Glass curtain wall cleaning robot

Abstract

The invention discloses a glass curtain wall cleaning robot. The glass curtain wall cleaning robot comprises a rack, a walking module, an adsorption module, a cleaning module and a controller. A central shaft is a hollow pipe and forms a water flow channel, the lower end of the central shaft is connected with a water spraying disc with an inclined nozzle, and the upper end of the central shaft is connected with high-pressure water flow through a rotary joint; when water flow is sprayed out from the nozzle, generated torque drives the water spraying disc, the center shaft and the propeller fixed to the center shaft to rotate synchronously, the propeller generates reverse thrust to press the robot on the surface of the curtain wall, and water flow power is used for driving the adsorption disc and the cleaning disc to spin at the same time. The cleaning module adopts a'two-disc and two-roller 'layout driven by a single motor, and a spring buffer structure of a disc brush and a central spraying system are combined, so that dead-angle-free and self-adaptive efficient cleaning is realized. An independent adsorption power source is omitted, and the cleaning device has the remarkable advantages of being simplified in structure, light in whole machine weight, low in energy consumption, safe and reliable in operation and high in cleaning efficiency.

Description

Technical Field

[0001] This invention relates to the field of cleaning, and in particular to a glass curtain wall cleaning robot. Background Technology

[0002] With the acceleration of urbanization, high-rise and super high-rise buildings are increasing, and glass curtain walls are widely used due to their modern and aesthetically pleasing characteristics. However, the cleaning and maintenance of curtain walls has become a serious challenge. Traditionally, the cleaning of curtain walls in high-rise buildings has mainly relied on manual labor, often referred to as "spider-men," which is not only inefficient and costly but also poses significant safety risks. To address these issues, curtain wall cleaning robots have emerged on the market to replace manual labor. Currently, the technical solutions for these robots mainly take the following forms:

[0003] 1. Vacuum Adsorption Wall-Climbing Robot:

[0004] These robots create a negative pressure chamber between their body and the curtain wall using a vacuum pump or fan, thereby generating suction force. Their disadvantages include high energy consumption, high noise levels, and the bulky suction cup structure results in a large robot size and weight, limiting its mobility.

[0005] 2. Magnetic Adsorption Wall-Climbing Robot:

[0006] This type of robot relies on permanent magnets or electromagnets to adhere to metal curtain walls or structures. Its application scenarios are extremely limited; it cannot be used on mainstream non-magnetic glass curtain walls, stone curtain walls, etc., resulting in poor versatility.

[0007] Therefore, there is an urgent need in this field for a glass curtain wall cleaning robot that is simple in structure, lightweight, and low in energy consumption, in order to completely overcome the many shortcomings of the existing technology. Summary of the Invention

[0008] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a glass curtain wall cleaning robot.

[0009] The technical solution of the present invention is as follows: a glass curtain wall cleaning robot, characterized in that it includes: a frame and a walking module, an adsorption module, a cleaning module and a controller disposed on the frame;

[0010] The walking module includes rollers and a first drive mechanism, the first drive mechanism being connected to the rollers to drive the robot to move on the curtain wall surface;

[0011] The adsorption module includes a propeller, a central shaft, and a water spray plate. The central shaft is rotatably mounted on the frame and is a hollow tube to form a water flow channel. The propeller is coaxially fixed on the central shaft. The water spray plate is located at the lower end of the central shaft. The water spray plate has several nozzles arranged around its circumference. The spray direction of the nozzles is configured such that when water is sprayed out, torque is generated to drive the water spray plate and the central shaft to rotate together. At this time, the propeller rotates along with the water spray plate to generate a counter-thrust force to adsorb the robot onto the curtain wall surface.

[0012] The cleaning module includes a cleaning brush and a second drive mechanism. The cleaning brush is rotatably mounted at the bottom of the frame, and the second drive mechanism is connected to the cleaning brush to drive the cleaning brush to rotate and clean the curtain wall surface.

[0013] The first drive mechanism and the second drive mechanism are respectively connected to the controller.

[0014] Furthermore, the frame is provided with the rollers on the front and rear sides respectively, and the first drive mechanism includes a first motor fixedly disposed on the rear side of the frame, the first motor being connected to the rollers located on the rear side of the frame.

[0015] Furthermore, the rack is equipped with a battery, a camera, and an ultrasonic sensor, which are respectively connected to the controller, which integrates a wireless communication module.

[0016] Furthermore, a flow guide is fixedly provided on the frame, the flow guide is provided to cover the outside of the propeller, and a bushing is also fixedly provided on the frame, the bushing is sleeved on the central shaft, and the central shaft is rotatably connected to the bushing through a bearing.

[0017] Furthermore, the upper end of the central shaft is provided with a rotary joint, one end of which is inserted into the central shaft and forms a dynamic seal with the central shaft through a sealing ring, and the other end is connected to a water inlet pipe; the lower end of the central shaft is threadedly connected to the water spray plate, the interior of the water spray plate is hollow and communicates with the water flow channel, and a number of nozzles are provided on the outer wall of the water spray plate.

[0018] Furthermore, the cleaning brush includes a roller brush and a disc brush, both of which are rotatably mounted on the bottom of the frame. The second drive mechanism includes a second motor, a first transmission assembly, and a second transmission assembly. The second motor is fixedly mounted on the frame. The second motor drives the disc brush to rotate through the first transmission assembly and drives the roller brush to rotate through the second transmission assembly.

[0019] Furthermore, the cleaning module consists of two sets, with the roller brushes in the two sets of cleaning modules respectively located on the front and rear sides of the bottom of the frame, and the disc brushes in the two sets of cleaning modules arranged side by side on the left and right sides of the middle of the bottom of the frame.

[0020] Furthermore, the first transmission assembly includes a first bevel gear and a second bevel gear, and a brush holder is provided at the bottom of the frame. The bottom of the brush holder is connected to the brush by a spring, and the brush can move up and down relative to the brush holder.

[0021] The brush holder is provided with a vertical first rotating shaft, which is rotatably connected to the frame. The first rotating shaft is provided with a first bevel gear. The second motor is horizontally fixed on the frame. The motor shaft of the second motor is provided with a second bevel gear. The first bevel gear meshes with the second bevel gear.

[0022] The second transmission assembly includes a second pulley, a third pulley, and a transmission belt. The roller brush is provided with a second rotating shaft, which is rotatably connected to the frame. The second rotating shaft is provided with a second pulley, and the motor shaft of the second motor is provided with a third pulley. The second pulley and the third pulley are connected by the transmission belt.

[0023] Furthermore, the disc brush has a ring structure with a spray disc with a hole at its center. The disc brush seat has a clearance hole that extends upward through the first rotating shaft. A water supply pipe is provided on the upper side of the spray disc. The water supply pipe extends upward through the clearance hole and is connected to an external water source. The first rotating shaft is rotatably connected to the water supply pipe through a bearing.

[0024] Furthermore, the bottom perimeter of the frame is provided with perforated spray pipes, and the bottom front and rear sides of the frame are provided with wiper strips.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. Integrated Adsorption-Cleaning Dynamic Coupling

[0027] Adopting an integrated adsorption-cleaning design, the reverse torque of the jet water flow simultaneously drives the propeller to generate adsorption force and rotate the cleaning disc. This eliminates the need for a separate vacuum pump or high-power fan for the adsorption function, achieving a fundamental innovation of water-driven power, structural simplification, and energy reduction.

[0028] 2. Layout of two high-efficiency cleaning systems

[0029] The “two disc brushes and two roller brushes” collaborative layout: two disc brushes are placed side by side in the center, and two roller brushes are arranged in front and behind, achieving thorough cleaning, reducing back-strokes, and doubling efficiency.

[0030] The "single motor driven multi-brush" transmission system uses only one motor to synchronously drive all disc brushes and roller brushes through bevel gears and belt transmission, which greatly simplifies the structure and reduces weight.

[0031] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and the drawings are only examples and not strictly drawn to scale. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort:

[0033] Figure 1 This is an overall schematic diagram of the present invention;

[0034] Figure 2 This is a bottom schematic diagram of the present invention;

[0035] Figure 3 This is a cross-sectional schematic diagram of the present invention;

[0036] Figure 4 This is a schematic diagram of the adsorption module portion of the present invention;

[0037] Figure 5 This is a schematic diagram of the cleaning module portion of the present invention;

[0038] Figure 6 This is a cross-sectional schematic diagram of the cleaning module part of the present invention.

[0039] Figure label:

[0040] 1. Frame; 11. Spray pipe; 12. Squeegee;

[0041] 2. Walking module; 21. Roller; 22. First motor;

[0042] 3. Adsorption module; 31. Propeller; 32. Central shaft; 33. Water spray plate; 34. Nozzle; 35. Flow guide; 36. Bushing; 37. Rotary joint; 38. Water inlet pipe;

[0043] 4. Cleaning module; 41. Roller brush; 42. Disc brush; 43. Second motor; 44. First bevel gear; 45. Second bevel gear; 46. Disc brush holder; 47. Spring; 48. First rotating shaft; 49. Second pulley; 410. Third pulley; 411. Transmission belt; 412. Spray disc; 413. Water supply pipe. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," "vertical," "circumferential," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] In the description of this invention, "first feature" and "second feature" may include one or more of the indicated features. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of the indicated features.

[0048] Please refer to the attached diagram below. Figures 1-6 This invention describes a glass curtain wall cleaning robot according to an embodiment of the present invention. The glass curtain wall cleaning robot mainly includes a frame 1, a walking module 2, an adsorption module 3, a cleaning module 4, and a controller.

[0049] The frame 1, as the main load-bearing structure of the entire robot, is usually made of lightweight, high-strength materials such as aluminum alloy or engineering plastics. In the specific manufacturing process, 3D printing and laser cutting processes can be combined to ensure structural strength and reduce overall weight.

[0050] The walking module 2 includes rollers 21 and a first drive mechanism. The first drive mechanism is connected to the rollers 21 to drive the robot to move on the curtain wall surface. In some embodiments, the rollers 21 are respectively provided on the front and rear sides of the frame 1. The first drive mechanism includes a first motor 22 fixedly mounted on the rear side of the frame 1. The first motor 22 is connected to the rollers 21 located on the rear side of the frame 1. This walking layout is simple and easy to implement.

[0051] The adsorption module 3 includes a central shaft 32, a propeller 31, and a water spray plate 33. The central shaft 32 is rotatably mounted on the frame 1. The central shaft 32 is a hollow tubular structure with a through-flow water channel inside. The propeller 31 is coaxially fixed to the central shaft 32 by means of key connection or other methods. The lower end of the central shaft 32 is detachably connected to the water spray plate 33 by threads. The water spray plate 33 is hollow inside and communicates with the water channel, and has several nozzles 34 arranged circumferentially. The axes of these nozzles 34 do not pass through the rotation center of the water spray plate 33. Therefore, when the high-pressure water jet is sprayed out, a tangential reaction force is generated, forming a torque to drive the water spray plate 33 and the central shaft 32 to rotate together. At this time, the propeller 31 rotates as well, generating a thrust to adsorb the robot onto the curtain wall surface.

[0052] To optimize adsorption efficiency and stability, a flow guide shroud 35 fixed to the frame 1 is provided on the outer cover of the propeller 31. The flow guide shroud 35 can effectively guide the airflow generated by the propeller 31, forming a higher pressure zone, thereby significantly enhancing the adsorption force. At the same time, a bushing 36 is fixedly installed on the frame 1, and the central shaft 32 forms a rotating pair with the bushing 36 through bearings, ensuring stability and smoothness during high-speed rotation.

[0053] A two-way rotary joint 37 is connected to the upper end of the central shaft 32. The stationary end of the rotary joint 37 is connected to the external high-pressure water inlet pipe 38, while the rotating end is inserted into the upper end of the central shaft 32. A reliable dynamic seal is formed through components such as O-rings to ensure that the high-pressure water flow is transmitted between the stationary pipe and the rotating central shaft 32 without leakage.

[0054] During operation, high-pressure water enters the water channel of the central shaft 32 through the rotary joint 37, then flows into the spray plate 33, and finally is sprayed out at high speed from the inclined nozzle 34. The sprayed water not only cleans the curtain wall, but the counter-torque it generates drives the spray plate 33, the central shaft 32, and the propeller 31 fixed on it to rotate at high speed. The rotating propeller 31 accelerates and pushes out air, generating a thrust (i.e., suction force) that presses the robot firmly against the surface of the curtain wall, allowing the robot to adhere stably to the curtain wall.

[0055] The cleaning module 4 is responsible for mechanically scrubbing the curtain wall surface. This module includes cleaning brushes and a second drive mechanism. In some embodiments, the cleaning brushes specifically include cylindrical roller brushes 41 and disc-shaped disk brushes 42. In a preferred layout, there are two sets of cleaning modules 4. The roller brushes 41 of the two sets of cleaning modules 4 are respectively arranged on the front and rear sides of the bottom of the frame 1, while the disk brushes 42 of the two sets of cleaning modules 4 are arranged side by side on the left and right sides of the middle of the bottom of the frame 1. This "two disks and two rollers" layout can increase the cleaning coverage and improve cleaning efficiency.

[0056] The second drive mechanism includes a second motor 43, a first transmission assembly, and a second transmission assembly. The first transmission assembly includes a first bevel gear 44 and a second bevel gear 45. A disc brush holder 46 is provided at the bottom of the frame 1. A disc brush 42 is connected to the bottom of the disc brush holder 46 via a spring 47. The disc brush 42 can move up and down relative to the disc brush holder 46. The spring 47 structure plays a buffering and shock-absorbing role and enables the disc brush 42 to adapt to the unevenness of the curtain wall surface and maintain a constant brushing pressure.

[0057] The disc brush holder 46 is equipped with a vertical first rotating shaft 48, which is rotatably connected to the frame 1. A first bevel gear 44 is mounted on the first rotating shaft 48. A second motor 43 is horizontally fixed to the frame 1. A second bevel gear 45 is mounted on the motor shaft of the second motor 43, and the first bevel gear 44 meshes with the second bevel gear 45. The second transmission assembly includes a second pulley 49, a third pulley 410, and a transmission belt 411. The roller brush 41 is equipped with a second rotating shaft, which is rotatably connected to the frame 1. The second rotating shaft is equipped with the second pulley 49, and the motor shaft of the second motor 43 is equipped with the third pulley 410. The second pulley 49 and the third pulley 410 are connected via the transmission belt 411. Thus, a single second motor 43 can simultaneously drive the disc brush 42 and the roller brush 41 through bevel gear transmission and belt transmission, greatly simplifying the transmission system and reducing the overall weight and manufacturing cost.

[0058] To further enhance the cleaning effect, the disc brush 42 is designed with a ring structure. A spray disc 412 with multiple small holes is fixed at its center. Both the disc brush seat 46 and the first rotating shaft 48 have clearance holes at their centers. A water supply pipe 413 passes through these clearance holes and connects to the spray disc 412, providing cleaning water. The first rotating shaft 48 is rotatably connected to the stationary water supply pipe 413 via bearings, achieving a seal and isolation between the rotating disc brush 42 and the stationary water supply pipe 413. This design enables precise water spraying to the center of the cleaning area, saving water and increasing efficiency.

[0059] In addition, a ring of perforated spray pipes 11 is fixed around the bottom perimeter of the frame 1 for pre-wetting or auxiliary rinsing of the curtain wall. Soft squeegees 12 are also installed on the front and rear sides of the bottom of the frame 1 to immediately scrape away wastewater from the curtain wall surface after washing, avoiding secondary pollution and ensuring the glass is cleaned quickly.

[0060] A battery is also installed on rack 1 to power the entire system. To enhance its intelligence, a high-definition camera is mounted on rack 1 to capture images during the cleaning process. The robot is also equipped with an ultrasonic sensor to detect the distance to obstacles. The controller integrates a wireless communication module (such as 4G / 5G or Wi-Fi) for remote interaction; this remote control technology is existing and will not be elaborated further.

[0061] The overall workflow of this device is as follows:

[0062] The operator starts the robot via a remote control terminal. First, the water supply system is turned on, and high-pressure water flows through the adsorption module 3, driving the propeller 31 to rotate and generate suction force, keeping the robot close to the curtain wall. Then, the first drive mechanism of the walking module 2 and the second drive mechanism of the cleaning module 4 are activated. The robot begins to move across the curtain wall surface, while the roller brush 41 and disc brush 42 rotate at high speed to clean, and the spray pipe 11 and spray disc 412 spray water synchronously. Cameras and sensors monitor the working environment and status in real time to ensure safety. After cleaning is complete, the robot returns to the starting point, the water system and motors are turned off, and it is retrieved by the operator.

[0063] In summary, this device has the following characteristics:

[0064] 1. Integrated Adsorption-Cleaning Dynamic Coupling

[0065] Adopting an "integrated adsorption-cleaning" design, the reverse torque of the jet water flow simultaneously drives the propeller 31 to generate adsorption force and rotate the cleaning disc. There is no need to configure a separate vacuum pump or high-power fan for the adsorption function, achieving a fundamental innovation of water-driven force, structural simplification and energy consumption reduction.

[0066] 2. Layout of two high-efficiency cleaning systems

[0067] The “two discs and two rollers” collaborative layout: two disc brushes 42 are placed side by side in the center, and two roller brushes 41 are arranged in front and behind, achieving thorough cleaning, reducing return strokes, and doubling efficiency.

[0068] The "single motor driven multi-brush" transmission system uses only one motor to synchronously drive all disc brushes 42 and roller brushes 41 through bevel gears and belt transmission, which greatly simplifies the structure and reduces weight.

[0069] Although some embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations of these embodiments without departing from the principles and spirit of the present invention are within the scope of protection of the claims of the present invention.

Claims

1. A glass curtain wall cleaning robot, characterized in that, include: The frame, and the walking module, adsorption module, cleaning module and controller mounted on the frame; The walking module includes rollers and a first drive mechanism, the first drive mechanism being connected to the rollers to drive the robot to move on the curtain wall surface; The adsorption module includes a propeller, a central shaft, and a water spray plate. The central shaft is rotatably mounted on the frame and is a hollow tube to form a water flow channel. The propeller is coaxially fixed on the central shaft. The water spray plate is located at the lower end of the central shaft. The water spray plate has several nozzles arranged around its circumference. The spray direction of the nozzles is configured such that when water is sprayed out, torque is generated to drive the water spray plate and the central shaft to rotate together. At this time, the propeller rotates along with the water spray plate to generate a counter-thrust force to adsorb the robot onto the curtain wall surface. The cleaning module includes a cleaning brush and a second drive mechanism. The cleaning brush is rotatably mounted at the bottom of the frame, and the second drive mechanism is connected to the cleaning brush to drive the cleaning brush to rotate and clean the curtain wall surface. The first drive mechanism and the second drive mechanism are respectively connected to the controller.

2. The glass curtain wall cleaning robot according to claim 1, characterized in that, The frame is provided with the rollers on the front and rear sides respectively. The first drive mechanism includes a first motor fixedly mounted on the rear side of the frame, and the first motor is connected to the rollers located on the rear side of the frame.

3. The glass curtain wall cleaning robot according to claim 1, characterized in that, The rack is equipped with a battery, a camera, and an ultrasonic sensor. The battery, camera, and ultrasonic sensor are respectively connected to the controller, which integrates a wireless communication module.

4. The glass curtain wall cleaning robot according to claim 1, characterized in that, A flow guide is fixedly mounted on the frame, covering the outside of the propeller. A bushing is also fixedly mounted on the frame, sleeved on the central shaft. The central shaft is rotatably connected to the bushing via a bearing.

5. The glass curtain wall cleaning robot according to claim 1, characterized in that, The upper end of the central shaft is provided with a rotary joint. One end of the rotary joint is inserted into the central shaft and forms a dynamic seal with the central shaft through a sealing ring. The other end is connected to a water inlet pipe. The lower end of the central shaft is threadedly connected to the water spray plate. The water spray plate is hollow inside and communicates with the water flow channel. Several nozzles are provided on the outer wall of the water spray plate.

6. The glass curtain wall cleaning robot according to claim 1, characterized in that, The cleaning brush includes a roller brush and a disc brush, both of which are rotatably mounted on the bottom of the frame. The second drive mechanism includes a second motor, a first transmission component, and a second transmission component. The second motor is fixedly mounted on the frame. The second motor drives the disc brush to rotate through the first transmission component and drives the roller brush to rotate through the second transmission component.

7. The glass curtain wall cleaning robot according to claim 6, characterized in that, The cleaning module consists of two sets. The roller brushes in the two sets of cleaning modules are respectively located on the front and rear sides of the bottom of the frame, while the disc brushes in the two sets of cleaning modules are arranged side by side on the left and right sides of the middle of the bottom of the frame.

8. The glass curtain wall cleaning robot according to claim 6, characterized in that, The first transmission assembly includes a first bevel gear and a second bevel gear. The bottom of the frame is provided with a disc brush holder. The bottom of the disc brush holder is connected to the disc brush by a spring. The disc brush can move up and down relative to the disc brush holder. The brush holder is provided with a vertical first rotating shaft, which is rotatably connected to the frame. The first rotating shaft is provided with a first bevel gear. The second motor is horizontally fixed on the frame. The motor shaft of the second motor is provided with a second bevel gear. The first bevel gear meshes with the second bevel gear. The second transmission assembly includes a second pulley, a third pulley, and a transmission belt. The roller brush is provided with a second rotating shaft, which is rotatably connected to the frame. The second rotating shaft is provided with a second pulley, and the motor shaft of the second motor is provided with a third pulley. The second pulley and the third pulley are connected by the transmission belt.

9. The glass curtain wall cleaning robot according to claim 8, characterized in that, The disc brush has a ring structure with a spray disc with a hole at its center. The disc brush seat has a clearance hole that extends upward through the first rotating shaft. A water supply pipe is provided on the upper side of the spray disc. The water supply pipe extends upward through the clearance hole and is connected to an external water source. The first rotating shaft is rotatably connected to the water supply pipe through a bearing.

10. The glass curtain wall cleaning robot according to claim 1, characterized in that, The bottom of the frame is provided with perforated spray pipes around its four sides, and the bottom of the frame is provided with wiper strips on the front and rear sides.

Images