Negative pressure adsorption type multifunctional wall-climbing robot

Abstract

The invention relates to the technical field of wall-climbing robots, and discloses a negative pressure adsorption type multifunctional wall-climbing robot which comprises a machine base and four direct-drive motors, the driving ends of the four direct-drive motors are connected with rubber wheels correspondingly, an exhaust fan is fixed to the machine base, and the air suction end of the exhaust fan penetrates through the machine base to climb a wall through negative pressure adsorption. A cleaning roller is arranged at one end of the machine base in a lifting mode, a water scraping strip is arranged at the other end of the machine base in a lifting mode, a layer plate is fixed to the machine base through a connecting part and located above the exhaust fan, and a controller is fixed to the layer plate. When the adsorption force is insufficient, emergency adsorption protection and standby driving force are provided, and stable operation of the robot on a complex surface and in a severe environment is ensured; meanwhile, in combination with linkage control of the air adjusting part and the wall cleaning part, the pressure and mode of the cleaning roller, the water scraping strip and the spraying part can be dynamically adjusted, the cleaning requirements of irregular surfaces such as corrugated glass are met, and the cleaning effect and adaptability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and particularly to a negative pressure adsorption type multi-functional wall-climbing robot. Background Art

[0002] Existing wall-climbing robots mostly rely on negative pressure adsorption technology to achieve the function of curtain wall cleaning, but there are limitations in complex surfaces, such as corrugated glass, photovoltaic panels or strong wind environments. Conventionally, a single exhaust fan is usually used to provide the adsorption force. Once there is local air leakage or the adsorption surface is uneven, it is easy to cause adsorption failure and there is a risk of falling. In addition, the existing robots have insufficient adaptability to the cleaning of curtain walls and cannot dynamically adjust the cleaning pressure and mode according to different surface structures. For example, for uneven corrugated glass, the cleaning effect is limited. At the same time, there is a lack of redundant protection and emergency power systems, and it is difficult to provide safety guarantees when the adsorption force is insufficient, especially when crossing obstacles or dealing with sudden weather, the stability and safety need to be improved urgently.

[0003] Existing wall-climbing robots have low safety due to insufficient or ineffective adsorption force on complex curtain wall surfaces and strong wind environments, and the cleaning function cannot adapt to different surface structures, resulting in limited cleaning efficiency and reliability. Summary of the Invention

[0004] The present invention provides a negative pressure adsorption type multi-functional wall-climbing robot, which can combine the linkage control of the air-conditioning part and the wall-cleaning part, dynamically adjust the pressure and mode of the cleaning roller, wiper strip and spray part, adapt to the cleaning requirements of irregular surfaces such as corrugated glass, significantly improve the cleaning effect and equipment adaptability, and is particularly suitable for the maintenance scenario of high-rise special-shaped curtain walls.

[0005] To solve the above technical problems, the technical solution of the present invention is as follows: In a first aspect, a negative pressure adsorption type multi-functional wall-climbing robot includes a machine base and four direct drive motors. The driving ends of the four direct drive motors are respectively connected with rubber wheels. A suction fan is fixed on the machine base, and the suction end of the suction fan penetrates through the machine base to adsorb the wall by negative pressure. One end of the machine base is provided with a cleaning roller that can be lifted, and the other end is provided with a wiper strip that can be lifted. A layer board is fixed on the machine base through a connecting component and is located above the suction fan. A controller is fixed on the layer board. The robot further includes: A redundancy part, which is arranged on the machine base to provide redundant protection; An air-conditioning part, which is arranged on the redundancy part and is electrically connected to pull the wall-climbing robot to climb the wall by self-starting the redundancy part; A wall-cleaning part, which is arranged between the machine base and the wiper strip and is connected to the air-conditioning part to help clean the curtain wall; The air-conditioning part includes a guiding and pushing part, a pressure-touching part and a blocking and spring part. The guiding and pushing part is arranged on the redundancy part, the pressure-touching part is arranged at a position away from the redundancy part of the guiding and pushing part, and the blocking and spring part is connected inside the guiding and pushing part; The guiding and pushing member includes: an air pipe, which is arranged above the laminar plate; the bullet blocking part includes: a conical cylinder, which is arranged at the lower end of the air pipe in a liftable manner; The wall cleaning part includes a scraping member and a flushing member. The scraping member is arranged at the lower end of the pressing member, and the flushing member penetrates through the scraping member; The scraping member includes: a connecting pipe, which is arranged at the lower end of the conical cylinder.

[0006] Furthermore, the redundant part includes a redundant member and a protective member. The redundant member and the protective member are respectively fixed on the machine base. The redundant member includes: Four exhaust fans, which are staggered and fixed on the machine base, and their suction ends penetrate through the machine base; An exhaust pipe, which is fixed at the exhaust end of the exhaust fan; A frame, which is fixed on the machine base.

[0007] Furthermore, the protective member includes: Four rotating shafts, which rotate through the frame and are symmetrically arranged; Four driven gears, which are respectively fixed at one end of the rotating shaft; Four toothed rollers, which are respectively fixed at the other end of the four rotating shafts and are located inside the frame; Four motors, which are fixed on the machine base through fixing components, and the driving ends of the four motors are respectively meshed and connected with the driven gears.

[0008] Furthermore, the protective member also includes a pulling part, which is arranged on the machine base and movably penetrates through the frame. The pulling part includes: Two guide cylinders, which are fixed on the machine base through connecting components and are respectively located at both ends of the frame; A safety rope, which movably penetrates through the guide cylinder and the frame; The safety rope is squeezed by the four toothed rollers.

[0009] Furthermore, the guiding and pushing member also includes: Four conduits, one end of each of which is respectively inserted into the upper end of the exhaust pipe; The air pipe communicates with the four conduits; The bullet blocking part is arranged at the lower end of the air pipe.

[0010] Furthermore, the bullet blocking part also includes: Two telescopic rods, which are symmetrically fixed at the lower end of the air pipe; Two springs, which are symmetrically fixed at the lower end of the air pipe and are located outside the telescopic rods; The conical cylinder is fixedly connected to the lower ends of the telescopic rods and the springs.

[0011] Furthermore, the pressing member includes: Support rods, there are two of them, respectively fixed on the outer sides of the springs and located near the conical cylinder; Rotating rod, fixed between the two support rods; Pressure plate, rotatably arranged on the outer side of the rotating rod; Sector plate, arranged at one end of the pressure plate to lift the other end of the pressure plate; Switch, fixed at the other end of the air pipe and located above the other end of the pressure plate.

[0012] Furthermore, the scraping member further includes: Bottom plate, arranged at the lower end of the connecting pipe; Cotton brushes, there are two of them, fixed under the bottom plate, and there is a gap between the two cotton brushes, and the lower end of one of the cotton brushes is relatively sharp.

[0013] Furthermore, the jet flushing member includes: Three-way solenoid valve, fixed at the upper end of the connecting pipe and communicated with the conical cylinder; Flange pipe, communicated on one side of the three-way solenoid valve; Inner channel, opened inside the bottom plate; Jet pipe, penetrating through the side of the bottom plate close to the cotton brush and communicated with the inner channel; Flushing adjustment part, arranged on the outer side of the conical cylinder.

[0014] Furthermore, the flushing adjustment part includes: L-shaped ring, integrally formed on the outer side of the conical cylinder; Elastic ring, elastically sleeved on the outer side of the L-shaped ring; Rubber cover, one end connected to the outer side of the elastic ring and the other end connected to the outer side of the conical cylinder and located below the L-shaped ring; Arc-shaped support ring, fixed on the outer side of the air pipe and located above the switch.

[0015] The above scheme of the present invention has at least the following beneficial effects: Through the design of four staggered redundant exhaust fans and the active safety rope retracting system, emergency adsorption protection and standby driving force are provided when the adsorption force is insufficient, ensuring the stable operation of the robot on complex surfaces and in harsh environments; at the same time, combined with the linkage control of the air adjustment part and the wall cleaning part, the pressure and mode of the cleaning roller, the wiper strip and the jet flushing member can be dynamically adjusted to adapt to the cleaning requirements of irregular surfaces such as corrugated glass, improving the cleaning effect and the equipment adaptability. Description of the Drawings

[0016] Figure 1 It is the overall three-dimensional view of the negative pressure adsorption type multi-functional wall climbing robot provided by the embodiment of the present invention; Figure 2 It is the three-dimensional view of the combination of the layer board, the air pipe and the conduit provided by the embodiment of the present invention; Figure 3 Stereogram of the combination of the base, frame and safety rope provided by the embodiment of the present invention; Figure 4 Cross-sectional plan view of the negative pressure adsorption type multi-functional wall-climbing robot provided by the embodiment of the present invention; Figure 5 Cross-sectional plan view of the cleaning roller provided by the embodiment of the present invention; Figure 6 Stereogram of the combination of the motor, main gear, driven gear, toothed roller and safety rope provided by the embodiment of the present invention; Figure 7 Cross-sectional plan view of the bottom plate provided by the embodiment of the present invention; Figure 8 Stereogram of the combination of the connecting pipe, conical cylinder, spring, fan plate and switch provided by the embodiment of the present invention; Figure 9 Stereogram of the combination of the fan plate and the pressing plate provided by the embodiment of the present invention; Figure 10 Provided by the embodiment of the present invention Figure 2 Schematic diagram of the structure at position A in; Figure 11 Provided by the embodiment of the present invention Figure 4 Schematic diagram of the structure at position B in.

[0017] Explanation of reference numerals: In the figure: 1, base; 2, machine cover; 3, direct drive motor; 4, rubber wheel; 5, support frame; 6, rocker arm; 7, electric rod; 8, frame plate; 9, cleaning roller; 10, support rod; 11, motor; 12, fixed frame; 13, wiper strip; 14, exhaust fan; 15, exhaust pipe; 16, frame; 17, rotating shaft; 18, driven gear; 19, toothed roller; 20, motor; 21, main gear; 22, guide tube; 23, safety rope; 24, laminate; 25, controller; 26, conduit; 27, air pipe; 28, telescopic rod; 29, spring; 30, support rod; 31, rotating rod; 32, pressing plate; 33, fan plate; 34, conical cylinder; 35, connecting pipe; 36, bottom plate; 37, cotton brush; 38, flange pipe; 39, inner channel; 40, spray pipe; 41, switch; 42, L ring; 43, elastic ring; 44, rubber cover; 45, arc support ring; 46, three-way solenoid valve. Detailed implementation manners

[0018] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be completely conveyed to those skilled in the art.

[0019] As shown in Figures 1 to 11 the figure, an embodiment of the present invention provides a negative pressure adsorption type multi-functional wall-climbing robot, which includes a base 1 and four direct drive motors 3. The drive ends of the four direct drive motors 3 are respectively connected with rubber wheels 4. A suction fan 14 is fixed on the base 1, and the suction end of the suction fan 14 penetrates through the base 1 to adsorb the wall by negative pressure. One end of the base 1 is provided with a cleaning roller 9 that can be lifted and lowered, and the other end is provided with a wiper strip 13 that can be lifted and lowered. A layer board 24 is fixed on the base 1 through a connecting component and is located above the suction fan 14. A controller 25 is fixed on the layer board 24. The robot further includes: a redundancy part, which is arranged on the base 1 to provide redundant protection; an air-conditioning part, which is arranged on the redundancy part and is electrically connected to self-start the redundancy part to pull the wall-climbing robot to climb the wall; a wall-cleaning part, which is arranged between the base 1 and the wiper strip 13 and is connected to the air-conditioning part to help clean the curtain wall; The air-conditioning part includes a guiding and pushing part and a pressing and touching part. The guiding and pushing part is arranged on the redundancy part, and the pressing and touching part is arranged at a position away from the redundancy part of the guiding and pushing part; The wall-cleaning part includes a scraping part and a spraying part. The scraping part is arranged at the lower end of the pressing and touching part, and the spraying part penetrates through the scraping part.

[0020] Specifically, a machine cover 2 is inserted and fixed on the base 1. The machine cover 2 is located outside the layer board 24 and the safety rope 23 and is penetrated by a conduit 26 and an air pipe 27. Four brackets 5 are welded on the base 1 and are symmetrically arranged. Rocker arms 6 are respectively rotatably connected to the brackets 5. An electric rod 7 is arranged outside the rocker arm 6. One end of the electric rod 7 is rotatably connected to the rocker arm 6, and the other end is rotatably connected to the bracket 5. Frame plates 8 and fixed frames 12 are respectively arranged at both ends of the base 1, and the frame plates 8 and the fixed frames 12 are respectively fixedly connected to the ends of the rocker arm 6. The cleaning roller 9 is rotatably connected to the frame plate 8. A support rod 10 is fixed inside the frame plate 8. One end of the support rod 10 penetrates through the cleaning roller 9 and is rotatably connected to the cleaning roller 9. A cavity is formed inside the cleaning roller 9, and the support rod 10 is located inside the cavity. A motor 11 is fixed at one end of the support rod 10, and the drive end of the motor 11 is connected to the cleaning roller 9 and is on the same axis as the cleaning roller 9. The fixed frame 12 is fixedly connected to the wiper strip 13.

[0021] In the actual application process of this embodiment: The staff needs to place the wall-climbing robot on the surface of the curtain wall (flat glass, corrugated glass, and photovoltaic panel) using the rubber wheels 4. At the same time, start the exhaust fan 14, so that the exhaust fan 14 sucks the air between the machine base 1 and the curtain wall through the suction end and discharges it through the exhaust pipe 15, creating a negative pressure between the suction end of the exhaust fan 14 and the curtain wall, thereby adsorbing the wall-climbing robot on the curtain wall. At the same time, the staff needs to control the telescopic movement of the electric rod 7, so that both ends of the electric rod 7 rotate under the support of the support frame 5 and the rocker arm 6 during the telescopic process, and under the support of the support frame 5, the rocker arm 6 rotates and adjusts the angle as the electric rod 7 expands and contracts. Furthermore, the rocker arm 6 can drive the frame plate 8 and the fixed frame 12 to adjust the angle together. At the same time, the frame plate 8 will drive the cleaning roller 9 to move together, and the fixed frame 12 will drive the wiper blade to move together. Then, by adjusting the angle, the distance between the cleaning roller 9 and the wiper blade and the curtain wall is changed, so that the wiper blade and the cleaning roller 9 can contact and fit the curtain wall. Subsequently, the staff can start the direct drive motor 3, so that the direct drive motor 3 drives the rubber wheels 4 to rotate using the drive end under the support of the machine base 1. The rubber wheels 4 use the friction generated by contacting the curtain wall and the rotational power to roll along the curtain wall, thereby driving the wall-climbing robot to move on the curtain wall. And the operating directions of the four direct drive motors 3 can be controlled separately, so that the wall-climbing robot can turn. The cooperation of a single direct drive motor 3 and the rubber wheels 4 can have a torque output of 30 N·m, and the obstacle-crossing height reaches 10 mm, and it can cross obstacles such as the frame of the photovoltaic panel and the building decoration strip; While the wall-climbing robot is moving along the curtain wall, it is necessary to start the motor 11, so that the motor 11 drives the cleaning roller 9 to rotate using the drive end under the support of the support rod 10 and the rocker arm 6. The cleaning roller 9 can use the rotational power to clean the curtain wall while the wall-climbing robot is moving, and at the same time, the scraper will scrape off the stains and scale on the curtain wall.

[0022] As a preferred embodiment of the present invention, the redundancy all includes redundant parts and protective parts. The redundant parts and the protective parts are respectively fixed on the machine base 1. The redundant parts include: Four exhaust fans 14, which are staggeredly fixed on the machine base 1, and their suction ends penetrate through the machine base 1; The exhaust pipe 15, which is fixed to the exhaust end of the exhaust fan 14; The frame 16, which is fixed on the machine base 1.

[0023] Specifically, the exhaust fan 14 can provide stable support for the exhaust pipe 15. The exhaust pipe 15 can provide a discharge channel for the gas in the exhaust fan 14. The machine base 1 can provide stable support for the frame 16. The frame 16 can provide a protective effect for the inner side setting and can provide rotational support for the rotating shaft 17. Three of the four exhaust fans 14 are redundantly designed. When air leakage occurs in the area involved in one of the exhaust fans 14, resulting in insufficient adsorption force, the other areas involved in the exhaust fans 14 can provide redundant suction protection. During the cleaning of the photovoltaic panel, the exhaust fan 14 can be switched to the low negative pressure mode (300 N / ㎡) to avoid the risk of component hidden cracks. In case of strong winds above level 6 or rainfall, redundant adsorption provides emergency adsorption, and the safety factor reaches the IP67 protection level.

[0024] The protective component includes: Rotating shafts 17, there are four of them, rotatably penetrating through the frame 16 and symmetrically arranged; Driven gears 18, there are four of them, respectively fixed at one end of the rotating shafts 17; Toothed rollers 19, there are four of them, respectively fixed at the other end of the four rotating shafts 17 and located inside the frame 16; Motors 20, there are four of them, fixed on the machine base 1 through fixing components, and the driving ends of the four motors 20 are respectively meshed and connected with the driven gears 18.

[0025] Specifically, the rotating shafts 17 can provide stable support for the driven gears 18 and the toothed rollers 19 under the rotational support of the frame 16. The four toothed rollers 19 can squeeze and clamp the safety rope 23. The driving end of the motor 20 is connected with a main gear 21, and the main gear 21 is meshed with the driven gear 18. The motor 20 can drive the main gear 21 to rotate by using the driving end under the support of the machine base 1, so that the main gear 21 can use the rotational power and meshing effect to push the driven gear 18 to rotate, and the driven gear 18 will drive the rotating shafts 17 and the toothed rollers 19 to rotate together.

[0026] The protective component further includes a pulling part, which is arranged on the machine base 1 and movably penetrates through the frame 16. The pulling part includes: Guide cylinders 22, there are two of them, fixed on the machine base 1 through connecting components and respectively located at both ends of the frame 16; Safety rope 23, movably penetrating through the guide cylinders 22 and the frame 16; The safety rope 23 is squeezed by the four toothed rollers 19.

[0027] In the actual application process of this embodiment, the four exhaust fans 14 can maintain reliable adsorption on the 90° surface curtain wall. The staff can fix one end of the safety rope 23 on one end of the curtain wall and the other end on the other end of the curtain wall, and keep the safety rope 23 straightened. The guide cylinder 22 can provide a penetrating function for the safety rope 23 and can cooperate with the safety rope 23 to provide a guiding function for the machine base 1, so that the machine base 1 can move along the safety rope 23 through the guide cylinder 22 by using external force. The toothed roller 19 can use the rotational power to bite and move along the safety rope 23 as it rotates, thereby driving the wall-climbing robot to move along the safety rope 23, forming an active safety rope 23 retracting and deploying system. When the device is in some areas where adsorption is not possible, the wall-climbing robot can be pulled forward, thus providing safety protection and backup driving force in the case of insufficient adsorption force.

[0028] As a preferred embodiment of the present invention, the guiding and pushing member includes: Four conduits 26, one end of each being hermetically inserted into the upper end of the exhaust pipe 15; An air pipe 27, arranged above the layer plate 24 to communicate the four conduits 26; A bullet-blocking part, arranged at the lower end of the air pipe 27.

[0029] Specifically, the exhaust pipe 15 can provide stable support for the conduits 26 under the support of the exhaust fans 14 and can provide a channel for the gas to enter the conduits 26. The conduits 26 can provide support for the air pipe 27 and can provide a guiding function for the gas to enter the air pipe 27. The air pipe 27 can provide a flow guiding function for the gas.

[0030] The bullet-blocking part includes: Two telescopic rods 28, symmetrically fixed at the lower end of the air pipe 27; Two springs 29, symmetrically fixed at the lower end of the air pipe 27 and located outside the telescopic rods 28; A conical cylinder 34, arranged at the lower end of the air pipe 27 in a liftable manner and fixedly connected to the lower ends of the telescopic rods 28 and the springs 29.

[0031] Specifically, the air pipe 27 can provide support for the telescopic rods 28 and the springs 29. The telescopic rods 28 can expand and contract under the action of external force. The springs 29 have elasticity and can be pushed and stretched by the air flow thrust discharged from the lower end of the air pipe 27 when the suction ends of the four exhaust fans 14 cannot adsorb the corrugated glass. The conical cylinder 34 can use its conical concave structure to provide a blocking effect for the gas discharged from the lower end of the air pipe 27, directly bear the air flow thrust, and transmit the thrust to the springs 29 and the telescopic rods 28.

[0032] The pressure-contact part includes: Two support rods 30, respectively fixed on the outside of the springs 29 and located close to the conical cylinder 34; The rotating rod 31 is fixed between two support rods 30; The pressing plate 32 is rotatably arranged outside the rotating rod 31; The fan-shaped plate 33 is arranged at one end of the pressing plate 32 to lift the other end of the pressing plate 32; The switch 41 is fixed at the other end of the air pipe 27 and is located above the other end of the pressing plate 32.

[0033] Specifically, the spring 29 can provide stable support for the support rod 30, the support rod 30 can provide support for the rotating rod 31, the rotating rod 31 can provide rotational support for the pressing plate 32, the pressing plate 32 can provide support for the fan-shaped plate 33. The fan-shaped plate 33 is of a fan-shaped structure and can use its own weight to press down one end of the pressing plate 32, so that the other end of the pressing plate 32 contacts the switch 41. Moreover, the fan-shaped plate 33 has an arc-shaped concave that can resist the airflow discharged from the air pipe 27 and generate a downward pressure.

[0034] In the actual application process of this embodiment, when it is necessary to use this wall-climbing robot to clean a corrugated glass curtain wall (which leaks air due to unevenness and it is difficult to establish a qualified negative pressure adsorption) or other curtain walls that cannot be adsorbed by the adsorption force generated by the exhaust fan 14, the staff needs to use the safety rope 23. Fix the two ends of the safety rope 23 on the two ends of the curtain wall respectively and straighten it. In the case where it can be adsorbed by the exhaust fan 14, the safety rope 23 can be wound around the outside of the air pipe 27 and the conduit 26 for storage. At the same time, start the exhaust fan 14. At this time, the suction end of the exhaust fan 14 cannot create a negative pressure adsorption, thereby increasing the air volume entering the exhaust pipe 15. Subsequently, the exhaust pipe 15 will use the conduit 26 to transport and collect the airflow into the air pipe 27. After increasing the air flow rate in the air pipe 27, it is vertically discharged from the lower end of the air pipe 27 into the cone 34, so that the cone 34 can be pushed by the airflow to pull the spring 29 and the telescopic rod 28 to elongate in the direction away from the air pipe 27. The airflow will also be applied to the fan-shaped plate 33, so that the fan-shaped plate 33 can be pushed by the airflow to drive the pressing plate 32 to rotate counterclockwise around the rotating rod 31, so that the pressing plate 32 presses the switch 41, and then the switch 41 is triggered by being pressed, so that the switch 41 can start the motor 20 to operate, and the motor 20 can cooperate with the toothed roller 19 and the safety rope 23 to pull this wall-climbing robot forward, thus facilitating the cleaning work of corrugated glass curtain walls and other curtain walls that cannot be adsorbed by the adsorption force generated by the exhaust fan 14 and improving the adaptability.

[0035] As a preferred embodiment of the present invention, the scraping member includes: The connecting pipe 35 is arranged at the lower end of the cone 34; The bottom plate 36 is arranged at the lower end of the connecting pipe 35; There are two cotton brushes 37, which are fixed below the bottom plate 36, and there is a gap between the two cotton brushes 37.

[0036] Specifically, the connecting pipe 35 can provide support for the bottom plate 36, and the bottom plate 36 can provide support for the cotton brush 37. The lower end of one of the cotton brushes 37 is relatively sharp and elastic, which can fit well on the surface of the corrugated glass curtain wall, facilitating water scraping and cleaning.

[0037] The flushing member includes: A three-way solenoid valve 46, fixed at the upper end of the connecting pipe 35 and communicating with the conical cylinder 34; A flange pipe 38, communicating with one side of the three-way solenoid valve 46; An inner channel 39, opened inside the bottom plate 36; A spray pipe 40, passing through the side of the bottom plate 36 close to the cotton brush 37 and communicating with the inner channel 39; An adjustment and flushing part, arranged outside the conical cylinder 34.

[0038] Specifically, the three-way solenoid valve 46 can provide support for the connecting pipe 35 under the support of the conical cylinder 34, and can also provide support for the flange pipe 38, and can control the opening and closing of the channels between the connecting pipe 35, the conical cylinder 34 and the flange pipe 38. The bottom plate 36 can provide a space for opening the inner channel 39. The inner channel 39 and the spray pipe 40 can provide a flow channel for air or water, and the spray pipe 40 can provide a channel for air or water to be discharged vertically downward onto the curtain wall.

[0039] The adjustment and flushing part includes: An L-ring 42, integrally formed on the outside of the conical cylinder 34; An elastic ring 43, elastically sleeved on the outside of the L-ring 42; A rubber cover 44, with one end connected to the outside of the elastic ring 43 and the other end connected to the outside of the conical cylinder 34, and located below the L-ring 42; An arc support ring 45, fixed on the outside of the air pipe 27 and located above the switch 41.

[0040] Specifically, the conical cylinder 34 can provide stable support for the L-ring 42. The elastic ring 43 can use its own elasticity to hoop on the outside of the L-ring 42 for storage, and can use the elasticity to provide support for the rubber cover 44. The rubber cover 44 can be deformed under the action of external force. The air pipe 27 can provide support for the arc support ring 45. The arc support ring 45 has a concave arc, which can provide a placement and positioning space for the elastic ring 43 and support the elastic ring 43 in elastic cooperation.

[0041] In the actual application process of this embodiment, after the wall-climbing robot is adsorbed on the curtain wall, the staff can first connect the hose pipeline for conveying cleaning water to the flange pipe 38, control the electric rod 7 to contract and lift the cleaning roller 9 and the wiper strip 13, control the wall-climbing robot to move along the curtain wall, and at the same time control the three-way solenoid valve 46 to adjust the passage of the flange pipe 38 to be communicable with the connecting pipe 35. Thus, the cleaning water can enter the three-way solenoid valve 46 through the connecting pipeline and the flange pipe 38, pass through the three-way solenoid valve 46 and enter the connecting pipe 35, then pass through the connecting pipe 35 and enter the inner channel 39, fill the inner channel 39 and enter the nozzle 40, and finally pass through the nozzle 40 and be discharged onto the curtain wall. At the same time, in cooperation with the movement of the wall-climbing robot, the cleaning water can be pre-distributed on the curtain wall. After completion, the connected hose pipeline can be removed, the electric rod 7 is controlled to extend, so that the cleaning roller 9 and the wiper strip 13 are in contact with the surface of the curtain wall, and the three-way solenoid valve 46 is controlled to adjust the passage between the conical cylinder 34 and the connecting pipe 35 to be communicated. Then, the stretching elastic ring 43 is removed from the outside of the L ring 42, and the rubber cover 44 is pulled upward to make the elastic ring 43 sleeved on the outside of the air pipe 27, and the elastic ring 43 is placed inside the arc support ring 45 for positioning. The elastic ring 43 can provide positioning support for the rubber cover 44 under the support of the arc support ring 45 and its own elastic force, so that the rubber cover 44 can cover the lower ends of the conical cylinder 34, the arc support ring 45 and the air pipe 27. The residual adsorbed air flow can be discharged from the air pipe 27 and pass through the conical cylinder 34 under the guiding shield of the rubber cover 44 and enter the three-way solenoid valve 46, and then pass through the three-way solenoid valve 46 and enter the connecting pipe 35 and the inner channel 39 in sequence, and finally pass through the nozzle 40 and be sprayed onto the curtain wall, thereby using the blown air flow to assist in drying the curtain wall (the forward speed or stop of the wall-climbing robot can be flexibly controlled), and then the wall-climbing robot can be controlled to move for curtain wall cleaning work.

[0042] When cleaning the corrugated glass curtain wall, the staff needs to control the three-way solenoid valve 46 to keep the passage between the conical cylinder 34 and the connecting pipe 35 communicated, so that when the air flow discharged from the air pipe 27 pushes the conical cylinder 34 and the three-way solenoid valve 46 to move away from the air pipe 27, it can drive the flange pipe 38, the connecting pipe 35, the bottom plate 36, the cotton brush 37 and the nozzle 40 to move together, so that the cotton brush 37 can be in contact with the corrugated glass curtain wall under the support of the bottom plate 36, and when using the pressure generated by the air flow to push, the cotton brush 37 can be in contact with the corrugated glass curtain wall by virtue of its deformable property. Thus, when the wall-climbing robot moves along the curtain wall, it can drive the cotton brush 37 to move together, so that the cotton brush 37 can use the sharp edge of one of the cotton brushes 37 to scrape water, and at the same time use the other cotton brush 37 to further wipe and dry the corrugated glass curtain wall, improving the cleaning adaptability and cleaning effect on the corrugated glass curtain wall.

[0043] Working principle: Four direct-drive motors 3 drive the rubber wheels 4 to rotate. In cooperation with the exhaust fan 14, a negative pressure adsorption is formed between the machine base 1 and the curtain wall (the standard adsorption force reaches 300 N / ㎡). The crawling is achieved by using the friction between the rubber wheels 4 and the surface of the curtain wall. The electric rod 7 controls the angle of the rocker arm 6 to adjust the contact pressure between the cleaning roller 9 and the wiper strip 13 and the curtain wall to adapt to different surfaces.

[0044] Three of the four exhaust fans 14 are redundant designs. When air leakage occurs in a certain area, the other exhaust fans 14 automatically make up for the adsorption force. When there is a strong wind of over level 6 or air leakage, the active retracting and releasing system of the safety rope 23 is started: The toothed roller 19 is driven by the motor 20 to bite the safety rope 23 to tow the wall-climbing robot to move (torque 30 N·m, obstacle-crossing height 10 mm). The design of three exhaust fans 14 for standby out of four ensures that a single-point failure does not affect adsorption. The safety rope 23 system provides emergency traction when the adsorption fails, providing multiple adaptation redundancies to improve adaptability. The double self-locking structure of the toothed roller 19 prevents slipping.

[0045] When cleaning a flat curtain wall, the exhaust fan 14 adsorbs normally, the cleaning roller 9 rotates for wiping, and the wiper strip 13 scrapes off stains. When cleaning a corrugated glass curtain wall, after the air conditioner senses adsorption failure, the airflow triggers the pressure contact part to start the traction of the safety rope 23. At the same time, the jet part sprays airflow to assist the cotton brush 37 to fit the concave and convex surface for cleaning; The curtain wall is sprayed with water externally through the flange pipe 38, and the residual airflow of the exhaust fan 14 is used to blow in a directional manner through the spray pipe 40 to accelerate drying. The working mode of the flat / corrugated curtain wall is automatically switched through wind pressure sensing, and the contact pressure is adaptively adjusted to improve adaptability and cleaning effect.

[0046] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A negative pressure adsorption type multi-functional wall-climbing robot, comprising a base and four direct drive motors. The driving ends of the four direct drive motors are respectively connected with rubber wheels. A suction fan is fixed on the base, and the suction end of the suction fan penetrates through the base for wall-climbing by negative pressure adsorption. A cleaning roller is arranged at one end of the base in a liftable manner, and a wiper strip is arranged at the other end in a liftable manner. A layer board is fixed on the base through a connecting component and is located above the suction fan. A controller is fixed on the layer board, and it is characterized in that, It also includes: A redundancy unit, which is arranged on the machine base to provide redundant protection; An air-conditioning unit, which is arranged on the redundancy unit and electrically connected to pull the wall-climbing robot to climb the wall by self-starting the redundancy unit; A wall-cleaning unit, which is arranged between the machine base and the wiper strip and connected to the air-conditioning unit to help clean the curtain wall; The air-conditioning unit includes a guide and push member, a pressing and touching member, and a bullet-blocking part. The guide and push member is arranged on the redundancy unit, the pressing and touching member is arranged at a position away from the redundancy unit of the guide and push member, and the bullet-blocking part is connected inside the guide and push member; The guide and push member includes: an air pipe, which is arranged above the laminate; the bullet-blocking part includes: a conical cylinder, which is arranged at the lower end of the air pipe in a liftable manner; The wall-cleaning unit includes a scraping member and a spraying member. The scraping member is arranged at the lower end of the pressing and touching member, and the spraying member penetrates through the scraping member; The scraping member includes: a connecting pipe, which is arranged at the lower end of the conical cylinder.

2. The negative pressure adsorption type multi-functional wall-climbing robot according to claim 1, characterized in that, The redundancy unit includes a redundant part and a protection part. The redundant part and the protection part are respectively fixed on the machine base. The redundant part includes: Four exhaust fans, which are staggered and fixed on the machine base, and their suction ends penetrate through the machine base; A discharge pipe, which is fixed at the exhaust end of the exhaust fan; A frame, which is fixed on the machine base.

3. The negative pressure adsorption type multi-functional wall-climbing robot according to claim 2, characterized in that, The protection part includes: Four rotating shafts, which rotate through the frame and are symmetrically arranged; Four driven gears, which are respectively fixed at one end of the rotating shaft; Four toothed rollers, which are respectively fixed at the other end of the four rotating shafts and are located inside the frame; Four motors, which are fixed on the machine base through fixing parts, and the driving ends of the four motors are respectively meshed and connected with the driven gears.

4. The negative-pressure adsorption type multi-functional wall-climbing robot according to claim 3, wherein, The protection part also includes a pulling part, which is arranged on the machine base and movably penetrates through the frame. The pulling part includes: Two guide cylinders, which are fixed on the machine base through connecting parts and are respectively located at both ends of the frame; A safety rope, which movably penetrates through the guide cylinder and the frame; The safety rope is squeezed by the four toothed rollers.

5. The negative pressure adsorption type multi-functional wall-climbing robot according to claim 4, characterized in that, The guide and push member also includes: Four conduit pipes, one end of each of which is respectively inserted into the upper end of the discharge pipe; The air pipe communicates with the four conduit pipes; The bullet-blocking part is arranged at the lower end of the air pipe.

6. The negative pressure adsorption type multi-functional wall-climbing robot according to claim 5, wherein, The bullet-blocking part also includes: Two telescopic rods, which are symmetrically fixed at the lower end of the air pipe; Two springs, which are symmetrically fixed at the lower end of the air pipe and are located outside the telescopic rods; The conical cylinder is fixedly connected to the lower ends of the telescopic rods and the springs.

7. The negative pressure adsorption type multi-functional wall-climbing robot according to claim 6, characterized in that, The pressing and touching member includes: Two support rods, which are respectively fixed on the outside of the spring and are located at positions close to the conical cylinder; A rotating rod, which is fixed between the two support rods; A pressing plate, which is rotatably arranged outside the rotating rod; A fan-shaped plate, which is arranged at one end of the pressing plate to lift the other end of the pressing plate; A switch, which is fixed at the other end of the air pipe and is located above the other end of the pressing plate.

8. The negative pressure adsorption type multi-functional wall-climbing robot according to claim 7, wherein, The scraping member also includes: A bottom plate, which is arranged at the lower end of the connecting pipe; Two cotton brushes, which are fixed below the bottom plate, and there is a gap between the two cotton brushes, and the lower end of one of the cotton brushes is relatively sharp.

9. The negative pressure adsorption type multi-functional wall-climbing robot according to claim 8, characterized in that, The spraying member includes: A three-way solenoid valve, which is fixed at the upper end of the connecting pipe and communicates with the conical cylinder; A flange pipe, which is communicated on one side of the three-way solenoid valve; An inner channel, which is opened inside the bottom plate; A spray pipe, which penetrates through one side of the bottom plate close to the cotton brush and communicates with the inner channel; A spray adjustment part, which is arranged outside the conical cylinder.

10. The negative pressure adsorption type multi-functional wall-climbing robot according to claim 9, characterized in that, The spray adjustment part includes: The L-shaped ring is integrally formed on the outer side of the conical cylinder; The elastic ring is elastically sleeved on the outer side of the L-shaped ring; The rubber cover is connected to the outer side of the elastic ring at one end and to the outer side of the conical cylinder at the other end, and is located below the L-shaped ring; The arc-shaped supporting ring is fixed on the outer side of the air pipe and is located above the switch.

Images