A curtain wall cleaning robot cleaning dead angle module

Abstract

The application discloses to the technical field of cleaning robots, in particular to a curtain wall cleaning robot cleaning dead angle module, including rolling brush frame, washing and brushing assembly and buffer scraping assembly, one side of the rolling brush frame is provided with circulating water installation box, one side of the circulating water installation box is provided with cleaning long arm through swing control assembly, the device is through the washing and brushing assembly, the buffer mechanism brought by the swing control assembly and the buffer scraping assembly with the buffer structure are matched, the flexibility and the adaptability of cleaning are improved, the surface of different types of dead angles such as curtain wall corners, gaps and edges can be fitted, the cleaning blind area can be eliminated, meanwhile, the curtain wall surface will not be damaged due to excessive force, in addition, the water spraying of the water spraying hole and the negative pressure water suction of the water suction hole can realize the full utilization of water resources, energy saving and environmental protection, and improve the cleaning efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, specifically to a module for cleaning dead corners in a curtain wall cleaning robot. Background Technology

[0002] With the development of the modern construction industry, glass curtain walls are widely used in high-rise buildings due to their aesthetic appeal and good light transmission. Curtain wall cleaning mainly relies on manual suspended operations and the use of curtain wall cleaning robots. Manual operations suffer from low efficiency, high safety risks, and high labor costs.

[0003] Currently, the mainstream curtain wall cleaning robot technologies on the market are mainly divided into two categories: Adsorption-type fixed cleaning mechanism solution: The robot is fixed to the curtain wall surface by vacuum adsorption or magnetic adsorption, equipped with cleaning components such as roller brushes or scrapers. The cleaning components are rigidly connected to the robot body, and the cleaning range is fixed. This solution can only clean the flat area of ​​the curtain wall. For the corners of the curtain wall, the roller brushes or scrapers cannot reach the dead corner surfaces, resulting in cleaning blind spots.

[0004] Multi-joint robotic arm cleaning solution: Some robots are equipped with multi-joint robotic arms, which adjust the position of cleaning components. However, existing robotic arms mostly use rigid drives and lack buffer structures, which can easily damage the curtain wall surface due to improper force control when contacting blind corners of the curtain wall; in addition, the joint range of motion of the robotic arm is limited, resulting in poor cleaning effect. Summary of the Invention

[0005] The purpose of this invention is to provide a module for cleaning dead corners in a curtain wall cleaning robot, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a module for cleaning dead corners of a curtain wall cleaning robot, comprising:

[0007] The roller brush frame has a circulating water mounting box on one side, and a cleaning arm is provided on one side of the circulating water mounting box via a swing control component. The swing control component includes a long arm motor box and a U-shaped slide rail.

[0008] A scrubbing assembly is located on one side of a cleaning arm. The scrubbing assembly includes a cleaning belt and a cleaning brush head. The side of the cleaning arm closest to the cleaning belt and the side closest to the cleaning brush head are both connected to a circulating water installation tank and have spray holes.

[0009] A buffer scraping assembly is movably mounted on one side of the cleaning arm. The scraping assembly includes a cleaning scraper, a flipping scraper, and a cleaning blade. A water suction hole is provided on one side of the cleaning scraper, and the water suction hole is connected to the circulating water installation tank.

[0010] Preferably, a motor buffer mounting bracket is provided on one side of the circulating water mounting box, and a long-arm motor box is movably inserted into the motor buffer mounting bracket. Slide grooves are provided on both sides of the circulating water mounting box, and two slide grooves are slidably inserted into both sides of the long-arm motor box. The output shaft on one side of the long-arm motor box is connected to the cleaning long arm. The two sides of the long-arm motor box located in the motor buffer mounting bracket are provided with first buffer springs, and the first buffer springs point in the same direction as the slide grooves.

[0011] Preferably, the U-shaped slide rail is located on the side of the circulating water mounting box near the motor buffer mounting bracket. A strip groove is provided on the side of the cleaning arm near the U-shaped slide rail. A constraint link is horizontally inserted into the arc groove of the U-shaped slide rail. One end of the constraint link is inserted into the strip groove and is provided with an anti-detachment block.

[0012] Preferably, the cleaning arm is provided with two belt motor rollers on the side away from the U-shaped slide rail, the cleaning belt is sleeved on the two belt motor rollers, and the cleaning belt is provided with a number of first bristles on the side away from the cleaning arm.

[0013] Preferably, a transfer trough is provided on the side of the cleaning arm away from the circulating water installation tank. A brush head control shaft is inserted through the transfer trough via a sealed bearing. A through groove is provided in the center of the brush head control shaft. Several connecting holes are provided on the side of the brush head control shaft located in the transfer trough. A clean water conveying trough is provided inside the cleaning arm and is connected to the transfer trough. A cleaning brush head is provided on the side of the brush head control shaft extending out of the cleaning arm and close to the cleaning belt. Several second bristles are provided on the side of the cleaning brush head away from the cleaning arm. The water spray holes of the cleaning brush head and the cleaning arm are both connected to the clean water conveying trough.

[0014] Preferably, the cleaning scraper is provided with a connecting sleeve on the side near the cleaning arm, and the cleaning arm is provided with a connecting rod on the side near the connecting sleeve. One side of the connecting rod is movably inserted into the connecting sleeve and is provided with an anti-detachment block, and a second buffer spring is sleeved on the side of the connecting rod outside the connecting sleeve.

[0015] Preferably, a flip-over scraper is rotatably connected to one side of the cleaning scraper via a pin, a torsion spring is provided between the flip-over scraper and the pin, a cleaning scraper strip is embedded on one side of the cleaning scraper, and one end of the cleaning scraper strip is inserted into the flip-over scraper.

[0016] Preferably, the cleaning scraper is provided with a T-shaped connecting block on the side near the U-shaped slide rail, and an auxiliary rod is provided on one side of the T-shaped connecting block, with the auxiliary rod inserted through and connected to the U-shaped slide rail.

[0017] Preferably, the cleaning scraper has a return liquid groove inside, the return liquid groove passes through the cleaning scraper and has several suction holes on the side near the cleaning scraper, a suction pipe is connected to the return liquid groove side of the cleaning scraper, and a water delivery pipe is connected to the clean water delivery groove side of the cleaning arm.

[0018] Preferably, a clean water box and a wastewater box are respectively provided on both sides of the circulating water installation box. A water treatment box is provided between the clean water box and the wastewater box through a pipe. One side of the clean water box is connected to the water supply pipe, and one side of the water suction pipe is connected to the wastewater box.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] This device enhances cleaning flexibility and adaptability through the combined action of a washing component, a swing control component, and a buffer scraping component with its own buffer structure. It can conform to different types of hard-to-clean surfaces such as curtain wall corners, gaps, and edges, eliminating blind spots and preventing damage to the curtain wall surface due to excessive force. In addition, during cleaning, the water spraying holes and the negative pressure suction holes can make full use of water resources, saving energy and protecting the environment, while improving cleaning efficiency and quality. Attached Figure Description

[0021] Figure 1 This is a first-view schematic diagram of the structure of the present invention;

[0022] Figure 2 For the present invention Figure 1 Schematic diagram of part A;

[0023] Figure 3 For the present invention Figure 1 Schematic diagram of part B;

[0024] Figure 4 This is a second-view schematic diagram of the structure of the present invention;

[0025] Figure 5 For the present invention Figure 4 Schematic diagram of part C;

[0026] Figure 6 This is a partial side-section structural diagram of the present invention;

[0027] Figure 7 For the present invention Figure 6 Schematic diagram of part D;

[0028] Figure 8 This is a schematic diagram of the internal layout structure of the circulating water installation tank 2 of the present invention.

[0029] In the diagram: 1. Roller brush frame; 2. Circulating water mounting box; 3. Roller brush; 4. U-shaped slide rail; 5. Motor buffer mounting bracket; 6. Long arm motor box; 7. First buffer spring; 8. Cleaning long arm; 9. Constraint link; 10. Strip groove; 11. Belt motor roller; 12. Cleaning belt; 14. Brush head control shaft; 15. Transfer groove; 16. Clean water conveying groove; 17. Connecting hole; 18. Cleaning brush head; 19. Spray hole; 20. Cleaning scraper; 21. Connecting sleeve; 22. Connecting rod; 23. Second buffer spring; 24. T-shaped connecting block; 25. Flipping scraper; 26. Cleaning scraper; 27. Suction hole; 28. Suction pipe; 29. ​​Water delivery pipe; 30. Wastewater box; 31. Water treatment box; 32. Clean water box. Detailed Implementation

[0030] 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, and 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.

[0031] Please see the appendix Figure 1-8 This application provides the following technical solutions.

[0032] Example 1: A module for cleaning dead corners of a curtain wall cleaning robot includes a roller brush frame 1, a circulating water mounting box 2 on one side of the roller brush frame 1, a roller brush 3 on the side of the roller brush frame 1, a cleaning arm 8 on one side of the circulating water mounting box 2 via a swing control component, the swing control component including an arm motor box 6 and a U-shaped slide rail 4, a motor buffer mounting bracket 5 on one side of the circulating water mounting box 2, the arm motor box 6 being movably inserted into the motor buffer mounting bracket 5, sliding grooves on both sides of the circulating water mounting box 2, two sliding grooves slidingly inserted into each side of the arm motor box 6, an output shaft on one side of the arm motor box 6 connected to the cleaning arm 8, and first buffer springs 7 on both sides of the arm motor box 6 within the motor buffer mounting bracket 5, with the first buffer springs 7 pointing in the same direction as the sliding grooves, and the U-shaped slide rail 4 located in the circulating water mounting box 2. On the side near the motor buffer mounting bracket 5, the cleaning arm 8 has a strip groove 10 on the side near the U-shaped slide rail 4. A constraint rod 9 is horizontally inserted into the arc groove of the U-shaped slide rail 4. One end of the constraint rod 9 is inserted into the strip groove 10 and is equipped with an anti-detachment block. The cleaning arm 8 is made of lightweight aluminum alloy. The long arm motor box 6 can drive the long arm to rotate around the vertical axis and adjust the horizontal angle of the cleaning execution component. The cleaning arm 8 has a strip groove 10 in the middle and is non-fixedly connected to the U-shaped slide rail 4 through the constraint rod 9, so that the cleaning arm 8 can slide horizontally along the long strip groove 10. The long arm motor box 6 is elastically supported in the motor buffer mounting bracket 5 by the first buffer spring 7. When the cleaning arm 8 contacts the dead corner of the curtain wall, the first buffer spring 7 can generate a buffer force to avoid rigid collision damage to the curtain wall, while ensuring the contact force between the cleaning component and the dead corner surface.

[0033] A cleaning assembly is installed to clean the curtain wall. The cleaning assembly is located on one side of the cleaning arm 8 and includes a cleaning belt 12 and a cleaning brush head 18. The side of the cleaning arm 8 closest to the cleaning belt 12 and the side closest to the cleaning brush head 18 are connected to the circulating water installation box 2 and have spray holes 19. Two belt motor rollers 11 are provided on the side of the cleaning arm 8 away from the U-shaped slide rail 4. The cleaning belt 12 is sleeved on the two belt motor rollers 11. Several first bristles are provided on the side of the cleaning belt 12 away from the cleaning arm 8. The motor drives the 12 to rotate cyclically to clean the missed areas between the roller brush 3 and the cleaning brush head 18 when they do not overlap.

[0034] A transfer trough 15 is provided on the side of the cleaning arm 8 away from the circulating water installation box 2. A brush head control shaft 14 is inserted through the transfer trough 15 via a sealed bearing. A through groove is provided in the center of the brush head control shaft 14. Several connecting holes 17 are provided on the side of the brush head control shaft 14 located in the transfer trough 15. A clean water conveying trough 16 is provided inside the cleaning arm 8 and is connected to the transfer trough 15. A cleaning brush head 18 is provided on the side of the brush head control shaft 14 that extends out of the cleaning arm 8 and is close to the cleaning belt 12. Several second bristles are provided on the side of the cleaning brush head 18 away from the cleaning arm 8. The water spray holes 19 of the cleaning brush head 18 and the cleaning arm 8 are both connected to the clean water conveying trough 16. The bristles are made of flexible nylon. When the cleaning brush head 18 and the cleaning belt 12 are cleaned by the first and second bristles, water can be sprayed at the water spray holes 19 to assist the cleaning operation.

[0035] The cleaning scraping assembly is designed to achieve adaptive extension and retraction, ensuring that the scraper blade always fits tightly against the surface and improving the scraping effect. The scraping assembly is movably located on one side of the cleaning arm 8 and includes a cleaning scraper 20, a flipping scraper 25, and a cleaning scraper 26. A suction hole 27 is provided on one side of the cleaning scraper 20, which is connected to the circulating water installation box 2. A connecting sleeve 21 is provided on the side of the cleaning scraper 20 near the cleaning arm 8, and a connecting rod 22 is provided on the side of the cleaning arm 8 near the connecting sleeve 21. One side of the connecting rod 22 is movably inserted into the connecting sleeve 21 and is provided with an anti-detachment block. A second buffer spring 23 is sleeved on the side of the connecting rod 22 outside the connecting sleeve 21. The cleaning scraper 20 is positioned on one side of the cleaning arm 8 through the movable cooperation of the connecting sleeve 21 and the connecting rod 22, which can provide appropriate buffering assistance during cleaning scraping.

[0036] A rotating scraper 25 is tilted and rotatably connected to one side of the cleaning scraper 20 via a pin. A torsion spring is provided between the rotating scraper 25 and the pin. A cleaning scraper strip 26 is embedded on one side of the cleaning scraper 20, and one end of the cleaning scraper strip 26 is inserted into the rotating scraper 25. A T-shaped connecting block 24 is provided on the side of the cleaning scraper 20 near the U-shaped slide rail 4. An auxiliary rod is provided on one side of the T-shaped connecting block 24. The auxiliary rod is inserted through the U-shaped slide rail 4. The cleaning scraper strip 26 is made of wear-resistant rubber material, which can provide a buffer when the scraper strip hits the edge of the curtain wall to avoid damage to the scraper strip from hard contact. A torsion spring is provided between the rotating scraper 25 and the pin, which can adaptively extend and retract according to the unevenness of the surface in the dead corner, ensuring that the scraper strip always fits tightly to the surface and improving the scraping effect.

[0037] A return liquid trough is provided inside the cleaning scraper 20. The return liquid trough runs through the cleaning scraper 20 and has several suction holes 27 on one side near the cleaning scraper 26. A suction pipe 28 is connected to one side of the return liquid trough of the cleaning scraper 20. A water supply pipe 29 is connected to one side of the clean water delivery trough 16 of the cleaning arm 8. A clean water box 32 and a sewage box 30 are respectively provided on both sides of the circulating water installation box 2. A water treatment box 31 is connected between the clean water box 32 and the sewage box 30 through a pipe. One side of the clean water box 32 is connected to the water supply pipe 29, and one side of the suction pipe 28 is connected to the sewage box 30. Sewage from the curtain wall surface is pumped into the sewage box 30 through the sewage box 30, the suction pipe 28, and the suction holes 27. Then it is pumped into the water treatment box 31 for treatment. After treatment, the clean water enters the clean water box 32 and is then sent from the water supply pipe 29 to the spray hole 19 for reuse, which is energy-saving and environmentally friendly.

[0038] This device is powered by a lithium battery (with a built-in microcontroller controller; the controller can receive instructions from the main body of the curtain wall cleaning robot and control the start and stop of the motors of the long arm motor box 6, the cleaning belt 12, the cleaning brush head 18, the micro water pump in the sewage box 30, and the negative pressure pump, as well as their operating parameters (such as speed, flow rate, and negative pressure value); at the same time, the controller can monitor the contact pressure between the cleaning components and the curtain wall and the position of the cleaning components in real time through sensors (such as pressure sensors and position sensors) to achieve adaptive adjustment.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A module for cleaning dead corners in a curtain wall cleaning robot, characterized in that, include: A roller brush frame (1) is provided with a circulating water installation box (2) on one side. A cleaning long arm (8) is provided on one side of the circulating water installation box (2) via a swing control component. The swing control component includes a long arm motor box (6) and a U-shaped slide rail (4). The washing assembly is located on one side of the cleaning arm (8). The washing assembly includes a cleaning belt (12) and a cleaning brush head (18). The side of the cleaning arm (8) near the cleaning belt (12) and the side of the cleaning brush head (18) are connected to the circulating water installation box (2) and are provided with water spray holes (19). A buffer scraping assembly is movably located on one side of the cleaning arm (8). The scraping assembly includes a cleaning scraper (20), a flipping scraper (25), and a cleaning scraper strip (26). A water suction hole (27) is provided on one side of the cleaning scraper (20), and the water suction hole (27) is connected to the circulating water installation box (2). The circulating water installation box (2) is provided with a motor buffer mounting bracket (5) on one side. A long arm motor box (6) is movably inserted into the motor buffer mounting bracket (5). Slide grooves are opened on both sides of the circulating water installation box (2). Two slide grooves are slidably inserted into both sides of the long arm motor box (6). The output shaft on one side of the long arm motor box (6) is connected to the cleaning long arm (8). The long arm motor box (6) is provided with a first buffer spring (7) on both sides of the motor buffer mounting bracket (5). The first buffer spring (7) points in the same direction as the slide groove. The U-shaped slide rail (4) is located on the side of the circulating water installation box (2) near the motor buffer mounting bracket (5). The cleaning arm (8) is provided with a strip groove (10) on the side near the U-shaped slide rail (4). A constraint link (9) is horizontally inserted into the arc groove of the U-shaped slide rail (4). One end of the constraint link (9) is inserted into the strip groove (10) and is provided with an anti-detachment block.

2. The module for cleaning dead corners of a curtain wall cleaning robot according to claim 1, characterized in that: The cleaning arm (8) is provided with two belt motor rollers (11) on the side away from the U-shaped slide rail (4), and the cleaning belt (12) is sleeved on the two belt motor rollers (11). The cleaning belt (12) is provided with a number of first bristles on the side away from the cleaning arm (8).

3. The module for cleaning dead corners of a curtain wall cleaning robot according to claim 2, characterized in that: A transfer trough (15) is provided on the side of the cleaning arm (8) away from the circulating water installation box (2). A brush head control shaft (14) is inserted through the transfer trough (15) via a sealed bearing. A through groove is provided in the center of the brush head control shaft (14). Several connecting holes (17) are provided on the side of the brush head control shaft (14) located in the transfer trough (15). A clean water conveying trough (16) is provided in the cleaning arm (8). The clean water conveying trough (16) is connected to the transfer trough (15). A cleaning brush head (18) is provided on the side of the brush head control shaft (14) extending out of the cleaning arm (8) and close to the cleaning belt (12). Several second bristles are provided on the side of the cleaning brush head (18) away from the cleaning arm (8). The water spray hole (19) of the cleaning brush head (18) and the water spray hole (19) of the cleaning arm (8) are both connected to the clean water conveying trough (16).

4. The module for cleaning dead corners of a curtain wall cleaning robot according to claim 3, characterized in that: The cleaning scraper (20) is provided with a connecting sleeve (21) on the side near the cleaning arm (8), and a connecting rod (22) is provided on the side of the cleaning arm (8) near the connecting sleeve (21). One side of the connecting rod (22) is movably inserted into the connecting sleeve (21) and is provided with an anti-detachment block. A second buffer spring (23) is sleeved on the side of the connecting rod (22) outside the connecting sleeve (21).

5. The module for cleaning dead corners of a curtain wall cleaning robot according to claim 4, characterized in that: A rotating scraper (25) is provided on one side of the cleaning scraper (20) via a pin shaft. A torsion spring is provided between the rotating scraper (25) and the pin shaft. A cleaning scraper strip (26) is embedded on one side of the cleaning scraper (20), and one end of the cleaning scraper strip (26) is inserted into the rotating scraper (25).

6. The module for cleaning dead corners of a curtain wall cleaning robot according to claim 5, characterized in that: The cleaning scraper (20) has a T-shaped connecting block (24) on one side near the U-shaped slide rail (4), and an auxiliary rod is provided on one side of the T-shaped connecting block (24). The auxiliary rod is inserted through the U-shaped slide rail (4).

7. The module for cleaning dead corners in a curtain wall cleaning robot according to claim 6, characterized in that: The cleaning scraper (20) has a return liquid groove inside. The return liquid groove passes through the cleaning scraper (20) and has several suction holes (27) on one side near the cleaning scraper (26). A suction pipe (28) is connected to one side of the return liquid groove of the cleaning scraper (20), and a water delivery pipe (29) is connected to one side of the clean water delivery groove (16) of the cleaning arm (8).

8. The module for cleaning dead corners of a curtain wall cleaning robot according to claim 7, characterized in that: The circulating water installation box (2) is equipped with a clean water box (32) and a sewage box (30) on both sides. A water treatment box (31) is connected between the clean water box (32) and the sewage box (30) through a pipe. One side of the clean water box (32) is connected to the water supply pipe (29), and one side of the water suction pipe (28) is connected to the sewage box (30).

Images