Automatic cleaning and detecting integrated equipment for building outer wall

Abstract

The invention discloses building outer wall automatic cleaning and detecting integrated equipment which comprises a hoisting and lifting mechanism (1), the lifting end of the hoisting and lifting mechanism (1) is connected with a main body frame (2), one face of the main body frame (2) is provided with a suction cup piece (3) used for being sucked to a wall body, and the main body frame (2) is internally provided with an equipment area (4) and a working area (5); a flushing supporting frame (6) is arranged in the working area (5), a water pipe (7) extending out of the equipment area (4) is arranged on the side portion of the flushing supporting frame (6), and a plurality of flushing pipes (8) with the water outlet direction facing the wall are arranged on the flushing supporting frame (6). By means of the eccentric part, the brush roller in the cleaning roller mechanism rotates to clean the wall face, meanwhile, axial reciprocating displacement is achieved, the cleaning direction is expanded, and the cleaning capacity of the cleaning roller mechanism on stubborn stains and dirt in gaps of the wall face is enhanced.

Description

Technical Field

[0001] This invention relates to the field of exterior wall cleaning technology, and in particular to an integrated automatic cleaning and inspection device for building exterior walls. Background Technology

[0002] Building exterior walls are exposed to the natural environment for extended periods, making them prone to dirt and mold growth. Traditional exterior wall cleaning relies heavily on manual labor, requiring workers to operate suspended in mid-air using tools such as baskets and ropes. This not only results in high labor intensity and low efficiency but also poses safety risks such as falls from heights and tool detachments, making it difficult to guarantee operational safety. To address the drawbacks of manual cleaning, the industry has gradually developed automated cleaning equipment. For example, Chinese invention patent CN119174574A discloses a building exterior wall cleaning device, specifically including: a safety rope, a support plate, and a traction frame welded to each end of the support plate. The system includes: a safety rope movable connection to the traction frame; a cleaning support plate, which is fixedly connected to the lower part of the two traction frames, with a rectangular roller brush groove and two support wheel side grooves, in which a balance support wheel is rotatably connected via bearings; a lifting drive component, which is fixedly connected to the upper surface of the support plate; a cleaning roller brush, which is rotatably connected to the front of the cleaning support plate and located inside the roller brush groove; and a roller brush drive component, which is bolted to the front surface of the cleaning support plate and drives the cleaning roller brush via a belt drive.

[0003] However, this existing robot still has certain technical limitations in practical applications: its core cleaning component, the cleaning roller brush, can only rotate around its own axis, and the entire device moves unidirectionally along the wall. The brush bristles can only clean the wall from a single direction, and the entire cleaning roller brush cannot reciprocate along its own axis. This unidirectional cleaning method makes it difficult to thoroughly wipe and clean stubborn stains and dirt in crevices, easily leading to cleaning blind spots and incomplete cleaning, thus failing to achieve the ideal exterior wall cleaning effect. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated automatic cleaning and inspection device for building exterior walls. This invention utilizes an eccentric component to enable the brush rollers within the cleaning roller mechanism to simultaneously rotate and reciprocate axially while cleaning the wall surface, thus expanding the cleaning direction and enhancing the cleaning roller mechanism's ability to remove stubborn stains and dirt from crevices.

[0005] The technical solution of this invention: an integrated automatic cleaning and inspection device for building exterior walls, including a hoisting and lifting mechanism. The lifting end of the hoisting and lifting mechanism is connected to a main frame. One side of the main frame is provided with a suction cup for adsorbing the wall. The main frame contains an equipment area and a working area. The working area is provided with a rinsing support frame. The side of the rinsing support frame is provided with a water pipe extending from the equipment area. The rinsing support frame is provided with multiple rinsing pipes with water outlets facing the wall. The water inlet end of the rinsing pipe is connected to the water pipe. The bottom of the rinsing support frame is provided with a reciprocating cleaning roller mechanism for brushing the wall surface. The upper end of the rinsing support frame is provided with a spray-type rinsing device for rinsing the wall surface after brushing. The liquid inlet end of the spray-type rinsing device is connected to one end of the water pipe. The end of the main frame is provided with a visual detector for detecting the severity of stains on the wall surface.

[0006] In the aforementioned integrated automatic cleaning and inspection equipment for building exterior walls, the hoisting mechanism includes a hoisting body, a traction line at one end of the hoisting body, a connector at one end of the traction line, and a ring at the upper end of the main frame, which is connected to the end of the connector via a rope.

[0007] In the aforementioned integrated automatic cleaning and inspection equipment for building exterior walls, the connecting component includes a U-shaped frame, with pulleys connected to the traction line inside the U-shaped frame, and a crossbar at the end of the U-shaped frame, the end of which is connected to a ring via a rope.

[0008] In the aforementioned integrated automatic cleaning and inspection equipment for building exterior walls, the spray-type flushing component includes a main body set on the upper end of the flushing support frame, a water flow chamber inside the main body, a water outlet at the end of the main body, a water outlet chamber connected to the water flow chamber inside the water outlet chamber, and a linear through groove at one end of the water outlet chamber.

[0009] In the aforementioned integrated automatic cleaning and inspection equipment for building exterior walls, a wastewater collection tank is provided below the main frame and the flushing support frame, and the wastewater collection tank is connected to the water tank in the equipment area.

[0010] In the aforementioned integrated automatic cleaning and inspection equipment for building exterior walls, the cleaning roller mechanism includes a track set in a flushing support frame, a movable seat on the track, a traveling wheel that fits into the track at the end of the movable seat, and a brush roller for scrubbing the wall surface inside the movable seat.

[0011] In the aforementioned integrated automatic cleaning and inspection equipment for building exterior walls, the outer side of the end of the movable seat is provided with an auxiliary wheel that fits against the outer side of the track.

[0012] In the aforementioned integrated automatic cleaning and inspection equipment for building exterior walls, the visual detector includes a horizontal rodless cylinder located at the end of the main frame. The moving end of the horizontal rodless cylinder is provided with a longitudinal displacement mechanism, and the moving end of the longitudinal displacement mechanism is provided with a support seat. A camera for detecting the cleanliness of the wall surface is provided on the support seat.

[0013] Compared with the prior art, the present invention has the following advantages: 1. In this invention, the hoisting and lifting mechanism can gradually lower the main frame along the wall. A visual detector at the end of the main frame detects the distribution of stains on the wall. For areas with heavier stains, the flushing pipe and cleaning roller mechanism increase the dwell time to focus on cleaning those areas. In the standard state, the suction cup on one side of the main frame starts working, causing the main frame to adhere to the exterior wall. Then, the flushing pipe sprays cleaning liquid, which, together with the reciprocating cleaning roller mechanism, scrubs the wall. Due to the presence of the eccentric component, the brush roller of the cleaning roller mechanism rotates to clean... While cleaning the wall, the brush roller can reciprocate along its axis, enabling it to move back and forth along its own axis. Combined with the rotating cleaning action, this enhances the ability to clean stubborn stains and dirt in crevices, eliminates cleaning dead corners, and improves the thoroughness and cleanliness of exterior wall cleaning, achieving ideal cleaning results. After the cleaning roller mechanism completes the brushing, the spray-type rinsing component sprays out clean water, which flows down the wall to wash away the residual liquid and stains. After cleaning one area of ​​the wall, the suction cup component resets, and the main frame is lowered and moved to the next wall.

[0014] 2. Furthermore, the rinsing pipe can loosen the floating dust and easily detachable dirt on the wall in advance, and the cleaning roller mechanism can achieve deep scrubbing of stubborn stains through reciprocating movement. The spray-type rinsing component sprays water evenly to rinse away the stains and cleaning liquid remaining after scrubbing. The three work together to form a complete closed loop of pretreatment, enhanced cleaning and final cleaning, which greatly improves the cleanliness of the wall. The degree of stains on the wall is detected before cleaning to improve the targeting of cleaning and enhance the cleaning effect.

[0015] 3. The wastewater collection tank installed under the rinsing support frame can recycle the wastewater generated during the cleaning process to the water tank in the equipment area, realize the recycling of water resources, reduce the consumption of fresh water, and reduce water pollution to the environment.

[0016] 4. The visual detector, through the combination design of a horizontal rodless cylinder and a vertical displacement mechanism, can achieve all-round coverage detection of the wall surface, reducing cleaning dead spots. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the connector; Figure 3 A schematic diagram of the flushing support frame; Figure 4 This is a schematic diagram of a spray-type flushing device; Figure 5 This is a schematic diagram of a wastewater collection tank; Figure 6 This is a schematic diagram of the cleaning roller mechanism; Figure 7 This is a schematic diagram of the walking wheels; Figure 8 This is a schematic diagram of a visual detector; Figure 9 This is a schematic diagram of an eccentric component.

[0018] Explanation of markings in the attached diagram: 1-Lifting and hoisting mechanism, 2-Main frame, 3-Suction cup component, 4-Equipment area, 5-Working area, 6-Flushing support frame, 7-Water pipe, 8-Flushing pipe, 9-Cleaning roller mechanism, 10-Spray flushing component, 11-Vision detector, 12-Lifting main body, 13-Traction line, 14-Connector, 15-Ring body, 16-U-shaped frame, 17-Pulley, 18-Crossbar, 19-Main body, 20-Water flow chamber, 21-Water outlet, 22-Water outlet chamber, 23-Linear channel, 24- - Wastewater collection tank, 25- Track, 26- Movable seat, 27- Traveling wheel, 28- Brush roller, 29- Auxiliary wheel, 30- Horizontal rodless cylinder, 31- Longitudinal displacement mechanism, 32- Support seat, 33- Camera, 40- Eccentric component, 401- Housing, 402- Brush roller motor, 403- Bearing seat, 404- Shaft, 405- Worm gear, 406- Worm wheel, 407- Eccentric block, 408- Swing rod, 409- Connecting rod, 410- Drive shaft, 411- Ring groove, 412- Limiting block. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0020] Example: An integrated automatic cleaning and inspection equipment for building exterior walls, including a hoisting mechanism 1, as shown in the attached diagram. Figure 1 As shown, the lifting mechanism 1 has a main frame 2 connected to its lifting end. The lifting mechanism 1 includes a lifting body 12, and a traction line 13 is installed at the end of the lifting body 12. A motor drives the rotation of the winding shaft to realize the coiling and uncoiling of the traction line. A connector 14 is installed at the end of the traction line 13, as shown in the attached figure. Figure 2As shown, a ring 15 is installed at the upper end of the main frame 2, and the ring 15 is connected to the end of the connector 14 via a rope. The connector 14 includes a U-shaped frame 16, in which a pulley 17 connected to the traction line 13 is provided. A crossbar 18 is provided at the end of the U-shaped frame 16, and the end of the crossbar 18 is connected to the ring 15 via a rope. The pulling of the traction line causes the pulley to rise and fall, driving the main frame to move. A suction cup 3 for adhering to the wall is installed on one side of the main frame 2. After the position of the main frame is determined, the suction cup will move to adhere to the wall surface, stabilizing the main frame and preventing the main frame from shaking, which would affect the washing of the wall surface by the components. The main frame 2 has an equipment area 4 and a working area 5; a washing support frame 6 is installed in the working area 5, as shown in the attached figure. Figure 3 As shown, a water pipe 7 extending from the equipment area 4 is installed on the side of the flushing support frame 6. Multiple flushing pipes 8 with water outlets facing the wall are provided on the flushing support frame 6. Multiple fastening components are provided on the flushing support frame 6, and the flushing pipes are installed on the flushing support frame via the fastening components. The water inlet end of the flushing pipe 8 is connected to the water pipe 7. A reciprocating cleaning roller mechanism 9 for brushing the wall is installed at the bottom of the flushing support frame 6. An eccentric component 40 is provided inside the cleaning roller mechanism 9 to drive the brush roller to move axially back and forth. A spray-type flushing component 10 for rinsing the wall after brushing is installed at the upper end of the flushing support frame 6, as shown in the attached diagram. Figure 4 As shown, the inlet end of the spray-type rinsing component 10 is connected to one end of the water pipe 7; a visual detector 11 for detecting the cleanliness of the wall surface is installed at the end of the main frame 2. The equipment area mainly includes a main control system, a water tank, and a water pump. The main control system controls the water output of the rinsing pipe, the opening and closing of the cleaning roller mechanism, the opening and stopping of the spray-type rinsing component, and the operation of the visual detector. The water tank is divided into two chambers, one chamber containing cleaning liquid and the other containing clean water. The water pipe is divided into two sections, leading out from the two different chambers respectively. Two sets of water pumps are also provided: the cleaning liquid pump draws cleaning liquid to supply the rinsing pipe, and the clean water pump draws clean water to spray out from the spray-type rinsing component. A wastewater collection tank 24 is installed on the main frame 2 below the rinsing support frame 6, as shown in the attached figure. Figure 5 As shown, the wastewater collection tank 24 is connected to the water tank in the equipment area 4. The bottom of the wastewater collection tank has a sloping structure, and there is a collection pipe at the bottom center. This collection pipe is connected to the wastewater tank in the equipment area. During the wall washing process, some wastewater will splash onto the main frame. To avoid water accumulation on the main frame, the wastewater is collected and directed to the purification unit (such as filter screen or activated carbon filter layer) in the equipment area. After purification, the qualified wastewater can be returned to the clear water chamber for pre-rinsing of the flushing pipe.

[0021] The spray-type rinsing device 10 includes a main body 19 mounted on the upper end of the rinsing support frame 6. The main body 19 has a water flow chamber 20, and its end has a water outlet 21. The water outlet 21 has a water outlet cavity 22 connected to the water flow chamber 20, and one end of the water outlet cavity 22 has a linear channel 23. The clean water flows out through the linear channel, spraying out in a water curtain shape. The spray-type rinsing device uses this uniform water curtain to rinse away residual stains and cleaning solution from the wall surface. Through a specific water flow pattern, it thoroughly removes cleaning agent residue and fine dirt particles adhering to the wall surface after scrubbing, preventing the formation of new stains after drying.

[0022] The cleaning roller mechanism 9 includes a track 25 disposed within the rinsing support frame 6, as shown in the attached figure. Figure 6 As shown, a movable seat 26 is mounted on the track 25, and a traveling wheel 27 that matches the track 25 is installed inside the end of the movable seat 26. The eccentric member 40 is disposed on one side of the movable seat 26, as shown in the attached figure. Figure 7 As shown, a brush roller 28 for scrubbing walls is installed inside the movable base 26; the output end of the eccentric member 40 is connected to the brush roller 28, and an auxiliary wheel 29 that fits against the outer side of the track 25 is installed on the outer side of the end of the movable base 26. Each side of the mounting base has a pair of traveling wheels, which are driven by a motor. The auxiliary wheels are used to stabilize the movement of the mounting base on the track. The eccentric member 40 includes a housing 401 disposed on the side of the movable base 26, as shown in the attached figure. Figure 9 As shown, a brush roller motor 402 is installed inside the outer casing 401, a bearing seat 403 is installed inside the outer casing 401, and a shaft 404 is installed inside the bearing seat 403. The output end of the brush roller motor 402 is connected to a worm gear 405. A worm wheel 406 that meshes with the worm gear 405 is installed on the shaft 404, and an eccentric block 407 is installed at the end of the shaft 404. A rocker arm 408 is provided inside the outer casing 401, and a connecting rod 4 is sleeved on the eccentric block 407. 09. One end of the connecting rod 409 is connected to the swing rod 408; the worm gear 405 is connected to an axially sliding transmission shaft 410 via a limiting structure; one end of the brush roller 28 is connected to one end of the transmission shaft 410, and the brush roller is fixed to the transmission shaft; the other end of the brush roller 28 is slidably connected to the moving seat 26; the transmission shaft 410 has an annular groove 411, and the end of the swing rod 408 is provided with a limiting block 411 embedded in the annular groove. When the brush roller motor starts, it drives the worm gear to run, the shaft rotates, the eccentric block rotates, and the swing rod swings back and forth. The limiting block at the end of the swing rod is set in the annular groove of the transmission shaft. The transmission shaft is connected to the worm gear. When the transmission shaft rotates, it will move back and forth along the axis of the worm gear through the push of the limiting block. Finally, when the brush roller rotates to clean the wall, it will be axially displaced, expanding the cleaning direction and enhancing the cleaning roller mechanism's ability to clean stubborn stains and dirt in crevices on the wall.

[0023] The visual detector 11 includes a transverse rodless cylinder 30 disposed at the end of the main frame 2, as shown in the attached figure. Figure 8 As shown, a longitudinal displacement mechanism 31 is installed at the moving end of the transverse rodless cylinder 30, and a support base 32 is installed at the moving end of the longitudinal displacement mechanism 31. A camera 33 for detecting the cleanliness of the wall surface is installed on the support base 32. Before cleaning the exterior wall, the camera identifies the type (such as mold, oil stains, dust accumulation), location, area, and severity of stains on the wall, outputting a stain heat map to guide the dynamic adjustment of parameters of the cleaning roller mechanism, rinsing pipe, and other actuators (such as extending the scrubbing time and increasing the rinsing pressure in key areas). The camera uses a high-definition industrial camera to ensure that it can capture clear details of the wall surface even during high-speed movement. Driven by a horizontal rodless cylinder and a vertical displacement mechanism, the camera can expand the detection area. The camera scans the wall surface according to a preset path, collects images, and simultaneously records the spatial coordinates corresponding to the images. Through image processing, a three-dimensional stain distribution map (including location coordinates, type, and severity) is output and transmitted to the main control system in the equipment area via Ethernet as the basis for adjusting cleaning parameters. After receiving the stain distribution map, the main control system automatically divides the key cleaning area into a key cleaning area and a regular cleaning area, and sets the following for key areas: increasing the number of reciprocating strokes of the cleaning roller, increasing the pressure of the rinsing pipe, and extending the spraying time.

[0024] The working principle of this invention: The hoisting and lifting mechanism 1 drives the main frame 2 to move along the wall surface via the traction line 13 and the connecting piece 14. Before moving, the visual detector 11 at the end of the main frame 2 first drives the camera 33 with the help of the horizontal rodless cylinder 30 and the longitudinal displacement mechanism 31 to scan the wall surface from all directions and identify the type, location and severity of stains, and output the stain distribution map to the main control system of the equipment area 4. The system divides the cleaning area into key and regular cleaning areas accordingly. Then, the suction cup 3 on one side of the main frame 2 adheres to the wall to fix its position. The equipment area 4 delivers cleaning fluid to the flushing pipe 8 through the water pipe 7 to pre-wash the wall surface to loosen the floating dust. The moving seat 26 of the cleaning roller mechanism 9 moves back and forth along the track 25. The brush roller 28, driven by the eccentric part 40, moves axially back and forth while rotating to clean the wall surface, thus driving the brush roller 28 to deeply scrub the wall surface. The scrubbing time is extended in key areas. After the scrubbing is completed, the water pipe 7 delivers clean water to the spray flushing part 10. The clean water forms a water curtain through the linear channel 23 of the water outlet 21, rinsing away the residual cleaning liquid and stains on the wall surface. After one area is cleaned, the suction cup part 3 is reset, and the hoisting and lifting mechanism 1 lowers the main frame 2 to the next area. The above process is repeated to achieve continuous cleaning operation.

Claims

1. The building outer wall automatic cleaning and detection integrated equipment, including the hoisting and lifting mechanism (1), the hoisting and lifting mechanism (1) is connected with the main body frame (2) on the lifting end, characterized in that: One side of the main frame (2) is provided with a suction cup (3) for adsorbing the wall. The main frame (2) is provided with an equipment area (4) and a working area (5). The working area (5) is provided with a rinsing support frame (6). The side of the rinsing support frame (6) is provided with a water pipe (7) extending from the equipment area (4). The rinsing support frame (6) is provided with multiple rinsing pipes (8) with water outlets facing the wall. The water inlet end of the rinsing pipe (8) is connected to the water pipe (7). The bottom of the rinsing support frame (6) is provided with a cleaning roller mechanism (9) that can move back and forth and is used to scrub the wall. The cleaning roller mechanism (9) is provided with an eccentric part (40) that drives the brush roller to move back and forth axially. The upper end of the rinsing support frame (6) is provided with a spray-type rinsing component (10) for rinsing the wall after scrubbing. The liquid inlet end of the spray-type rinsing component (10) is connected to one end of the water pipe (7). The end of the main frame (2) is provided with a visual detector (11) for detecting the severity of stains on the wall.

2. The building outer wall automatic cleaning and detecting integrated device according to claim 1, characterized in that: The hoisting mechanism (1) includes a hoisting body (12), with a traction line (13) at the end of the hoisting body (12) and a connector (14) at the end of the traction line (13). The upper end of the main frame (2) is provided with a ring (15), which is connected to the end of the connector (14) via a rope.

3. The building outer wall automatic cleaning and detecting integrated device according to claim 2, characterized in that: The connector (14) includes a U-shaped frame (16), which has a pulley (17) connected to the traction line (13) inside. The end of the U-shaped frame (16) is provided with a crossbar (18), and the end of the crossbar (18) is connected to the ring (15) via a rope.

4. The building outer wall automatic cleaning and detecting integrated device according to claim 1, characterized in that: The spray-type flushing component (10) includes a main body (19) disposed on the upper end of the flushing support frame (6), a water flow chamber (20) is provided in the main body (19), and a water outlet (21) is provided at the end of the main body (19). The water outlet (21) has a water outlet chamber (22) connected to the water flow chamber (20), and a linear through groove (23) is provided at one end of the water outlet chamber (22).

5. The building outer wall automatic cleaning and detecting integrated device according to claim 1, characterized in that: The main frame (2) is provided with a wastewater collection tank (24) located below the flushing support frame (6), and the wastewater collection tank (24) is connected to the water tank in the equipment area (4).

6. The building outer wall automatic cleaning and detecting integrated device according to claim 1, characterized in that: The cleaning roller mechanism (9) includes a track (25) set in the flushing support frame (6), a movable seat (26) is provided on the track (25), and a traveling wheel (27) that matches the track (25) is provided at the end of the movable seat (26). The eccentric member (40) is set at the movable seat (26) on one side, and a brush roller (28) for brushing the wall is provided in the movable seat (26). The output end of the eccentric member (40) is connected to the brush roller (28).

7. The building outer wall automatic cleaning and detecting integrated device according to claim 6, characterized in that: The outer side of the end of the movable seat (26) is provided with an auxiliary wheel (29) that fits against the outer side of the track (25).

8. The building outer wall automatic cleaning and detecting integrated device according to claim 1, characterized in that: The visual detector (11) comprises a transverse rodless air cylinder (30) arranged at the end of the main frame (2), a longitudinal displacement mechanism (31) is arranged at the moving end of the transverse rodless air cylinder (30), a supporting seat (32) is arranged at the moving end of the longitudinal displacement mechanism (31), and a camera (33) for detecting the cleanliness of the wall surface is arranged on the supporting seat (32).

9. The building outer wall automatic cleaning and detecting integrated device according to claim 6, characterized in that: The eccentric part (40) comprises a shell (401) arranged at the side of the moving seat (26), a brush roller motor (402) is arranged in the shell (401), a bearing seat (403) is arranged in the shell (401), an axle part (404) is arranged in the bearing seat (403), the output end of the brush roller motor (402) is connected with a worm (405), the axle part (404) is provided with a worm wheel (406) engaged with the worm (405), and eccentric blocks (407) are arranged at the ends of the axle part (404); a swing rod (408) is arranged in the shell (401), the eccentric blocks (407) are sleeved with connecting rods (409), one end of the connecting rods (409) is connected with the swing rod (408); the worm (405) is connected with an axially-slidable transmission shaft (410) through a limiting structure, one end of the brush roller (28) is connected with one end of the transmission shaft (410), and the other end of the brush roller (28) is in sliding connection with the moving seat (26); the transmission shaft (410) is provided with an annular groove (411), and the end of the swing rod (408) is provided with a limiting block (412) embedded in the annular groove.

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