Airport curtain wall cleaning device and cleaning method

Abstract

The invention discloses an airport curtain wall cleaning device and a cleaning method, and belongs to the technical field of outer wall cleaning, the airport curtain wall cleaning device adopts a first variable-amplitude oil cylinder and a second variable-amplitude oil cylinder to adjust the positions of a main arm and a crank arm, so that a curtain wall cleaning mechanism can flexibly change the position near a to-be-cleaned curtain wall working face, and the cleaning efficiency is improved. Meanwhile, based on the combination of the rotary table and the vehicle body, the curtain wall cleaning mechanism is more convenient to move in a large range or replace the operation position, the effect of flexibly and conveniently cleaning the airport curtain wall is achieved, and meanwhile the high-altitude operation risk is reduced; the problems that current manual and hanging cleaning modes are dangerous in operation, small in operation range and tedious in operation point position replacement operation are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to an airport curtain wall cleaning device and a cleaning method, belonging to the technical field of external wall cleaning. BACKGROUND

[0002] Airport buildings pursue aesthetics, and the outer facade is often decorated with irregular curved surfaces and different materials, which brings many difficulties to surface cleaning in the later stage. There are currently two ways to solve curtain wall cleaning: equipment cleaning and manual cleaning. Manual cleaning is the common "spiderman" method, in which workers hang on the building facade through simple tools such as baskets or slabs suspended by safety ropes, and use tools such as water guns and towels to clean the curtain wall surface. This method has the disadvantages of high safety risk and low work efficiency. Equipment cleaning generally has two methods: negative pressure adsorption type wall climbing robot and unmanned aerial vehicle. Unmanned aerial vehicles use high-pressure water spraying to clean the surface, which requires a large amount of water and pollutes the ground. The negative pressure adsorption type cleaning robot is a rapidly developing method with high technology content, but the current version still has the shortcomings of being unable to overcome obstacles and work independently, which affects work efficiency.

[0003] In order to solve the above problems, Chinese invention patents with publication numbers CN118161084A and CN118452753A respectively provide an equipment scheme for glass curtain wall cleaning. Both schemes replace manual work, reduce construction risks, and improve construction efficiency, but still have limitations. The main mechanisms included in both schemes are: winch, attachment rod, pulley, cleaning frame, cleaning moving assembly, cleaning brush assembly, water supply assembly, water scraping assembly, and water recycling assembly. Both schemes use a suspension method, i.e., placing a winch on the roof and lowering the cleaning device through a steel wire rope to clean the curtain wall surface. There are two problems: current buildings pursue aesthetics, and the roof edge shape does not support the lowering of the steel wire rope, some building surfaces have a negative angle, the cleaning device is far from the work surface, and it is difficult to reach; the winch device on the roof can only support a single cleaning with a small width, and the column needs to be moved, which is troublesome and dangerous. Therefore, there is room for improvement in the actual operation, use effect, and efficiency of the two patents. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art and provide an airport curtain wall cleaning device and a cleaning method, which has the advantages of flexible and convenient cleaning of airport curtain walls, reduces the risk of high-altitude work, and solves the problems of dangerous work, small work range, and complicated operation of changing work points of the current manual and suspended cleaning methods.

[0005] To solve the above technical problems, the present application is implemented by using the following technical solutions: In one aspect, the present application provides an airport curtain wall cleaning device, comprising: Vehicle body Rotary table, connected to the vehicle body and capable of rotating on the vehicle body Main arm, connected to the rotary table First amplitude cylinder, connected to the rotary table; the action end of the first amplitude cylinder is connected to the main arm, so that the main arm can swing in a direction perpendicular to the rotary table Curved arm, provided at one end of the main arm away from the rotary table Second amplitude cylinder, provided on the curved arm, for changing the angle between the curved arm and the main arm Hydraulic mechanism, connected to the first amplitude cylinder and the second amplitude cylinder, for changing the action of the first amplitude cylinder and the second amplitude cylinder Curtain cleaning mechanism, provided at one end of the curved arm away from the main arm Supply mechanism, connected to the curtain cleaning mechanism, for providing cleaning liquid Controller, electrically connected to the curtain cleaning mechanism, the supply mechanism, and the hydraulic mechanism

[0006] Optionally, the curved arm includes an arm body, an amplitude connecting rod set provided at one end of the arm body, and a swing part provided at the other end of the arm body for adjusting the angle between the curtain cleaning mechanism and the arm body The arm body is hinged to the main arm The amplitude connecting rod set includes a first amplitude rod and a second amplitude rod hinged together; one end of the first amplitude rod away from the second amplitude rod is hinged to the main arm, and one end of the second amplitude rod away from the first amplitude rod is hinged to the arm body The second amplitude cylinder is hinged to the arm body, and the action end is hinged to the connection between the first amplitude rod and the second amplitude rod

[0007] Optionally, the swing part includes a rotary reducer and a swing cylinder connected together; the swing cylinder is connected to the curtain cleaning mechanism

[0008] Optionally, the curtain cleaning mechanism includes a connecting plate, a rotary motor, and a cleaning frame connected in sequence The cleaning frame is provided with a rolling brush

[0009] Optionally, the cleaning frame is further provided with a push-pull electric cylinder and a sliding rail The rolling brush is provided on the sliding rail, and the action end of the push-pull electric cylinder is connected to the rolling brush, so that the rolling brush moves along the sliding rail

[0010] Optionally, the rolling brush includes a mounting frame, a brush body provided on the mounting frame, and a driving motor provided on the mounting frame The driving motor is connected to the brush body, for driving the brush body to rotate

[0011] Optionally, a telescopic part for adjusting the position of the cleaning frame is arranged between the rotary motor and the cleaning frame. The telescopic part comprises an electric telescopic rod, a universal joint arranged at the action end of the electric telescopic rod, and a pose adjusting electric cylinder arranged at the action end of the electric telescopic rod. The universal joint is connected with the cleaning frame. The action end of the pose adjusting electric cylinder is connected with the cleaning frame.

[0012] Optionally, a visual module for detecting the boundary of the working surface of the curtain wall cleaning and an ultrasonic radar module for detecting the obstacles on the working surface of the curtain wall cleaning are arranged on the cleaning frame. The visual module and the ultrasonic radar module are electrically connected with the controller.

[0013] Optionally, the supply mechanism comprises a liquid storage tank arranged on the rotary table and a spray head arranged on the curtain wall cleaning mechanism. The spray head is provided with a water pump and an electromagnetic valve, and the water pump and the electromagnetic valve are electrically connected with the controller. The water pump is connected with the liquid storage tank through a water delivery pipeline.

[0014] The present application also provides an airport curtain wall cleaning method based on the airport curtain wall cleaning device. The first amplitude cylinder and the second amplitude cylinder are started to change the pose of the main arm and the curved arm, so that the curtain wall cleaning mechanism moves to the vicinity of the curtain wall to be cleaned. The visual module and the ultrasonic radar module are used to obtain the boundary information of the working surface of the curtain wall to be cleaned and the obstacle information on the working surface. According to the boundary information of the working surface of the curtain wall to be cleaned and the obstacle information on the working surface, the relative pose deviation between the curtain wall cleaning mechanism and the working surface of the curtain wall to be cleaned is determined. According to the relative pose deviation between the curtain wall cleaning mechanism and the working surface of the curtain wall to be cleaned, the position of the curtain wall cleaning mechanism is adjusted. The adjusted position of the curtain wall cleaning mechanism is used as the cleaning starting position, the curtain wall cleaning mechanism is attached to the working surface of the curtain wall to be cleaned, the supply mechanism is started to deliver the cleaning liquid to the contact surface between the curtain wall cleaning mechanism and the working surface of the curtain wall to be cleaned, and the curtain wall is cleaned.

[0015] Compared with the prior art, the present application has the following beneficial effects: 1、The first amplitude cylinder, the second amplitude cylinder adjust the position of the main arm and the curved arm, so that the curtain wall cleaning mechanism can change the position near the curtain wall operation surface to be cleaned, and based on the combination of the rotary table and the vehicle body, the curtain wall cleaning mechanism is more convenient when a large range of movement or replacement of the operation position is needed, has the effect of flexible and convenient airport curtain wall cleaning, reduces the risk of high-altitude operation, and solves the problems of dangerous operation, small operation range and complicated operation of the current manual and suspended cleaning mode.

[0016] 2、The push-pull electric cylinder and the slide rail are arranged on the cleaning frame, the push-pull electric cylinder drives the roller brush to move along the slide rail, so that the curtain wall cleaning mechanism can realize cleaning of a certain range of curtain wall working surface without frequent change of the position of the main arm and the curved arm, and the working efficiency is improved.

[0017] 3、The telescopic part is arranged between the rotary motor and the cleaning frame, and through the cooperation of the telescopic part, the visual module and the ultrasonic radar module, the cleaning starting position of the curtain wall cleaning mechanism can be accurately fine-tuned according to the complex appearance of the airport curtain wall, so that the situation of missing cleaning and collision with obstacles of the curtain wall cleaning mechanism can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the overall structure schematic diagram of an airport curtain wall cleaning device provided by the embodiment of the present application; Figure 2 is the curved arm structure schematic diagram provided by the embodiment of the present application; Figure 3 is the front view structure schematic diagram of the curtain wall cleaning mechanism provided by the embodiment of the present application; Figure 4 is the side view structure schematic diagram of the curtain wall cleaning mechanism provided by the embodiment of the present application.

[0019] In the figure: 1, vehicle body; 2, rotary table; 3, main arm; 4, first amplitude cylinder; 5, curved arm; 501, arm main body; 502, first amplitude rod; 503, second amplitude rod; 504, swing reducer; 505, swing cylinder; 6, second amplitude cylinder; 7, hydraulic mechanism; 8, curtain wall cleaning mechanism; 801, connecting plate; 802, rotary motor; 803, cleaning frame; 9, supply mechanism; 901, liquid storage tank; 10, roller brush; 1001, brush body; 1002, drive motor; 11, push-pull electric cylinder; 12, telescopic part; 1201, electric telescopic rod; 1202, universal joint; 1203, posture adjusting electric cylinder; 13, visual module; 14, ultrasonic radar module. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example 1

[0021] like Figure 1 As shown, an airport curtain wall cleaning device includes: a vehicle body 1, a turntable 2, a main boom 3, a first luffing cylinder 4, a curved boom 5, a second luffing cylinder 6, a hydraulic mechanism 7, a curtain wall cleaning mechanism 8, a supply mechanism 9, and a controller (not shown); wherein, the vehicle body 1 uses a lithium battery power unit (not shown) as the power source for each electrical device, the turntable 2 is installed on the top of the vehicle body 1 and is driven by a rotary reducer (not shown), and the rotary reducer is electrically connected to the controller; The hydraulic mechanism 7 adopts a common vehicle-mounted hydraulic system, so its working principle will not be described in detail. The hydraulic mechanism 7 is installed on the left end of the turntable 2, and the controller is electrically connected to each of the electrically controlled valves and oil pumps in the hydraulic mechanism 7. The main boom 3 is hinged to the top of the turntable 2. The outer shell of the first luffing cylinder 4 is hinged to the turntable 2, and the actuating end of the first luffing cylinder 4 is hinged to the main boom 3. The hydraulic mechanism 7 is connected to the first luffing cylinder 4 through hydraulic lines. The controller changes the action of the first luffing cylinder 4, so that the main boom 3 can swing in a direction perpendicular to the turntable 2. It should be noted that the main boom 3 used in this embodiment is a telescopic boom, which is a mature existing multi-stage synchronous telescopic boom structure. It is equipped with a telescopic cylinder and a chain mechanism to drive the telescopic movement. It has good synchronization. The telescopic cylinder and the chain mechanism are both electrically connected to the controller.

[0022] The articulated boom 5 is located at the right end of the main boom 3. The hydraulic mechanism 7 is connected to the second luffing cylinder 6 via hydraulic lines. The controller changes the movement of the second luffing cylinder 6 to change the angle between the articulated boom 5 and the main boom 3. Specifically: like Figure 1 and Figure 2 As shown, the boom 5 includes a boom body 501, a luffing linkage assembly, and a swinging part; wherein, the luffing linkage assembly includes a hinged first luffing rod 502 and a second luffing rod 503, the end of the first luffing rod 502 away from the second luffing rod 503 is hinged to the main boom 3, and the end of the second luffing rod 503 away from the first luffing rod 502 is hinged to the boom body 501; the housing of the second luffing cylinder 6 is hinged to the boom body 501, and the actuating end is hinged to the connection between the first luffing rod 502 and the second luffing rod 503; The swing unit includes a rotary reducer 504 and a swing cylinder 505 connected together. The rotary reducer 504 is electrically connected to the controller. The hydraulic mechanism 7 is connected to the swing cylinder 505 through a hydraulic pipeline. The swing cylinder 505 is connected to the curtain wall cleaning mechanism 8. Through the movement of the rotary reducer 504 and the swing cylinder 505, the vertical and horizontal angles of the curtain wall cleaning mechanism 8 relative to the curved arm 5 can be changed.

[0023] like Figure 3 and Figure 4 As shown, the curtain wall cleaning mechanism 8 includes a connecting plate 801, a rotary motor 802, and a cleaning frame 803 connected in sequence. The cleaning frame 803 is provided with a roller brush 10. The roller brush 10 includes a mounting frame (not shown), a brush body 1001 mounted on the mounting frame, and a drive motor 1002 mounted on the mounting frame. The controller is electrically connected to the drive motor 1002, and the actuating end of the drive motor 1002 is connected to the end of the brush body 1001, which can drive the brush body 1001 to rotate. The supply mechanism 9 includes a liquid storage tank 901 and a nozzle (not shown); the liquid storage tank 901 is installed on the side of the turntable 2, and the nozzle is installed on the cleaning frame 803 at an angle to the cleaning frame 803. The nozzle is also equipped with a water pump (not shown) and a solenoid valve (not shown). The water pump and the solenoid valve are electrically connected to the controller. The water pump is connected to the liquid storage tank 901 through a water supply pipeline. When the controller is turned on, the water pump can draw cleaning fluid from the liquid storage tank 901 and spray it onto the working surface of the curtain wall to be cleaned through the nozzle. The cleaning frame 803 is also equipped with slide rails (not shown) on both sides. The brush body 1001 is slidably connected to the slide rail through the mounting bracket. The end of the slide rail is also equipped with a push-pull electric cylinder 11. The controller is electrically connected to the push-pull electric cylinder 11. The actuating end of the push-pull electric cylinder 11 is connected to the mounting bracket, which can push the mounting bracket to move along the slide rail. This enables the curtain wall cleaning mechanism 8 to clean a certain range of curtain wall working surfaces without frequently changing the positions of the main arm 3 and the curved arm 5, thus improving work efficiency.

[0024] A telescopic part 12 for adjusting the position of the cleaning frame 803 is also provided between the rotary motor 802 and the cleaning frame 803. The telescopic part 12 includes an electric telescopic rod 1201, a universal joint 1202 and multiple posture adjustment cylinders 1203. The controller is electrically connected to the electric telescopic rod 1201 and the posture adjustment cylinders 1203 respectively. The outer shell of the electric telescopic rod 1201 is fixed to the rotary motor 802. The actuating end of the electric telescopic rod 1201 is connected to the universal joint 1202 and the multiple posture adjustment cylinders 1203. The universal joint 1202 is connected to the side of the cleaning frame 803, and the actuating end of the posture adjustment cylinder 1203 is connected to the side of the cleaning frame 803. The cleaning frame 803 is also equipped with a vision module 13 for detecting the boundary of the curtain wall cleaning work surface and an ultrasonic radar module 14 for detecting obstacles on the curtain wall cleaning work surface; both the vision module 13 and the ultrasonic radar module 14 are electrically connected to the controller. By cooperating with the telescopic part 12, the vision module 13, and the ultrasonic radar module 14, the cleaning starting position of the curtain wall cleaning mechanism 8 can be precisely adjusted according to the complex appearance of the airport curtain wall, which can avoid the curtain wall cleaning mechanism 8 from missing cleaning or colliding with obstacles. Example 2

[0025] An airport curtain wall cleaning method includes: The first and second luffing cylinders are activated to change the posture of the main boom and the articulated boom, so that the curtain wall cleaning mechanism moves to the vicinity of the curtain wall to be cleaned. The visual module and ultrasonic radar module are used to obtain boundary information of the curtain wall to be cleaned and information on obstacles on the working surface. Based on the boundary information of the curtain wall to be cleaned and the obstacle information on the working surface, the relative positional deviation between the curtain wall cleaning mechanism and the curtain wall to be cleaned is determined. Adjust the position of the curtain wall cleaning mechanism according to the relative positional deviation between the curtain wall cleaning mechanism and the curtain wall surface to be cleaned; After the posture adjustment is completed, the roller brush starts to rotate, taking the adjusted position of the curtain wall cleaning mechanism as the starting position for cleaning. The curtain wall cleaning mechanism is then brought into contact with the curtain wall surface to be cleaned, and the supply mechanism is turned on to deliver the cleaning fluid to the contact surface between the curtain wall cleaning mechanism and the curtain wall surface to be cleaned, thus starting the cleaning of the curtain wall. Driven by the push-pull electric cylinder, the roller brush completes a certain width of cleaning work, and the cleaning of the area is completed after two push-pull operations. The main arm or both the main arm and the curved arm are controlled by a controller to move the curtain wall cleaning mechanism to the next curtain wall surface to be cleaned.

[0026] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the 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 invention. Furthermore, the terms "first," "second," etc., 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," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An airport curtain wall cleaning device, characterized in that, include: Vehicle body (1); A turntable (2) is connected to the vehicle body (1) and can rotate on the vehicle body (1); The main arm (3) is connected to the turntable (2); The first luffing cylinder (4) is connected to the turntable (2); the actuating end of the first luffing cylinder (4) is connected to the main boom (3), so that the main boom (3) can swing in a direction perpendicular to the turntable (2); The curved arm (5) is located at the end of the main arm (3) away from the turntable (2); The second variable-amplitude cylinder (6) is located on the crank arm (5) and is used to change the angle between the crank arm (5) and the main arm (3); The hydraulic mechanism (7) is connected to the first luffing cylinder (4) and the second luffing cylinder (6) and is used to change the action of the first luffing cylinder (4) and the second luffing cylinder (6); A curtain wall cleaning mechanism (8) is located at one end of the curved arm (5) away from the main arm (3); The supply mechanism (9) is connected to the curtain wall cleaning mechanism (8) and is used to provide cleaning fluid; The controller is electrically connected to the curtain wall cleaning mechanism (8), the supply mechanism (9) and the hydraulic mechanism (7).

2. The airport curtain wall cleaning device according to claim 1, characterized in that, The curved arm (5) includes an arm body (501), a variable amplitude connecting rod group located at one end of the arm body (501), and a swinging part located at the other end of the arm body (501) for adjusting the angle between the curtain wall cleaning mechanism (8) and the arm body (501). The arm body (501) is hinged to the main arm (3); The luffing linkage assembly includes a hinged first luffing rod (502) and a second luffing rod (503). The end of the first luffing rod (502) away from the second luffing rod (503) is hinged to the main boom (3), and the end of the second luffing rod (503) away from the first luffing rod (502) is hinged to the boom body (501). The second luffing cylinder (6) is hinged to the boom body (501), and the actuating end is hinged to the connection between the first luffing rod (502) and the second luffing rod (503).

3. The airport curtain wall cleaning device according to claim 2, characterized in that, The swinging part includes a rotary reducer (504) and a swing cylinder (505) connected together; the swing cylinder (505) is connected to the curtain wall cleaning mechanism (8).

4. The airport curtain wall cleaning device according to claim 1, characterized in that, The curtain wall cleaning mechanism (8) includes a connecting plate (801), a rotary motor (802), and a cleaning frame (803) connected in sequence. The cleaning frame (803) is equipped with a roller brush (10).

5. The airport curtain wall cleaning device according to claim 4, characterized in that, The cleaning frame (803) is also equipped with a push-pull electric cylinder (11) and a slide rail; The roller brush (10) is mounted on the slide rail, and the actuating end of the push-pull electric cylinder (11) is connected to the roller brush (10) to make the roller brush (10) move along the slide rail.

6. The airport curtain wall cleaning device according to claim 4, characterized in that, The roller brush (10) includes a mounting frame, a brush body (1001) disposed on the mounting frame, and a drive motor (1002) disposed on the mounting frame. The drive motor (1002) is connected to the brush body (1001) and is used to drive the brush body (1001) to rotate.

7. The airport curtain wall cleaning device according to claim 4, characterized in that, The rotary motor (802) and the cleaning frame (803) are also provided with a telescopic part (12) for adjusting the position of the cleaning frame (803). The telescopic part (12) includes an electric telescopic rod (1201), a universal joint (1202) provided at the moving end of the electric telescopic rod (1201), and an attitude adjustment electric cylinder (1203) provided at the moving end of the electric telescopic rod (1201). The universal joint (1202) is connected to the cleaning frame (803); The actuating end of the posture-adjusting electric cylinder (1203) is connected to the cleaning frame (803).

8. The airport curtain wall cleaning device according to claim 4, characterized in that, The cleaning frame (803) is also equipped with a vision module (13) for detecting the boundary of the curtain wall cleaning operation surface and an ultrasonic radar module (14) for detecting obstacles on the curtain wall cleaning operation surface. The vision module (13) and the ultrasonic radar module (14) are both electrically connected to the controller.

9. The airport curtain wall cleaning device according to claim 1, characterized in that, The supply mechanism (9) includes a liquid storage tank (901) located on the turntable (2) and a nozzle located on the curtain wall cleaning mechanism (8); The nozzle is equipped with a water pump and a solenoid valve, and the water pump and solenoid valve are electrically connected to the controller. The water pump is connected to the liquid storage tank (901) via a water delivery pipeline.

10. A method for cleaning airport curtain walls, characterized in that, The method is based on the airport curtain wall cleaning apparatus as described in any one of claims 1 to 9, and includes: The first and second luffing cylinders are activated to change the posture of the main boom and the articulated boom, so that the curtain wall cleaning mechanism moves to the vicinity of the curtain wall to be cleaned. The visual module and ultrasonic radar module are used to obtain boundary information of the curtain wall to be cleaned and information on obstacles on the working surface. Based on the boundary information of the curtain wall to be cleaned and the obstacle information on the working surface, the relative positional deviation between the curtain wall cleaning mechanism and the curtain wall to be cleaned is determined. Adjust the position of the curtain wall cleaning mechanism according to the relative positional deviation between the curtain wall cleaning mechanism and the curtain wall surface to be cleaned; Use the adjusted position of the curtain wall cleaning mechanism as the starting position for cleaning. Place the curtain wall cleaning mechanism against the curtain wall surface to be cleaned, and turn on the supply mechanism to deliver the cleaning fluid to the contact surface between the curtain wall cleaning mechanism and the curtain wall surface to be cleaned, and start cleaning the curtain wall.

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