a sequence of periodic and non-periodic cleaning vectors, and the shape and direction of each cleaning vector correspond to the shape and direction in the 3D map; S3: The processing component determines an ordered instruction sequence according to the map, the instruction sequence including instructions for the robot arm and instructions for the building maintenance elevator; S4: the robot arm commands and the building maintenance elevator commands are time-interleaved to execute a cleaning pattern covering at least a portion of the facade; S5: The processing component sends the command of the robot arm to the control component to control the robot arm of the robot system, and sends the command of the building maintenance elevator to the control system to control the lifting and lowering of the building maintenance elevator, thereby executing the three-dimensional cleaning mode.

[0034] Working principle: The present invention includes a lifting elevator 1, a top seat 2, a support and positioning frame 3, a strong fixer 4, a cleaning mechanism 5, a mechanical support arm 6, a lifting plate 7, a crane 8, a drive shaft 9, a lifting gear 10, a lifting chain 11, a second regulator 12, a first regulator 13, a rotating disk 14, a mechanical arm support 15, an equipment support 16, a positioning bolt disk 17, an inner support frame 18, a cleaning brush 19, a fixed bracket 20, a brush plate 21, a mounting plate 22, a shaft 23, an adjustment arm 24, a rotating tube 25, a rotating shaft 26, a mechanical main arm 27, a clamp 28, a hook 29, a clamp seat 30, and a clamp slot 31. The processing component receives a multidimensional map of at least one facade portion of at least one building; generates a 3D map, which is stored in a memory communicating with the processing component. Then, the processing component derives a cleaning mode, which can be periodic and non-periodic. A cleaning vector sequence, wherein the shape and direction of each cleaning vector corresponds to the shape and direction in the 3D map; the processing component determines an ordered instruction sequence according to the map, the instruction sequence includes instructions for the robot arm and instructions for the building maintenance elevator; the robot arm instructions and the building maintenance elevator instructions are intertwined in time to execute a cleaning mode covering at least part of the facade; the processing component sends the robot arm instructions to the control component to control the robot arm of the robot system, and sends the building maintenance elevator instructions to the control system to control the lifting and lowering of the building maintenance elevator, thereby executing the three-dimensional cleaning mode, by receiving a multi-dimensional map of the facade from the elevator platform of the elevator system, generating an ordered instruction sequence based on the map, the instructions include robot arm operation instructions and elevator platform instructions, and these instructions are executed alternately to achieve cleaning of the facade.

[0035] It should be noted that, in this article, relational terms such as first and second (number one, number two), etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0036] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A device for cleaning an exterior wall, comprising a lifting elevator (1), a lifting plate (7) and a device support (16), characterized in that: The equipment support (16) is installed at a central position inside the lifting elevator (1); a top seat (2) is installed at the upper end of the equipment support (16); a mechanical arm support (15) is positioned in the middle of the upper end of the top seat (2); a mechanical main arm (27) is arranged on the mechanical arm support (15); a mechanical support arm (6) is movably arranged at the end of the mechanical main arm (27); a cleaning mechanism (5) is installed at the end of the mechanical support arm (6); a crane (8) is installed on the lifting plate (7); a driving shaft (9) is arranged on the crane (8); a lifting gear (10) is arranged at the end of the driving shaft (9); a lifting gear (10) is arranged between the lifting gear (10) and the lifting elevator (1); the lifting chain (11) is located at the four corners of the lifting elevator (1); and the crane (8) is located at the four corners of the lifting plate (7).

2. The device for cleaning exterior walls according to claim 1, characterized in that: A support positioning frame (3) is positioned and installed at the four corners of the top seat (2), and a strong fixer (4) is positioned and installed at the four corners of the top of the lifting elevator (1). The support positioning frame (3) and the strong fixer (4) are fixed to each other. An inner support frame (18) is positioned and installed at the inner bottom of the equipment support (16), and a positioning bolt plate (17) is positioned between the inner support frame (18) and the lifting elevator (1).

3. The device for cleaning exterior walls according to claim 1, characterized in that: A rotating disk (14) and a first adjuster (13) are arranged between the mechanical arm support (15) and the mechanical main arm (27); a second adjuster (12) is arranged between the mechanical main arm (27) and the mechanical support arm (6); the cleaning mechanism (5) comprises a cleaning brush (19), a fixed bracket (20), a brush plate (21), a mounting plate (22), a rotating shaft (23) and a rotating tube (25); the rotating tube (25) is provided with a rotating shaft (23); an adjusting arm (24) is arranged between the rotating tube (25) and the mechanical support arm (6); and a rotating shaft (26) is arranged between the adjusting arm (24) and the mechanical support arm (6).

4. The device for cleaning exterior walls according to claim 1, characterized in that: A clamping piece (28) is mounted on the rear end of the brush plate (21), a clamping hook (29) is integrally formed on the bottom of the clamping piece (28), a clamping seat (30) is provided at the front end of the mounting plate (22) at a position corresponding to the clamping piece (28), and a clamping groove (31) is provided on the inner side of the clamping seat (30) at a position corresponding to the clamping hook (29).

5. The device for cleaning exterior walls according to claim 1, characterized in that: The equipment support (16) is fixed inside the lifting elevator (1), the mechanical main arm (27) moves on the top seat (2), the mechanical support arm (6) moves on the mechanical main arm (27), and the cleaning mechanism (5) is installed at the end of the mechanical support arm (6) and can be adjusted.

6. The device for cleaning exterior walls according to claim 2, characterized in that: The bottom of the equipment support (16) is fixed to the lifting elevator (1) via a positioning bolt plate (17), and the top of the equipment support (16) is fixed to the lifting elevator (1) via a supporting positioning frame (3) and a strong fixer (4).

7. The device for cleaning exterior walls according to claim 3, characterized in that: The mechanical main arm (27) is rotatably movable on the mechanical arm support (15) via a rotating disk (14); the mechanical main arm (27) is rotatably movable on the mechanical arm support (15) via a first adjuster (13); the mechanical main arm (27) and the mechanical support arm (6) are rotatably movable via a second adjuster (12); the cleaning mechanism (5) is regulated via an adjusting arm (24) and a rotating shaft (26); and the cleaning mechanism (5) is rotatably adjusted via a rotating shaft device (23) and a rotating tube (25).

8. The device for cleaning exterior walls according to claim 4, characterized in that: The brush plate (21) and the mounting plate (22) are fixed via a clamping piece (28) and a clamping seat (30), and the clamping piece (28) and the clamping seat (30) are clamped via a clamping hook (29) and a clamping slot (31).

9. A method for cleaning an exterior wall, characterized in that: The steps include: S1: A processing component receives a multi-dimensional map of at least one facade portion of at least one building; S2: Generate a 3D map, which will be stored in a memory that communicates with a processing component. Then, the processing component derives a cleaning pattern, which can be a sequence of periodic and non-periodic cleaning vectors, and the shape and direction of each cleaning vector correspond to the shape and direction in the 3D map; S3: The processing component determines an ordered instruction sequence according to the map, the instruction sequence including instructions for the robot arm and instructions for the building maintenance elevator; S4: the robot arm commands and the building maintenance elevator commands are time-interleaved to execute a cleaning pattern covering at least a portion of the facade; S5: The processing component sends the command of the robot arm to the control component to control the robot arm of the robot system, and sends the command of the building maintenance elevator to the control system to control the lifting and lowering of the building maintenance elevator, thereby executing the three-dimensional cleaning mode.

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