Double-rope wide-width electric climbing device and curtain wall cleaning robot thereof

Abstract

The invention relates to the technical field of robots, and discloses a double-rope wide-width electric climbing device and a curtain wall cleaning robot thereof. The double-rope wide-width electric climbing device comprises a rack, two sets of angle detection devices, two sets of rope electric climbing devices and two ropes. One ends of the two ropes are respectively connected to two different fixed points at the top of the curtain wall; each rope is independently connected with one angle detection device and is independently wound on different rope electric climbing devices; the two sets of rope electric climbing devices are independently driven to move along the rope, and then the rack is driven to move. The curtain wall cleaning robot comprises a double-rope wide-width electric climbing device, a cleaning assembly and the like. The double-rope wide-width electric climbing device independently controls the winding and unwinding speed of the rope, two sets of angle detection devices are combined to detect the angle between the rope and the vertical direction, and the rope winding and unwinding speed is calculated, so that the movement speed and direction of the curtain wall robot on the surface of a curtain wall are achieved, and the remarkable advantage that the curtain wall can be cleaned in a wide width mode by fixing the rope once is obtained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and more particularly to a double-rope wide-range electric climbing device and a curtain wall cleaning robot. BACKGROUND

[0002] In recent years, with the development of robot technology, high-altitude operation robots have been gradually introduced into the field of building cleaning to improve the level of operation automation and reduce labor costs and safety risks. Such robots usually move and position on a vertical wall surface with the help of a hanging rope, and integrate a water spraying system and a rotating brush or cloth device to achieve jet cleaning and mechanical wiping of the wall surface. However, the common practice in the prior art is to set a laterally movable device on the roof platform, and directly fix one end of the rope to the device. This structure causes the lateral moving device to simultaneously bear the vertical tension from the rope and the horizontal load due to the change in the position of the robot, which easily causes moment imbalance, resulting in insufficient overall stability of the device, and even tipping accidents under wind force or moving impact, seriously affecting the safety and reliability of the operation.

[0003] In addition, such systems usually rely on the active lateral movement of the roof mechanism to drive the horizontal movement of the robot, which not only has high control complexity and response lag, but also limits the autonomy and flexible operation range of the robot. Therefore, there is an urgent need for a cleaning robot that has self-driven climbing capability, stable structure, and can achieve large-width area cleaning at one time, which can realize efficient and adaptive high-altitude cleaning operation under the premise of safety. SUMMARY

[0004] The present application provides a double-rope wide-range electric climbing device to solve the above-mentioned problems in the prior art. Another object of the present application is to provide a curtain wall cleaning robot.

[0005] The technical solution of the present application is as follows: A double-rope wide-range electric climbing device, comprising a rack, two sets of angle detection devices and rope electric climbing devices arranged on the rack, and two ropes; One end of each of the two ropes is connected to two different fixed points at the top of the curtain wall; each rope is independently connected to a set of angle detection devices for detecting the angle of the rope; each rope is independently wound on a different rope electric climbing device; the two sets of rope electric climbing devices are independently driven to move along the ropes, thereby driving the rack to move.

[0006] Further, the two sets of rope electric climbing devices are arranged side by side on the rack; the two sets of angle detection devices are arranged in parallel on the rack and located in front of the rope electric climbing devices.

[0007] Further, the rope electric climbing device comprises a climbing motor, a rope winding wheel and a wire slot cover. The climbing motor is arranged on the frame. The rope winding wheel is in transmission connection with the output shaft of the climbing motor. The wire slot cover is arranged outside the rope winding wheel, and a wire slot with a rope inlet and outlet is arranged on the wire slot cover.

[0008] Further, the angle detection device comprises a bracket, an angle encoder and a guide rod. The bracket is arranged on the frame. The guide rod is movably arranged on the bracket. The rope is connected with the guide rod. The angle encoder is fixedly connected with the guide rod, and the deflection angle of the rope on the guide rod is measured.

[0009] Further, a plurality of guide rings for the rope to pass through are arranged on the guide rod.

[0010] Further, two sets of the angle detection device share one bracket, and the bracket is provided with two sets of angle encoders and guide rods; the two sets of angle encoders and guide rods are arranged in parallel and side by side and located in front of the rope electric climbing device.

[0011] A curtain cleaning robot comprises the double-rope wide electric climbing device, a cleaning assembly, a thrust mechanism, a negative pressure suction cup and an obstacle crossing device. Two sets of the cleaning assembly are symmetrically arranged at the front end and the rear end of the frame. The rope electric climbing device is fixedly arranged at the front end of the frame and used for driving the curtain cleaning robot to move along the curtain. The thrust mechanism is arranged on the frame and used for providing a thrust for moving the frame towards the curtain. The negative pressure suction cup is arranged at the bottom of the frame and used for being adsorbed on the surface of the curtain.

[0012] Further, the cleaning assembly comprises a cleaning bracket, a cleaning motor, a roller brush and a spraying device; the cleaning motor is in transmission connection with the roller brush and arranged on the cleaning bracket; and the spraying device is connected with a water tank and arranged on the cleaning bracket on the side facing the roller brush.

[0013] Further, the thrust mechanism is a ducted fan arranged on the frame, and the output air direction of the ducted fan faces the curtain.

[0014] Further, the ducted fans are symmetrically arranged on the frame, and the outlet axis of each ducted fan is parallel to the normal direction of the frame. The ducted fan is connected with a wind speed adjusting module to dynamically adjust the output air.

[0015] Compared with the prior art, the beneficial effects of the technical scheme of the present application are:

[0016] 1、The double-rope wide-width electric climbing device is innovatively designed, two sets of the rope electric climbing device can independently control the winding and unwinding speed of the rope, the angle detection devices are combined to detect the angle of the rope with the vertical direction, the winding and unwinding speed of the rope is calculated, so that the speed and direction (i.e. the speed) of the curtain wall robot moving on the curtain wall surface are realized, and the significant advantage that the curtain wall can be cleaned in a wide width once the rope is fixed is obtained, and the fixed position of the rope does not need to be frequently moved.

[0017] 2、The angle detection device is adopted, the deflection angle of the guide rod is accurately measured through the encoder, the transfer and accurate positioning of the curtain wall robot between the curtain wall surfaces are realized, the curtain wall robot can effectively complete the cleaning work of the wide-width curtain wall facade, and the technical problem that the traditional cleaning equipment needs to frequently move the fixed position of the rope is solved.

[0018] 3、The overall system adopts a cleaning control scheme, the functions of climbing, turning, cleaning and the like are organically integrated, and the whole process cleaning operation is realized; the cleaning efficiency is effectively improved, the manual operation risk and labor intensity are reduced, meanwhile, the uniformity and consistency of the cleaning quality are ensured, and a safe and efficient solution is provided for high-rise curtain wall cleaning. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is an external structure schematic view of the curtain wall cleaning robot of the present application; Figure 2 It is a top view of the curtain wall cleaning robot of the present application; Figure 3 It is a bottom view of the curtain wall cleaning robot of the present application; Figure 4 It is a front view schematic view of the internal structure of the curtain wall cleaning robot of the present application; Figure 5 It is a rear view schematic view of the internal structure of the curtain wall cleaning robot of the present application; Figure 6 It is an external structure schematic view of the rope electric climbing device of the present application; Figure 7 It is an internal structure schematic view of the rope electric climbing device of the present application; Figure 8 It is an installation schematic view of the angle detection device of the present application; Figure 9 It is an enlarged schematic view of A of the present application; Figure 10 It is a structure schematic view of the angle detection device of the present application; Figure 11 It is a structure schematic view of the cleaning assembly of the present application; Figure 12 This is a schematic diagram of the curtain wall cleaning robot of the present invention cleaning a curtain wall; in: 1. Rack; 2. Rope electric climbing device; 201. Climbing motor; 202. Rope reel; 203. Cable outlet cover; 3. Angle detection device; 301. Bracket; 302. Angle encoder; 303. Guide rod; 4. Cleaning components; 401. Cleaning motor; 402. Roller brush; 403. Spraying device; 5. Thrust mechanism; 6. Negative pressure suction cup; 7. Rope; 8. Connecting plate. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this application. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the described embodiments without creative effort are within the scope of protection of this application.

[0021] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] Example 1 like Figures 1-12 As shown, a double-rope wide-width electric climbing device includes a frame 1, two sets of angle detection devices 3 mounted on the frame 1, a rope electric climbing device 2, and two ropes; One end of each of the two ropes is connected to two different fixed points at the top of the curtain wall.

[0023] As a specific embodiment, the fixed part is arranged on the top of the curtain wall or the roof, and one end of each of the two ropes is fixed to two different fixed points far apart from each other; the curtain wall robot can clean the corresponding curtain wall area between the two different fixed points under the drive of the double-rope wide-range electric climbing device, so that the number of times of moving the curtain wall robot is reduced, and the efficiency of the curtain wall cleaning work is improved.

[0024] Each of the ropes 7 is independently connected with a set of angle detection devices 3 for detecting the angle of the rope; each of the ropes 7 is independently wound on a different rope electric climbing device 2; and the two sets of rope electric climbing devices 2 are independently driven to move along the ropes, thereby driving the frame to move.

[0025] The two sets of rope electric climbing devices 2 are arranged side by side on the frame; and the two sets of angle detection devices 3 are arranged in parallel on the frame and located in front of the rope electric climbing devices 2.

[0026] As a specific embodiment, the rope electric climbing device 2 comprises a climbing motor 201, a rope winding wheel 202, and a wire outlet slot cover 203. The climbing motor 201 is arranged on the frame 1. The wire outlet slot cover 203 is arranged outside the rope winding wheel 202, and a wire slot for the inlet and outlet of the rope is arranged on the wire outlet slot cover 203. More specifically, the rope passes through the wire outlet slot cover 203 and is wound on the rope winding wheel 202, and the rope has a certain friction and / or self-locking ability with the rope winding wheel 202 and / or the wire outlet slot cover 203.

[0027] The rope winding wheel 202 is in transmission connection with the output shaft of the climbing motor 201; the rope winding wheel 202 is driven to rotate by the output shaft of the climbing motor 201, and the double-rope wide-range electric climbing device is driven to move along the rope through the cooperation of the rope winding wheel 202 and the rope.

[0028] As a specific embodiment, the angle detection device 3 comprises a bracket 301, an angle encoder 302, and a guide rod 303. The bracket 301 is arranged on the frame. The guide rod 303 is movably mounted on the bracket 301. The rope 7 is connected with the guide rod 303, The angle encoder 302 is fixedly connected with the guide rod 303 and measures the deflection angle of the rope on the guide rod 303.

[0029] As a preferred mode, the guide rod 303 is provided with a plurality of guide rings through which the rope 7 passes.

[0030] As a preferred way, the two sets of angle detection devices 3 share a bracket 301, which is provided with two sets of angle encoders 302 and guide rods 303; the two sets of angle encoders 302 and guide rods 303 are arranged in parallel and in front of the rope electric climbing device 2.

[0031] More specifically, the bracket 301 is provided with a through hole through which the rope passes.

[0032] Principle and method of motion control of the double-rope wide electric climbing device: According to the decomposition and synthesis principle of motion in physics, the resultant velocity is the vector of the actual motion velocity of the object, which follows the parallelogram rule. When the object has multiple component velocities, the resultant velocity is obtained by vector addition of these component velocities, and its size and direction can be calculated by geometric operations (such as the parallelogram rule) or vector decomposition. For example, when the object moves in a plane, the velocity is often decomposed into horizontal and vertical components, and the actual motion trajectory is determined by vector superposition.

[0033] Specifically, the winding or releasing speed of each rope electric climbing device 2 on the rope in this application is a component velocity; by controlling the component velocity (speed), in combination with the angle of the rope obtained by the angle detection device 3 in real time (such as the angle of the rope with the vertical direction, etc.), the resultant velocity of the motion of the curtain wall cleaning robot is obtained.

[0034] When it is necessary to move upward or downward along the height direction of the curtain wall, the rope electric climbing device 2 works. The two sets of climbing motors 201 drive the rope winding wheels 202 to wind or release the two ropes 7 at a target speed. Since one end of the rope 7 is fixed to the top of the curtain wall, winding the rope 7 will make the robot climb stably in a nearly vertical direction; releasing will control it to descend slowly.

[0035] When it is necessary to move the robot in a direction at a certain angle with the vertical direction (such as horizontal movement or diagonal movement), according to the motion direction requirement, by respectively adjusting the rotation rate of the climbing motor 201, and respectively obtaining the angle value of the two ropes in real time, the motion rate and direction (i.e. the resultant velocity) of the curtain wall cleaning robot are calculated, and the motion direction control of the robot is realized.

[0036] In the whole process, the detection feedback function of the angle encoder 302 continuously monitors the actual deflection angle of the different guide rods 303 and the ropes, and feeds back the signal to the control system; the winding and releasing rate signal of the climbing motor 201 is fed back to the control system, so that the robot can autonomously and intelligently complete the efficient cleaning of the curtain wall surface.

[0037] Example 2 As Figures 1-12As shown, a curtain wall cleaning robot comprises a double-rope wide-width electric climbing device, a cleaning assembly 4, a thrust mechanism 5, a negative pressure suction cup 6 and an obstacle crossing device; 2 sets of cleaning assemblies 4 are symmetrically arranged at the front end and the rear end of the frame 1; The rope electric climbing device 2 is fixedly arranged at the front end of the frame 1, and is used to drive the curtain wall cleaning robot to move along the curtain wall; The thrust mechanism 5 is arranged on the frame 1, and is used to provide a thrust for moving the frame 1 towards the curtain wall; The negative pressure suction cup 6 is arranged at the bottom of the frame 1, and is used to be adsorbed on the surface of the curtain wall.

[0038] The cleaning assembly 4 comprises a cleaning support, a cleaning motor 401, a roller brush 402 and a spraying device 403. The cleaning motor 401 is in transmission connection with the roller brush 402 and is arranged on the cleaning support. The spraying device 403 is connected with a water tank and is arranged on the cleaning support on the side facing the roller brush 402.

[0039] The thrust mechanism 5 is a ducted fan arranged on the frame 1, and the output wind direction of the ducted fan is towards the curtain wall.

[0040] The ducted fans are symmetrically arranged on the frame 1, and the outlet axes of the ducted fans are parallel to the normal direction of the frame 1; The ducted fans are connected with a wind speed adjusting module to dynamically adjust the output wind.

[0041] When working, the robot is placed at a starting position on the surface of the curtain wall. The negative pressure suction cup 6 is started to generate an adsorption force perpendicular to the plane of the curtain wall, so that the frame 1 is firmly adsorbed on the surface of the curtain wall to provide a stable basis for subsequent operations and overcome the gravity of the machine body.

[0042] After the robot is stably adsorbed on the surface of the curtain wall, the cleaning assemblies 4 symmetrically arranged at the front end and the rear end of the frame 1 work. The cleaning assemblies 4 are responsible for cleaning operations such as washing and wiping the surface of the curtain wall.

[0043] The thrust mechanism 5 works to provide a thrust for moving the frame 1 towards the curtain wall, so as to ensure that the cleaning assembly 4 can contact and clean the surface of the curtain wall with appropriate pressure.

[0044] The robot can always maintain a stable relative posture with the curtain wall under the joint action of the negative pressure suction cup 6 and the thrust mechanism 5, and continuous cleaning is performed by the cleaning assembly 4. The rope electric climbing device 2 and the angle detection device 3 drive the robot to complete a wide-width coverage and high-efficiency cleaning operation on the surface of the curtain wall according to a preset cleaning path by accurately controlling the winding and unwinding of the two ropes 7.

[0045] Specifically, the robot can stably adsorb and move on the curtain wall surface with different inclination angles through the innovative design of double rope independent control and the adjustable negative pressure adsorption mechanism. The design not only ensures the safety of high-altitude operation, but also enables the robot to have excellent obstacle crossing ability, effectively cross various obstacles on the curtain wall surface, and greatly expand the application range.

[0046] As an embodiment, the cleaning robot of the present application can provide continuous and stable power when working at high altitude by vertically suspending the power line and directly connecting the robot working at high altitude to the power supply from the floor below. If the power is cut off, the rope electric climbing device 2 will stop, and the locked clamping part will tightly "bite" the rope 7, thereby preventing the robot from falling and achieving "locked" braking (similar to the self-locking property of a worm gear), thereby preventing the cleaning robot from falling from high altitude.

[0047] Specifically, the roller brush 402 is arranged in the cleaning shaft sleeve, the output end of the cleaning motor 401 is connected to the gear on the rotating shaft of the roller brush 402 through gear transmission, and the cleaning shaft sleeve is provided with a spraying device 403. The spraying device 403 sprays water to wet the roller brush 402 to clean the curtain wall surface.

[0048] During cleaning operation, the spraying device 403 is started, and is connected with the built-in water tank to uniformly spray cleaning liquid or water on the roller brush to be cleaned, so as to wet the surface and soften the stains.

[0049] The roller brushes 402 symmetrically arranged at the front end and the rear end of the frame 1 rotate at high speed under the drive of the cleaning motor 401 to wash and brush the curtain wall surface.

[0050] The rope electric climbing device 2 is started, the two climbing motors 201 wind the rope 7, and through real-time monitoring of the angle detection device 3, the robot is smoothly pulled upward to realize continuous and automatic operation of moving while cleaning.

[0051] Specifically, during the operation of the robot, the wind speed adjusting module continuously operates, and dynamically adjusts the output wind pressure of each duct fan unit according to the robot inclination angle monitored by the built-in sensor (such as an inclination sensor) in real time.

[0052] On the vertical curtain wall section, the wind pressure is kept appropriate, so as to ensure that the frame 1 can obtain the optimal adhesion force in any working condition, which is safe and energy-saving. At the same time, the rope electric climbing device 2 pulls the robot to move on the curtain wall, and the cleaning assemblies 4 at the front end and the rear end brush and spray the curtain wall.

[0053] Specifically, the negative pressure suction cups 6 are arranged in an array at the bottom of the frame 1.

[0054] When working, the thrust mechanism 5 (i.e. the ducted fan) is started first to generate strong wind pressure perpendicular to the curtain wall; at the same time, the arrayed negative pressure suction disc 6 arranged at the bottom of the frame 1 starts to work immediately under the drive of the vacuum generating device, so that the internal negative pressure of the negative pressure suction disc 6 is maintained at a value that can provide sufficient adsorption force and allow the curtain wall robot to move smoothly on the surface of the curtain wall; the wind pressure and the negative pressure adsorption together constitute a redundant guarantee to firmly attach the entire robot to the surface of the curtain wall, providing a stable and reliable traction basis for high-altitude operation.

[0055] When the robot needs to cross the obstacle, the obstacle crossing device lifts the whole robot, and the multiple ducted fans arranged in a ring array at the top of the frame 1 increase the wind force towards the curtain wall, so that the robot can resist high-altitude crosswind very well and prevent overturning.

[0056] When the obstacle is completely crossed, the obstacle crossing device lowers the whole robot; the frame 1 is lowered under the wind pressure of the ducted fan, so that the arrayed negative pressure suction disc 6 and the cleaning assembly 4 re-contact the surface of the curtain wall.

[0057] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those of ordinary skill in the art. It is not necessary or possible to exhaust all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A dual-rope wide-width electric climbing device, characterized in that, Includes a frame, two sets of angle detection devices (3) mounted on the frame, a rope electric climbing device (2), and two ropes; One end of each of the two ropes is connected to two different fixed points on the top of the curtain wall; each rope (7) is independently connected to an angle detection device (3) for detecting the rope angle; each rope (7) is independently wound around a different rope electric climbing device (2); the two rope electric climbing devices (2) are independently driven to move along the rope, thereby driving the frame to move.

2. The dual-rope wide-width electric climbing device according to claim 1, characterized in that, Two sets of the electric rope climbing device (2) are arranged side by side on the frame; two sets of the angle detection device (3) are arranged parallel to each other on the frame and are located in front of the electric rope climbing device (2).

3. The dual-rope wide-width electric climbing device according to claim 1, characterized in that, The electric rope climbing device (2) includes a climbing motor (201), a rope reel (202), and a cable outlet cover (203). The climbing motor (201) is mounted on the frame (1); The rope reel (202) is connected to the output shaft of the climbing motor (201) via a drive connection; The cable outlet cover (203) is located outside the rope reel (202) and has cable inlets and outlets on it.

4. The dual-rope wide-width electric climbing device according to claim 1, characterized in that, The angle detection device (3) includes a bracket (301), an angle encoder (302), and a guide rod (303). The bracket (301) is mounted on the frame; The guide rod (303) is movably mounted on the bracket (301); The rope (7) is connected to the guide rod (303). The angle encoder (302) is fixedly connected to the guide rod (303) and measures the deflection angle of the rope on the guide rod (303).

5. The dual-rope wide-width electric climbing device according to claim 4, characterized in that, The guide rod (303) is provided with multiple guide rings for the rope (7) to pass through.

6. The dual-rope wide-width electric climbing device according to claim 4, characterized in that, The two sets of angle detection devices (3) share a bracket (301), and the bracket (301) is equipped with two sets of angle encoders (302) and guide rods (303); the two sets of angle encoders (302) and guide rods (303) are arranged in parallel and are located in front of the rope electric climbing device (2).

7. A curtain wall cleaning robot, characterized in that, Includes the dual-rope wide-width electric climbing device, cleaning assembly (4), thrust mechanism (5), negative pressure suction cup (6), and obstacle crossing device as described in any one of claims 1-6; Two sets of the cleaning components (4) are symmetrically arranged at the front and rear ends of the frame (1); The rope electric climbing device (2) is fixedly installed at the front end of the frame (1) and is used to drive the curtain wall cleaning robot to move along the curtain wall; The thrust mechanism (5) is mounted on the frame (1) and is used to provide a thrust that causes the frame (1) to move toward the curtain wall; The negative pressure suction cup (6) is located at the bottom of the frame (1) and is used to adhere to the surface of the curtain wall.

8. The self-propelled climbing cleaning robot according to claim 7, characterized in that, The cleaning assembly (4) includes a cleaning bracket, a cleaning motor (401), a roller brush (402), and a spray device (403). The cleaning motor (401) is connected to the roller brush (402) and is mounted on the cleaning bracket. The spray device (403) is connected to the water tank and is mounted on the cleaning bracket facing the roller brush (402).

9. The self-propelled climbing cleaning robot according to claim 7, characterized in that, The thrust mechanism (5) is a ducted fan, which is mounted on the frame (1) and its output wind force is directed toward the curtain wall.

10. The obstacle-crossing robot for curtain wall cleaning according to claim 9, characterized in that, The ducted fans are arranged in a symmetrical array on the frame (1), and the air outlet axis of each ducted fan is parallel to the normal direction of the frame (1). The ducted fan is connected to a wind speed adjustment module to dynamically adjust the output wind force.

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