Negative pressure adsorption movable chassis, glass cleaning equipment and cleaning method

Abstract

The invention relates to the technical field of smooth plane moving chassis and glass cleaning, and provides a negative pressure adsorption moving chassis and glass cleaning equipment and a cleaning method.The moving chassis comprises a machine body shell, moving units are symmetrically arranged on the two sides of the machine body shell, and each moving unit comprises a power part arranged on the two sides of the machine body shell and connected with a transmission assembly; a plurality of negative pressure adsorption modules are arranged on the transmission assembly, and the transmission assembly can drive the negative pressure adsorption modules to move circularly; stroke guide rails are symmetrically arranged on the two sides of the machine body shell, the negative pressure adsorption modules make contact with the stroke guide rails in sequence when moving, and the negative pressure adsorption modules making contact with the stroke guide rails are used for being adsorbed to a smooth plane. And the control assembly is arranged on the machine body shell, connected with the power piece and used for controlling the whole machine to move. The practicability of the negative-pressure adsorption movable chassis can be improved, and the negative-pressure adsorption movable chassis is suitable for various scenes and good in economical efficiency; the applied glass cleaning equipment can span a frame body between the glass, so that the glass cleaning efficiency and quality are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of smooth plane mobile chassis and glass cleaning technology, in particular to a negative pressure adsorption mobile chassis and glass cleaning equipment and cleaning method. BACKGROUND

[0002] The traditional suction cup type mobile chassis is a mobile bearing structure specially designed for smooth and flat planes such as glass, acrylic, polished metal surfaces, etc. Its core is to generate negative pressure by a small vacuum pump or negative pressure generator, so that the flexible material such as rubber and silica gel suction cup at the bottom is tightly attached to the plane, and the stable connection between the chassis and the plane is realized by the negative pressure adsorption force. It is usually suitable for low load and has demand for adsorption and fixation, such as glass curtain wall cleaning robot, smooth plane detection equipment bearing, etc.

[0003] The suction cup type glass cleaning equipment is an automatic cleaning equipment specially designed for smooth glass surfaces such as building curtain wall glass, large showcase glass, photovoltaic panel, etc. Its core relies on negative pressure adsorption system, which is composed of vacuum pump, flexible silica gel, rubber suction cup, etc. to realize stable adhesion with glass surface, avoid falling during high altitude or vertical operation. The equipment is usually integrated with a mobile driving mechanism, and is equipped with a cleaning module to move and clean the glass. It is widely used in high-altitude glass cleaning, large-area glass panel maintenance and other scenes that are difficult for manual operation or have low efficiency.

[0004] However, the small vacuum pump or negative pressure generator of the traditional mobile chassis generally needs to be connected to the suction cup one by one to supply negative pressure to the moving suction cup, which has high cost and poor economy. In addition, the glass cleaning equipment is not convenient to cross the window frame and other obstacles when cleaning the curtain wall glass, and manual repositioning is required, which reduces the cleaning quality and efficiency.

[0005] Therefore, in view of the above problems, a negative pressure adsorption mobile chassis and glass cleaning equipment and cleaning method are proposed to solve the above problems. SUMMARY

[0006] The present application is aimed at the deficiencies of the prior art, and a negative pressure adsorption mobile chassis and glass cleaning equipment and cleaning method are developed. The present application can improve the economy of the negative pressure adsorption mobile chassis, is suitable for various scenes and has good practicability. The glass cleaning equipment applied can cross the frame between the glasses, improving the efficiency and quality of glass cleaning.

[0007] To achieve the above purpose, the following technical solutions are used: The application discloses a negative pressure adsorption mobile chassis, which comprises a fuselage shell, mobile units symmetrically arranged on both sides of the fuselage shell, a power piece arranged on both sides of the fuselage shell, a transmission assembly connected with the power piece, a plurality of independent negative pressure adsorption modules arranged on the transmission assembly and capable of driving the negative pressure adsorption modules to move in cycles, stroke guide rails symmetrically arranged on both sides of the fuselage shell, and the negative pressure adsorption modules sequentially contact the stroke guide rails when moving, and the negative pressure adsorption modules in contact with the stroke guide rails are used for being adsorbed on a smooth plane.

[0008] As preferred, the transmission assembly comprises a main transmission piece and a secondary transmission piece, the main transmission piece is arranged at an output end of the power piece, at least two groups of main transmission pieces are arranged on the same side of the fuselage shell, the secondary transmission piece is arranged between the main transmission pieces on the same side of the fuselage shell and is used for driving the secondary transmission piece to rotate in cycles, and the negative pressure adsorption modules are arranged on the secondary transmission piece.

[0009] As preferred, the main transmission piece comprises a driving wheel, the output end of the power piece is connected with two same and coaxial driving wheels, a gap between the two driving wheels is used as a containing groove, a top wheel coaxial with the driving wheel is arranged in the containing groove, the top wheel is used for contacting the negative pressure adsorption modules, the secondary transmission piece comprises a track, and the track is arranged between the non-coaxial driving wheels on the same side of the fuselage shell. The driving wheel is uniformly provided with a clamping tooth in the circumferential direction, one side of the track close to the driving wheel is provided with a clamping groove, the clamping tooth can be inserted into the clamping groove, and the track is driven to rotate in cycles through the clamping between the driving wheel and the track.

[0010] As preferred, the track comprises a plurality of connected chain links, the chain link is in a Y shape and comprises outer connecting parts on both sides of an upper end and an inner connecting part on a lower end, the outer connecting parts and the inner connecting parts of adjacent chain links are rotationally connected through connecting shafts, the distance between the outer connecting parts is consistent with the width of the containing groove, the width of the inner connecting part is smaller than the width of the containing groove, a supporting part is arranged on one side of the inner connecting part close to the driving wheel and is used for contacting the bottom of the stroke guide rail.

[0011] As preferred, the negative pressure adsorption module comprises a negative pressure block arranged on one side of the chain link away from the driving wheel, a negative pressure cavity is formed in the negative pressure block, a piston is slidably arranged in the negative pressure cavity, the piston is connected with a connecting rod, the connecting rod is slidably penetrated through the chain link, a guide pulley is arranged at one end of the connecting rod away from the piston, the axis of the guide pulley is parallel to the axis of the driving wheel, the guide pulley is used for contacting the top wheel and the stroke guide rail, and a suction disc is arranged at one end of the negative pressure block away from the chain link and is connected with the negative pressure cavity on the side of the piston away from the chain link.

[0012] As preferred, the stroke guide rail comprises guide parts at both ends, a guide groove is formed in the stroke guide rail between the guide parts along the length direction of the stroke guide rail and is used for clamping the guide pulley, and the cross section of the guide groove is in a T shape. The guide part comprises a guide block and a reset block, the guide block is wedge-shaped, the narrow end is downward, and the height of the narrow end is lower than the height of the bottom end of the lower side guide pulley of the track, the reset block is arc-shaped, is arranged on the upper side of the guide groove, and the tip is bent downward, and the height of the tip is consistent with the height of the top end of the lower side guide pulley of the track; The bottom plane of the stroke guide rail is used for contacting the chain link, the top plane of the stroke guide rail is used for contacting the guide pulley on the upper side track, and the piston is located at the end far away from the chain link in the negative pressure cavity.

[0013] As preferred, a secondary telescopic assembly is further included, arranged in the negative pressure cavity, comprising a secondary telescopic block, slidingly arranged in the negative pressure cavity, and a reset member is arranged between the secondary telescopic block and the negative pressure block, an inner cavity is formed in the inner side of the secondary telescopic block, and a piston is slidingly arranged in the inner cavity.

[0014] As preferred, a negative pressure bottom plate is further included, arranged on the side of the negative pressure block far away from the chain link, an assembly pressing plate is arranged on the negative pressure bottom plate, a universal joint is penetratingly arranged between the negative pressure bottom plate and the assembly pressing plate, the universal joint can rotate relative to the negative pressure bottom plate and the assembly pressing plate, a suction disc is connected to the outer side end of the universal joint, and the suction disc is connected to the inner cavity through the universal joint.

[0015] The application further provides a glass cleaning device, comprising the negative pressure adsorption mobile base plate, a protection shell is arranged on the body shell of the negative pressure adsorption mobile base plate, and a linkage suspension is further included, a plurality of groups of negative pressure adsorption mobile base plates are arranged on the linkage suspension through floating assemblies, the linkage suspension comprises a side wall frame and a top support, the side wall frame surrounds the outer sides of the plurality of groups of negative pressure adsorption mobile base plates, a cleaning assembly is arranged on the side wall frame, the top support is arranged on the side wall frame, a floating assembly is arranged on the top support, and the floating assembly is connected to the negative pressure adsorption mobile base plate. The floating assembly comprises a suspension rod, the suspension rod is slidingly penetratingly arranged on the top support, suspension springs are arranged outside the suspension rod on both sides of the top support, and the bottom end of the suspension rod is connected to the negative pressure adsorption mobile base plate through a ball socket joint. The cleaning assembly comprises brush strips and a water pipe, and the brush strips and the water pipe are arranged on the bottom of the side wall frame, a plurality of water spraying openings are uniformly arranged on the water pipe, the water pipe is connected to a water pump through a flexible pipe, and the water pump is connected to a water tank.

[0016] The application further provides a glass cleaning method for cleaning glass of a glass curtain wall outer wall, and the glass cleaning device is used, and the method comprises the following steps. Step one: clean water is configured in the water tank, and the clean water is prepared by using deionized water or pure water with a weight ratio of 99%, alkyl polyglycoside with a weight ratio of 0.8%, and ethylenediaminetetraacetic acid disodium salt with a weight ratio of 0.2%. Step two: the water pump is connected to the water tank, the water pump is connected to the water pipe through a flexible pipe, and the water pump is connected to the water tank. Step three: placing the device, lightly pressing each negative pressure adsorption moving base plate of the glass cleaning device on the glass surface on the top of the glass curtain wall outside, and pushing one negative pressure adsorption moving base plate forward or backward by a length distance, so that the negative pressure adsorption moving base plate can be adsorbed on the glass surface; Step four: starting the water pump, so that the water outlet sprays cleaning water on the glass, and the negative pressure adsorption moving base plate moves in the same direction by controlling the power part, and the brush strip cooperates with the cleaning water to brush the glass, and the brushing direction is S-shaped from the upper side to the lower side of the glass; Step five: crossing the window frame, controlling the negative pressure adsorption moving base plate to move, so that the arrangement direction of the negative pressure adsorption moving base plate is perpendicular to the length direction of the window frame to be crossed; the first negative pressure adsorption moving base plate crosses the window frame, and returns to the glass surface to be adsorbed again under the action of the floating assembly, and then the second negative pressure adsorption moving base plate crosses the window frame, and then all the negative pressure adsorption moving base plates cross the window frame in turn; Step six: when the cleaning device moves from top to bottom on the glass, the flexible pipe is lowered according to the height position, and the height of the flexible pipe is always not lower than the height of the cleaning device; Step seven: after the cleaning device is cleaned, the water pump is turned off, and the cleaning device is removed.

[0017] The effects provided in the summary are only the effects of the embodiments, not all the effects of the invention. The above technical solutions have the following advantages: 1、The moving base plate of the present application sets up the negative pressure adsorption module which is independent of each other on the transmission assembly, and the transmission assembly cooperates with the travel guide rail to realize the continuous adsorption of the negative pressure adsorption module when it circulates, instead of the traditional setting that each adsorbing disc needs to be connected with a small vacuum pump or negative pressure generator to generate negative pressure, so that the negative pressure adsorption of the moving base plate is realized by the simple cooperation of the structure, which reduces the cost and is more economical, and the adsorption state of the independent negative pressure adsorption modules does not affect each other, which can realize the crossing of smooth plane grooves, gaps and the like, and has good stability; 2、The moving base plate of the present application sets up the top wheel, so that the guide pulley of the negative pressure adsorption module which is not in the adsorption state can contact the top surface of the top wheel or the travel guide rail, so that the piston is away from one end of the chain link inside the negative pressure block, so that the air in the negative pressure cavity or inner cavity is completely discharged, so as to prepare for the realization of negative pressure adsorption, and at the same time avoid the adverse effect on the negative pressure adsorption effect, which is more practical; 3、The moving base plate of the present application sets up the two-stage telescopic assembly, realizes the two-stage adsorption effect of the negative pressure adsorption module, facilitates the moving base plate to cross the obstacles under the cooperation of the array, improves the passability of the moving base plate, has a wider application range, and is more practical; 4、The mobile chassis of the present application can realize small-angle rotation of the suction cup by setting the negative pressure bottom plate, the assembly pressing plate and the universal joint, so as to adapt to the movement demand of the mobile chassis on the smooth plane with different radian, avoid the failure of negative pressure adsorption, and improve the stability of movement; 5、The glass cleaning equipment of the present application can realize the coordinated movement of the mobile chassis, facilitate the mobile chassis to cross the window frame on the glass, avoid the repeated adjustment of the position of the glass cleaning equipment on the glass by the staff, and improve the practicability and efficiency of glass cleaning. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application together with the embodiments thereof, and explain the present application, but do not constitute a limitation of the present application.

[0019] Figure 1 It is a schematic diagram of the overall structure of the mobile chassis of the embodiment of the present application; Figure 2 It is a schematic diagram of the partial structure of the mobile chassis of the embodiment of the present application; Figure 3 It is a schematic diagram of the side part of the mobile chassis of the embodiment of the present application; Figure 4 It is a schematic diagram of the connection of the negative pressure adsorption module and the chain link of the mobile chassis of the embodiment of the present application; Figure 5 It is a partial explosion schematic diagram of the connection of the negative pressure adsorption module and the chain link of the embodiment of the present application; Figure 6 It is an explosion schematic diagram of the connection of the negative pressure adsorption module and the chain link of the embodiment of the present application; Figure 7 It is a partial cross-sectional schematic diagram of the position of the universal joint of the embodiment of the present application; Figure 8 It is an explosion schematic diagram of the bottom of the chain link of the embodiment of the present application; Figure 9 It is a connection schematic diagram of the partial chain link and the driving wheel of the embodiment of the present application; Figure 10 It is a structure schematic diagram of the stroke guide rail of the embodiment of the present application; Figure 11 It is a separation schematic diagram of the secondary telescopic block and the partial negative pressure block of the embodiment of the present application; Figure 12 It is a structure schematic diagram of a glass cleaning machine of the embodiment of the present application; Figure 13 It is a schematic diagram of the overall structure of the glass cleaning equipment of the embodiment of the present application; Figure 14Part structure schematic diagram of glass cleaning equipment of the embodiment of the present application; Figure 15 Part structure schematic diagram of glass cleaning equipment of the embodiment of the present application; Figure 14 Enlarged view at A in the middle; Figure 16 Part structure schematic diagram of glass cleaning equipment of the embodiment of the present application; Figure 14 Enlarged view at B in the middle; Figure 17 Structure schematic diagram of glass cleaning equipment of another embodiment of the present application; Figure 18 Structure schematic diagram of glass cleaning equipment of another embodiment of the present application; Figure 19 Position schematic diagram of the front end of the glass cleaning equipment of the embodiment of the present application spanning the window frame; Figure 1 ; Figure 20 Position schematic diagram of the front end of the glass cleaning equipment of the embodiment of the present application spanning the window frame; Figure 2 ; Figure 21 Position schematic diagram of the rear end of the glass cleaning equipment of the embodiment of the present application spanning the window frame; Figure 1 ; Figure 22 Position schematic diagram of the rear end of the glass cleaning equipment of the embodiment of the present application spanning the window frame; Figure 2 ; Figure 23 Position schematic diagram of the front and rear end of the glass cleaning equipment of the embodiment of the present application spanning the window frame simultaneously; Figure 24 Schematic diagram of cleaning of the glass cleaning equipment of the embodiment of the present application to the special-shaped smooth surface.

[0020] In the figure, 1, body shell; 2, power piece; 3, transmission assembly; 4, negative pressure adsorption module; 5, stroke guide rail; 6, control assembly; 7, protection shell; 8, linkage suspension; 9, floating assembly; 10, cleaning assembly; 11, glass; 12, window frame; 31, driving wheel; 32, containing groove; 33, top wheel; 34, track; 341, chain link; 342, external connection part; 343, internal connection part; 344, connecting shaft; 345, support part; 41, negative pressure block; 42, negative pressure cavity; 43, piston; 44, connecting rod; 45, guide pulley; 46, suction cup; 47, secondary telescopic block; 48, reset piece; 49, inner cavity; 410, negative pressure bottom plate; 411, assembly pressing plate; 412, universal joint; 51, guide part; 52, guide groove; 511, guide block; 512, reset block; 61, battery; 62, remote control device; 63, sensing device; 81, side wall frame; 82, top support; 91, suspension rod; 92, suspension spring; 93, ball joint; 101, brush strip; 102, water pipe. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0022] As shown in the drawings, the present application provides a technical solution: Figures 1-11 A negative pressure adsorption mobile chassis, comprising a fuselage shell 1, a mobile unit is symmetrically arranged on both sides of the fuselage shell 1, the mobile unit comprises a power member 2, the power member 2 is selected from a motor, and is arranged on both sides of the inside of the fuselage shell 1, the fuselage shell 1 can prevent splashing water, the power member 2 is connected with a transmission assembly 3, a plurality of independent negative pressure adsorption modules 4 are arranged on the transmission assembly 3, and the negative pressure adsorption modules 4 are used to drive the negative pressure adsorption modules 4 to move in cycles; stroke guide rails 5 are symmetrically arranged on both sides of the fuselage shell 1, the stroke guide rails 5 are located in the middle of the transmission assembly 3, and the stroke guide rails 5 do not contact the transmission assembly 3, and the negative pressure adsorption modules 4 can sequentially contact the stroke guide rails 5 when moving, and the negative pressure adsorption modules 4 in contact with the inside of the stroke guide rails 5 are used to be adsorbed on a smooth plane; the mobile chassis further comprises a control assembly 6 arranged on the fuselage shell 1 and connected with the power member 2, and used to control the movement of the whole machine.

[0023] The transmission assembly 3 comprises a main transmission member and an auxiliary transmission member, the output end of the power member 2 is connected with the main transmission member, at least two groups of main transmission members are arranged on both sides of the fuselage shell 1 respectively, the auxiliary transmission member is arranged between the main transmission members on the same side of the fuselage shell 1, and is used to drive the auxiliary transmission member to rotate in cycles, and the negative pressure adsorption modules 4 are arranged on the auxiliary transmission member, so that the negative pressure adsorption modules 4 move in cycles and sequentially contact the stroke guide rails 5.

[0024] In an optional embodiment, the control assembly 6 comprises a battery 61, a remote control device 62 and a sensing device 63, which are all arranged on the inside of the fuselage shell 1, wherein the battery 61 is a rechargeable battery 61, the remote control device 62 and the sensing device 63 are connected with the battery 61 and the power member 2, the remote control device 62 is used to receive a control signal and control the start-stop and rotating speed of the power member 2, and the rotating speed of the power member 2 on different sides of the fuselage shell 1 is adjusted to realize the steering of the whole mobile chassis, and the sensing device 63 is used to detect the working state of the power member 2 and the moving posture of the whole mobile chassis, and common remote control devices 62 and sensing devices 63 on the market can be used, which are not the focus of the present application and will not be described here.

[0025] ​In an alternative embodiment, the main transmission component comprises a driving wheel 31, the output end of the power component 2 is connected to two identical and coaxial driving wheels 31, the gap between the two driving wheels 31 serves as a containing groove 32 for containing part of the components of the negative pressure adsorption module 4 to avoid interference between the negative pressure adsorption module 4 and the transmission assembly 3, a top wheel 33 coaxial with the driving wheel 31 is arranged in the containing groove 32, the top wheel 33 is used to contact part of the components of the negative pressure adsorption module 4, the auxiliary transmission component comprises a track 34, the track 34 is arranged between the non-coaxial driving wheels 31 on the same side of the fuselage shell 1, and the driving wheel 31 can drive the track 34 to rotate; a plurality of clamping teeth are uniformly arranged on the outer side of the driving wheel 31, and a clamping groove is arranged on the side of the track 34 close to the driving wheel 31, the clamping teeth can be inserted into the clamping groove, and the track 34 is driven to rotate circularly by the clamping between the driving wheel 31 and the track 34.

[0026] In an alternative embodiment, the track 34 comprises a plurality of connected chain links 341, the chain link 341 is Y-shaped, comprising an outer connecting part 342 on both sides of the upper end and an inner connecting part 343 at the lower end, the outer connecting part 342 and the inner connecting part 343 of adjacent chain links 341 are rotationally connected through a connecting shaft 344, the distance between the outer connecting parts 342 is consistent with the width of the containing groove 32, the outer connecting part 342 is used to contact and connect with the driving wheel 31, the width of the inner connecting part 343 is smaller than the width of the containing groove 32 to facilitate entering the containing groove 32, a support part 345 is arranged on the side of the inner connecting part 343 close to the driving wheel 31, the support part 345 is used to contact the bottom of the stroke guide rail 5 to reduce the friction between the chain link 341 and the stroke guide rail 5 when the chain link 341 moves, the support part 345 comprises a roller and a roller shaft, the roller is rotationally arranged on the inner connecting part 343 through the roller shaft, and the axis of the roller shaft is parallel to the axis of the driving wheel 31.

[0027] In an optional embodiment, the stroke guide rail 5 comprises guide portions 51 at both ends, a guide groove 52 is provided along the length direction of the stroke guide rail 5 between the guide portions 51, and the guide groove 52 is T-shaped in cross section to avoid interference with the movement of the connecting rod 44; the guide portion 51 comprises a guide block 511 and a reset block 512, the guide block 511 is wedge-shaped with the narrow end downward and the height of the narrow end lower than the height of the bottom end of the lower guide pulley 45 of the track 34, and the reset block 512 is arc-shaped, provided on the upper side of the guide groove 52 and curved with the tip downward, and the height of the tip is consistent with the height of the top end of the lower guide pulley 45 of the track 34 to guide the guide pulley 45 sliding out of the guide groove 52 to restore the original position to the direction of the chain link 341, and facilitate the contact of the guide pulley 45 with the top wheel 33 behind, completely discharge the air in the negative pressure cavity 42, etc., and has good practicability; the bottom plane of the stroke guide rail 5 is used to contact the support portion 345 of the chain link 341, and the top plane of the stroke guide rail 5 is used to contact the guide pulley 45 on the upper track 34, and the piston 43 is located at one end of the negative pressure cavity 42 away from the chain link 341 at this time to support the track 34 and completely discharge the air in the negative pressure cavity 42.

[0028] In an optional embodiment, the negative pressure suction module 4 comprises a negative pressure block 41 provided on the chain link 341 away from the driving wheel 31, a negative pressure cavity 42 is provided in the negative pressure block 41, a piston 43 is slidingly provided in the negative pressure cavity 42, the piston 43 is connected with a connecting rod 44, the connecting rod 44 slidingly penetrates the chain link 341, a guide pulley 45 is provided at the end of the connecting rod 44 away from the piston 43, the axis of the guide pulley 45 is parallel to the axis of the driving wheel 31, the guide pulley 45 is used to contact the top wheel 33 and the stroke guide rail 5, a suction disc 46 is provided at the end of the negative pressure block 41 away from the chain link 341, the suction disc 46 is connected with the negative pressure cavity 42 at the side of the piston 43 away from the chain link 341, the guide pulley 45 is driven to move by the contact with the inner side of the stroke guide rail 5 to make the negative pressure cavity 42 generate negative pressure and realize the suction effect.

[0029] In an optional embodiment, a secondary telescopic assembly is further provided in the negative pressure cavity 42, comprising a secondary telescopic block 47 slidingly provided in the negative pressure cavity 42, and a reset member 48 is provided between the secondary telescopic block 47 and the negative pressure block 41, an inner cavity 49 is provided in the inner side of the secondary telescopic block 47, and the piston 43 is slidingly provided in the inner cavity 49 to realize the secondary adjustment of the negative pressure suction module 4, that is, the primary negative pressure suction effect when not needing to cross the obstacle, and the height of the front end used to contact the obstacle is increased when needing to cross the obstacle, and the negative pressure suction module 4 at the rear side can make the secondary telescopic block 47 slide out relative to the negative pressure block 41 under the jacking action of the obstacle to realize the step-by-step compensation in the height direction and avoid breaking the suction state, thereby improving the practicability of the device.

[0030] In an alternative embodiment, the reset member 48 comprises guide shafts arranged on both sides of the negative pressure cavity 42, and the length direction of the guide shafts is parallel to the sliding direction of the secondary telescopic block 47. The guide shafts are each sleeved with a reset spring, and the two ends of the reset spring can contact the negative pressure block 41 and the secondary telescopic block 47, so that the secondary telescopic block 47 can automatically return to the original position when the inner cavity 49 is in the state of no negative pressure after sliding relative to the negative pressure block 41, which is more practical and has higher working efficiency.

[0031] In an alternative embodiment, a negative pressure bottom plate 410 is arranged on the side of the negative pressure block 41 away from the chain link 341. The negative pressure bottom plate 410 is provided with an assembly pressing plate 411. A universal joint 412 is arranged between the negative pressure bottom plate 410 and the assembly pressing plate 411. The universal joint 412 can rotate relative to the negative pressure bottom plate 410 and the assembly pressing plate 411. The outer end of the universal joint 412 is connected with the suction disc 46. The suction disc 46 is connected with the inner cavity 49 through the universal joint 412. When the suction disc 46 is used to adsorb a smooth surface with a certain curvature, the suction disc 46 can automatically change the contact angle with the smooth surface for adsorption through the universal joint 412, so as to avoid uneven force on the suction disc 46 and cause failure of adsorption, thereby improving the practicality and safety of the device.

[0032] As shown in Figure 12 A glass cleaning machine comprises the above-mentioned negative pressure adsorption moving base plate, and further comprises a protective shell 7 arranged on the negative pressure adsorption moving base plate and surrounding the side surface and the top of the negative pressure adsorption moving base plate. The bottom of the edge of the protective shell 7 is provided with a cleaning assembly 10. The cleaning assembly 10 comprises brush strips 101 and water pipes 102. The brush strips 101 and the water pipes 102 are arranged around the edge of the protective shell 7. The length of the brush strips 101 is sufficient. A plurality of water outlets are arranged on the water pipes 102. A small water pump is arranged on the protective shell 7 or the machine body shell 1. The water pipes 102 are connected with the small water pump. The small water pump can supply water to the cleaning assembly 10 through a long flexible pipe connected with a water tank. The machine body of the glass cleaning machine is small, and is suitable for cleaning large-area single glass. The machine cannot cross obstacles such as window frames. The use cost is low, and the economy is good.

[0033] As shown in Figures 13-18As shown, a glass cleaning device includes the aforementioned negative pressure adsorption mobile chassis. A protective shell 7 is provided on the body housing 1 of the negative pressure adsorption mobile chassis. It also includes a linkage suspension 8. Several sets of negative pressure adsorption mobile chassis are arranged on the linkage suspension 8 via floating components 9. Preferably, more than two sets of negative pressure adsorption mobile chassis are provided. The linkage suspension 8 includes a side frame 81 and a top support 82. The side frame 81 surrounds the outside of the several sets of negative pressure adsorption mobile chassis and does not contact the negative pressure adsorption mobile chassis. A cleaning component 10 is also provided on the side frame 81. The top support 82 is provided on the side frame 81 and a floating component 9 is provided on the top support 82. The floating component 9 is connected to the negative pressure adsorption mobile chassis or the protective shell 7 to keep the negative pressure adsorption mobile chassis in its original state during operation. That is, when one set of negative pressure adsorption mobile chassis crosses an obstacle, the other negative pressure adsorption mobile chassis can restore it to its position of adsorption to the glass.

[0034] The cleaning assembly 10 includes a brush strip 101 and a water pipe 102, both of which are located at the bottom of the side frame 81. Several water nozzles are evenly distributed on the water pipe 102. The water pipe 102 is connected to a water pump through a flexible pipe, and the water pump is connected to a water tank. The length of the flexible pipe meets the requirements.

[0035] In one embodiment, the floating component 9 includes a suspension rod 91, which is slidably disposed on the top support 82. A stop is provided at the top of the suspension rod 91. Suspension springs 92 are sleeved on both sides of the suspension rod 91 on the outside of the top support 82. Under normal conditions, the suspension springs 92 on both sides are not under force. The bottom end of the suspension rod 91 is connected to the negative pressure adsorption moving chassis through a ball joint 93.

[0036] In one embodiment, a squeegee made of rubber is also included, which is set on one side of the linkage suspension 8 to contact the cleaned glass surface and scrape off water stains on the glass surface. This is a feature found on most glass cleaning robots on the market, and any squeegee with the same effect can be selected.

[0037] In another embodiment, the linkage suspension 8 is configured as an irregularly shaped frame, such as an arc shape, or... Figure 18 As shown, several glass washing machines are arrayed on the irregularly shaped frame to meet the cleaning needs of smooth surfaces such as irregularly shaped glass. Each glass washing machine serves as a cleaning unit. Figure 18 For cleaning single-sided irregularly shaped glass, when cleaning multi-sided irregularly shaped glass with window frames in the middle is required, multiple glass washing machines need to be installed, such as... Figure 24 As shown.

[0038] like Figures 19-23 As shown, the present invention also provides a glass cleaning method for cleaning the glass of a glass curtain wall exterior, using the aforementioned glass cleaning equipment, and including the following steps: Step one: configure cleaning water in the water tank, using deionized water or pure water with a weight ratio of 99%, 0.8% alkyl glycoside and 0.2% ethylenediaminetetraacetic acid disodium, mix evenly in the water tank, improve cleaning effect while avoiding environmental pollution; Step two: connect the water tank to the water pump, connect the water pump to the water pipe 102 through a flexible pipe, and connect the glass cleaning equipment through a safety rope to avoid accidents; Step three: place the equipment, lightly press each negative pressure adsorption moving chassis of the glass cleaning equipment on the surface of the glass 11 at the top of the glass curtain wall outside, and push one length of the negative pressure adsorption moving chassis forward or backward, so that the negative pressure adsorption moving chassis can be adsorbed on the surface of the glass 11; Step four: turn on the water pump to spray cleaning water on the surface of the glass 11, control the power element 2 to move the negative pressure adsorption moving chassis in the same direction, and the brush strip 101 cooperates with the cleaning water to brush the glass 11, the brushing direction is S-shaped from the top to the bottom of the glass 11, only the direction of the negative pressure adsorption moving chassis needs to be changed during movement, without changing the direction of the linkage suspension 8, to avoid entanglement between the flexible pipe and the equipment, the linkage suspension 8 is vertically or horizontally arranged; Step five: cross the window frame 12, control the negative pressure adsorption moving chassis to move so that the arrangement direction of the negative pressure adsorption moving chassis is approximately perpendicular to the length direction of the window frame 12 to be crossed, for example, cross the vertical window frame 12 to make the arrangement direction of the negative pressure adsorption moving chassis horizontal, cross the horizontal window frame 12 to make the arrangement direction of the negative pressure adsorption moving chassis vertical; control the first negative pressure adsorption moving chassis to cross the window frame 12, under the action of the floating assembly 9, the first negative pressure adsorption moving chassis returns to the glass surface and re-adsorbs, then the second negative pressure adsorption moving chassis crosses the window frame, and then all the negative pressure adsorption moving chassis cross the window frame in turn, as shown in Figures 19-22 When the arrangement direction of the negative pressure adsorption moving chassis is longer, multiple negative pressure adsorption moving chassis can cross multiple window frames at the same time under the condition of meeting stability and safety, as shown in Figure 23 ; Figures 19-23 The figure in the middle is a schematic view of the horizontal view of the glass, the actual state of the glass should be the vertical state in the field, wherein the arrow perpendicular to the surface of the glass represents the force direction of the corresponding position of the linkage suspension, and the arrow parallel to the surface of the glass represents the moving direction of the glass cleaning equipment; Step six: when the cleaning equipment moves from top to bottom on the glass, gradually lower the flexible pipe and the safety rope according to the height position of the cleaning equipment, and the height of the flexible pipe is always not lower than the height of the cleaning equipment, to avoid the weight of the flexible pipe and water from causing burden to the cleaning equipment; Step seven: after the cleaning equipment finishes cleaning, turn off the water pump, remove the cleaning equipment, and complete the cleaning of one side of the curtain wall glass.

[0039] The details of the present application are well known to those skilled in the art.

[0040] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0041] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features referred to, so the features with "first", "second" can explicitly or implicitly include one or more of the features, and in the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0042] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made thereto without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

[0043] Finally, it should be noted that: the above only describes the preferred embodiments of the present application, and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A negative pressure adsorption mobile chassis, comprising a housing (1), wherein mobile units are symmetrically arranged on both sides of the housing (1), characterized in that, The moving unit includes a power component (2) which is set on both sides of the body shell (1). The power component (2) is connected to the transmission assembly (3). The transmission assembly (3) is equipped with several independent negative pressure adsorption modules (4) and can drive the negative pressure adsorption modules (4) to move in a cycle. The body housing (1) is symmetrically provided with travel guide rails (5) on both sides. When the negative pressure adsorption module (4) moves, it contacts the travel guide rails (5) in sequence. The negative pressure adsorption module (4) that contacts the travel guide rails (5) is used to adsorb onto the smooth surface.

2. The negative pressure adsorption mobile chassis according to claim 1, characterized in that: The transmission assembly (3) includes a main transmission component and a secondary transmission component. The main transmission component is located at the output end of the power component (2). At least two sets of main transmission components are respectively arranged on both sides of the body shell (1). The secondary transmission component is arranged around the main transmission components on the same side of the body shell (1) to drive the secondary transmission component to rotate cyclically. A negative pressure adsorption module (4) is provided on the secondary transmission component.

3. The negative pressure adsorption mobile chassis according to claim 2, characterized in that: The main transmission component includes a drive wheel (31). The output end of the power component (2) is connected to two identical and coaxial drive wheels (31). The gap between the two drive wheels (31) serves as a receiving groove (32). A top wheel (33) coaxial with the drive wheel (31) is installed in the receiving groove (32). The top wheel (33) is used to contact the negative pressure adsorption module (4). The auxiliary transmission component includes a track (34). The track (34) is wound around the non-coaxial drive wheels (31) on the same side of the body shell (1). The drive wheel (31) is evenly provided with teeth in the circumference. The track (34) is provided with a groove on the side close to the drive wheel (31). The teeth can be inserted into the groove. The track (34) is driven to rotate cyclically by the engagement between the drive wheel (31) and the track (34).

4. The negative pressure adsorption mobile chassis according to claim 3, characterized in that: The track (34) includes several interconnected links (341). The links (341) are Y-shaped and include outer portions (342) on both sides of the upper end and inner portions (343) at the lower end. The outer portions (342) and inner portions (343) of adjacent links (341) are rotatably connected by a connecting shaft (344). The distance between the outer portions (342) is the same as the width of the receiving groove (32). The width of the inner portion (343) is smaller than the width of the receiving groove (32). A support portion (345) is provided on the side of the inner portion (343) near the drive wheel (31) for contacting the bottom of the travel guide rail (5).

5. The negative pressure adsorption mobile chassis according to claim 4, characterized in that: The negative pressure adsorption module (4) includes a negative pressure block (41) disposed on the side of the chain link (341) away from the drive wheel (31). A negative pressure chamber (42) is opened in the negative pressure block (41). A piston (43) is slidably disposed in the negative pressure chamber (42). The piston (43) is connected to a connecting rod (44). The connecting rod (44) slides through the chain link (341). A guide pulley (45) is provided at the end of the connecting rod (44) away from the piston (43). The axis of the guide pulley (45) is parallel to the axis of the drive wheel (31). The guide pulley (45) is used to contact the top wheel (33) and the travel guide rail (5). A suction cup (46) is provided at the end of the negative pressure block (41) away from the chain link (341). The suction cup (46) is connected to the negative pressure chamber (42) on the side of the piston (43) away from the chain link (341).

6. The negative pressure adsorption mobile chassis according to claim 5, characterized in that: The travel guide (5) includes guide parts (51) at both ends. A guide groove (52) is provided through the travel guide (5) between the guide parts (51) along its length direction for engaging the guide pulley (45). The cross section of the guide groove (52) is T-shaped.

7. The negative pressure adsorption mobile chassis according to claim 5, characterized in that: It also includes a secondary telescopic assembly, which is set in the negative pressure chamber (42), including a secondary telescopic block (47), which is slidably set in the negative pressure chamber (42), and a reset member (48) is set between the secondary telescopic block (47) and the negative pressure block (41). An inner cavity (49) is opened on the inner side of the secondary telescopic block (47), and a piston (43) is slidably set in the inner cavity (49).

8. The negative pressure adsorption mobile chassis according to claim 7, characterized in that: It also includes a negative pressure base plate (410), which is located on the side of the negative pressure block (41) away from the chain link (341). An assembly pressure plate (411) is provided on the negative pressure base plate (410). A universal connector (412) is provided between the negative pressure base plate (410) and the assembly pressure plate (411). The universal connector (412) can rotate relative to the negative pressure base plate (410) and the assembly pressure plate (411). A suction cup (46) is connected to the outer end of the universal connector (412). The suction cup (46) is connected to the inner cavity (49) through the universal connector (412).

9. A glass cleaning device, comprising a negative pressure adsorption mobile chassis as described in any one of claims 1-8, wherein a protective shell (7) is provided on the body housing (1) of the negative pressure adsorption mobile chassis, characterized in that, It also includes a linkage suspension (8), on which several sets of negative pressure adsorption mobile chassis are set by floating components (9). The linkage suspension (8) includes a side frame (81) and a top support (82). The side frame (81) surrounds the outside of several sets of negative pressure adsorption mobile chassis. A cleaning component (10) is set on the side frame (81). The top support (82) is set on the side frame (81). A floating component (9) is set on the top support (82). The floating component (9) is connected to the negative pressure adsorption mobile chassis. The floating component (9) includes a suspension rod (91), which is slidably mounted on the top support (82). Suspension springs (92) are fitted on both sides of the suspension rod (91) on the outside of the top support (82). The bottom end of the suspension rod (91) is connected to the negative pressure adsorption moving chassis through a ball joint (93). The cleaning assembly (10) includes a brush strip (101) and a water pipe (102), both of which are located at the bottom of the side frame (81). Several water nozzles are evenly opened on the water pipe (102). The water pipe (102) is connected to a water pump through a flexible pipe, and the water pump is connected to a water tank.

10. A glass cleaning method for cleaning the glass of a glass curtain wall exterior, using the glass cleaning equipment as described in claim 9, characterized in that, Includes the following steps: Step 1: Prepare clean water in the water tank, using 99% deionized water or purified water by weight, 0.8% alkyl glycoside and 0.2% disodium EDTA; Step 2: Connect the water pump to the water tank, and connect the water pump and the water pipe (102) through a flexible pipe; Step 3: Place the equipment. Gently press each negative pressure adsorption moving base of the glass cleaning equipment onto the glass surface at the top of the outer side of the glass curtain wall, and push it forward or backward by the length of one negative pressure adsorption moving base so that the negative pressure adsorption moving base can adhere to the glass surface. Step 4: Turn on the water pump so that the spray nozzle sprays cleaning water onto the glass. By controlling the power component (2), the negative pressure adsorption moving chassis moves in the same direction. The brush strip (101) works with the cleaning water to brush the glass. The brushing direction is S-shaped, moving from the top side of the glass to the bottom side. Step 5: Cross the window frame, control the movement of the negative pressure adsorption moving base so that the arrangement direction of the negative pressure adsorption moving base is perpendicular to the length direction of the window frame to be crossed. Control the first negative pressure adsorption moving base to cross the window frame, and under the action of the floating component (9), return to the glass surface to re-adsorb. Then make the second negative pressure adsorption moving base cross the window frame. Then, in turn, make all the negative pressure adsorption moving bases cross the window frame. Step Six: When the cleaning equipment moves from top to bottom on the glass, lower the flexible tube according to its height position, and the height of the flexible tube shall never be lower than the height of the cleaning equipment. Step 7: After the cleaning equipment is cleaned, turn off the water pump and remove the cleaning equipment.

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