Multi-point adsorption type building window cleaning robot structure

Abstract

This invention discloses a multi-point adsorption-type building window cleaning robot structure, including a support base, an air compressor, adsorption legs, and a window cleaning assembly. The air compressor is fixed inside the support base. Multiple adsorption legs are distributed around the circumference of the support base. Each adsorption leg includes a first sleeve, a first electric push rod, a first damper, and a vacuum suction cup. The first sleeve is fixed to the support base. The cylinder of the first electric push rod is fixed to one end of the first sleeve, and its piston rod is inserted into the first sleeve. The first end of the first damper is slidably connected inside the first sleeve and fixed to the piston rod of the first electric push rod. The vacuum suction cup is hinged to the second end of the first damper and connected to the air compressor via a pipeline to adsorb onto the glass curtain wall of the building. The window cleaning assembly is slidably connected to the middle of the support base to perform cleaning operations on the glass curtain wall. This invention solves the problem of poor safety and stability of existing window cleaning robots when there are obstacles on the building's exterior wall or when facing discontinuous glass curtain walls.

Description

Technical Field

[0001] This invention relates to the field of building facade cleaning equipment technology, and more specifically to a multi-point adsorption type building window cleaning robot structure. Background Technology

[0002] With the increasing number of high-rise buildings, the demand for exterior glass cleaning is growing. Currently, common window cleaning equipment mainly includes manual suspended platform operations and stand-alone suction-type window cleaning robots. However, for building facades with obstacles or discontinuous glass walls, existing window cleaning robots generally suffer from the following technical problems:

[0003] Low redundancy of adsorption structure: Existing equipment mostly adopts single-point or double-point adsorption method, with adsorption points concentrated in the center of the machine body, resulting in insufficient overall stability, especially when the overall machine mass is large, adsorption safety is difficult to guarantee; Insufficient wind resistance and rigidity: Due to limited structural rigidity, it is prone to displacement or swaying under wind force, and the concentrated center of gravity is prone to generating torque, affecting operational safety; Limitations of integrated maintenance and functionality: Existing robots typically integrate the cleaning module with the main structure, which leads to inconvenient maintenance and increases the weight of the cleaning module, exacerbating the adsorption burden; Limited adaptability: Existing robots lack the ability to continuously move and clean curtain walls with uneven surfaces, obstacles, or discontinuous glass units.

[0004] In summary, existing window cleaning robots lack a multi-support redundant safety structure, have weak adsorption stability and wind resistance, and their structural design does not fully consider modular maintenance and adaptability to complex facade environments.

[0005] Therefore, how to provide a window cleaning robot structure with higher safety and stability is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a multi-point adsorption type building window cleaning robot structure, which solves the problem of poor safety and stability of existing window cleaning robots when there are obstacles on the building exterior wall or when facing discontinuous glass curtain walls.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A multi-point adsorption-type building window cleaning robot structure includes: Support base, An air compressor, which is fixed to the inner bottom wall of the support base to provide negative pressure; The system includes multiple suction legs distributed around the circumference of the support base. Each suction leg comprises a first sleeve, a first electric actuator, a first damper, and a vacuum suction cup. The first sleeve is fixed to the support base. The cylinder of the first electric actuator is fixed to one end of the first sleeve, and its piston rod is inserted into the first sleeve. The first end of the first damper is slidably connected to the first sleeve and fixed to the piston rod of the first electric actuator. The vacuum suction cup is hinged to the second end of the first damper and connected to an air compressor via a pipeline to adhere to the glass curtain wall of the building. A window cleaning assembly is slidably connected to the middle of the support base to perform cleaning operations on the glass curtain wall.

[0008] The beneficial effects of the technical solution of this invention are that the air compressor provides the negative pressure required by the vacuum suction cup, the vacuum suction cup can achieve telescopic operation by using the first electric push rod, and the support position is fixed by multiple vacuum suction cups using multi-point adsorption, ensuring uniform force and adsorption redundancy. The support base is equipped with a window cleaning component, and the window cleaning and adsorption separation design makes the overall structure more stable, which can clean small glass curtain walls within the support base range, and the operation safety is higher.

[0009] Preferably, the suction leg further includes a universal joint, the fixed end of which is fixed to the second end of the first damper, and the movable end is fixed to the vacuum suction cup. The universal joint allows for fine-tuning of the vacuum suction cup's angle, improving its adhesion to the glass curtain wall and reducing suction gaps caused by glass tilt.

[0010] Preferably, a water tank is fixed inside the support base. The window cleaning assembly includes a mounting base, a second sleeve, a second electric push rod, a second damper, a storage box, and a sub-robot. The mounting base is fixed to the middle of the support base. The second sleeve is fixed to the mounting base. The cylinder of the second electric push rod is fixed to one end of the second sleeve, and its piston rod is inserted into the second sleeve. The first end of the second damper is slidably connected to the second sleeve and fixed to the piston rod of the second electric push rod. The storage box is slidably connected to the mounting base and fixed to the second end of the second damper. The sub-robot is housed in the storage box and connected to the water tank via a pipe. The storage box can extend out of the support base with the extension and retraction of the second electric push rod, and the sub-robot can detach from the storage box and adhere to the glass curtain wall. The sub-robot is housed in the storage box and extends and retracts via the second electric push rod. After adhering to the glass curtain wall, the sub-robot can detach from the storage box to perform cleaning operations. The separate design of the sub-robot and the adsorption legs provides higher structural stability and safer operation.

[0011] Preferably, a limiting member is installed on the inner wall of the storage box to confine the sub-robot within the storage box when not in operation. The limiting member prevents the sub-robot from detaching from the storage box during support base transfer.

[0012] Preferably, the axis of the second sleeve is parallel to the axis of the first sleeve, and the storage box and the vacuum suction cup are located on the same side of the support base.

[0013] Preferably, a laser rangefinder is fixed to the upper end of the support base corresponding to the storage box. The laser rangefinder can measure the distance between the storage box and the glass curtain wall, and adjust the position of the storage box according to the size of the sub-robot, in conjunction with the second electric push rod.

[0014] Preferably, the system further includes an adjustment component, which is installed at the end of the support base away from the laser rangefinder. This component includes a forward-adjusting fan and a lateral-adjusting fan. The forward-adjusting fan is fixed to the center of one side of the support base, and its airflow direction is parallel to the sliding direction of the storage box. Two lateral-adjusting fans are fixed to both sides of the support base, and their airflow directions are perpendicular to the sliding direction of the storage box. This adjustment component allows for fine-tuning of the adsorption error between the vacuum suction cup, the sub-robot, and the glass curtain wall, ensuring more stable adsorption of the support base on the glass curtain wall and enabling the sub-robot to operate effectively.

[0015] Preferably, a battery and a controller are fixed inside the support base, and the battery is electrically connected to the controller; the controller is used to control the posture of the building window cleaning robot structure.

[0016] Preferably, the support base includes a frame and a housing, the housing covering the periphery of the frame; a plurality of first sleeves are respectively fixed at the four corners of the frame and the vacuum suction cup extends out of the housing; the window cleaning assembly is installed in the middle of the frame.

[0017] Preferably, the system further includes a suspension assembly comprising a guide rail, a suspension platform, and steel wire ropes. Multiple connectors are fixed to the top surface of the support base. The guide rail is installed on the roof of the building on the side corresponding to the glass curtain wall. The suspension platform is slidably connected to the guide rail, and a winch is fixed to the suspension platform. The steel wire ropes are multi-stranded, with one end wound around the winch and the other end fixed to the multiple connectors. The sliding of the suspension platform on the guide rail allows for adjustment of the horizontal position of the support base, while the winch, in conjunction with the steel wire ropes, allows for adjustment of the height position of the support base. The dual-degree-of-freedom position adjustment of the suspension assembly enables comprehensive cleaning of the glass curtain wall.

[0018] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a multi-point adsorption building window cleaning robot structure. When facing obstacles on the exterior wall of a building or discontinuous glass curtain walls, multiple adsorption legs are distributed around the body to form a uniform force system, which improves the adsorption redundancy of the support seat on the glass curtain wall and reduces the risk of single-point force. The window cleaning and adsorption are separated. After the support seat is adsorbed, the sub-robot can clean small pieces of glass within the support seat range. After cleaning, it can move to the next discontinuous piece of glass to work, making the structure more stable and safer. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 Schematic diagram of the window cleaning robot provided by the present invention Figure 1 ; Figure 2 Schematic diagram of the window cleaning robot provided by the present invention Figure 2 ; Figure 3 This is a cross-sectional view of the adsorption support leg provided by the present invention; Figure 4 This is a cross-sectional view of the window cleaning assembly provided by the present invention; Figure 5 A top view of the window cleaning robot provided by this invention; Figure 6 This is a schematic diagram of the suspension of the window cleaning robot provided by the present invention; Figure 7 This is a schematic diagram of the working state of the window cleaning robot provided by the present invention.

[0021] The components are as follows: 1-Support base; 11-Outer shell; 12-Frame; 13-Connector; 2-Air compressor; 3-Adsorption leg; 31-First electric push rod; 32-First sleeve; 33-First damper; 34-Universal joint; 35-Vacuum suction cup; 4-Window cleaning assembly; 41-Second electric push rod; 42-Second sleeve; 43-Second damper; 44-Storage box; 45-Mounting base; 5-Water tank; 6-Laser rangefinder; 7-Controller; 8-Battery; 9-Adjustment assembly; 91-Forward adjustment fan; 92-Side adjustment fan; 10-Suspension assembly; 101-Guide rail; 102-Hanging platform; 103-Wire rope. Detailed Implementation

[0022] 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.

[0023] See appendix Figure 1 To be continued Figure 1 Existing building window cleaning robots typically use single-point or dual-point adsorption, integrating adsorption and window cleaning into one process, resulting in poor stability and difficulty in ensuring operational safety. To address these issues, this invention discloses a multi-point adsorption building window cleaning robot structure that separates window cleaning and adsorption, ensuring structural stability and safety. The robot includes a support base 1, an air compressor 2, adsorption legs 3, and a window cleaning assembly 4. The air compressor 2 is fixed to the inner bottom wall of the support base 1 to provide negative pressure. Multiple adsorption legs 3 are distributed around the support base 1. The multiple suction legs 3 each include a first sleeve 32, a first electric push rod 31, a first damper 33, and a vacuum suction cup 35; the first sleeve 32 is fixed to the support base 1; the cylinder of the first electric push rod 31 is fixed to one end of the first sleeve 32 and its piston rod is inserted into the first sleeve 32; the first end of the first damper 33 is slidably connected to the first sleeve 32 and fixed to the piston rod of the first electric push rod 31; the vacuum suction cup 35 is hinged to the second end of the first damper 33 and connected to an air compressor 2 through a pipeline to suction onto the glass of the building. On the glass curtain wall; the window cleaning assembly 4 is slidably connected to the middle of the support base 1 to perform cleaning operations on the glass curtain wall; a water tank 5 is fixed inside the support base 1; the window cleaning assembly 4 includes a mounting base 45, a second sleeve 42, a second electric push rod 41, a second damper 43, a storage box 44, and a sub-robot; the mounting base 45 is fixed to the middle of the support base 1; the second sleeve 42 is fixed on the mounting base 45, and the axis of the second sleeve 42 is parallel to the axis of the first sleeve 32; the cylinder of the second electric push rod 41 is fixed to one end of the second sleeve 42 and its piston rod is inserted into... The second sleeve 42 is inserted into the second damper 43; the first end of the second damper 43 is slidably connected to the second sleeve 42 and fixed to the piston rod of the second electric push rod 41; the storage box 44 is slidably connected to the mounting base 45 and fixed to the second end of the second damper 43; the storage box 44 and the vacuum suction cup 35 are located on the same side of the support base 1; the sub-robot is placed in the storage box 44 and connected to the water tank 5 through a pipeline; the storage box 44 can extend out of the support base 1 with the extension and retraction of the second electric push rod 41 and the sub-robot can detach from the storage box 44 and adhere to the glass curtain wall.

[0024] In this embodiment, the sub-robot is a commercially available window cleaning robot, primarily designed to handle exterior walls that are uneven, have significant obstacles, or have discontinuous glass. The sub-robot can detach from its storage box to clean a smaller section of the glass wall where its support base is located. After cleaning, the sub-robot is retrieved, and the support base is then moved to a different position to clean discontinuous glass walls.

[0025] During operation, the first electric push rod is activated to push the vacuum suction cup out of the machine body. The air compressor provides negative pressure to make the vacuum suction cup adhere to the building's exterior wall. Once the support base is firmly attached, the second electric push rod is activated to push the storage box out of the machine body. When the storage box contacts the glass curtain wall, the sub-robot is activated and adheres to the glass curtain wall. The second electric push rod retracts to detach the sub-robot from the storage box. The sub-robot then performs the cleaning operation. After cleaning, the sub-robot returns to its initial position. At the same time, the second electric push rod extends to allow the sub-robot to enter the storage box. Then, the second electric push rod retracts to complete the cleaning operation of the current glass curtain wall. Afterward, the entire machine moves to the support base to clean the next glass curtain wall.

[0026] To further optimize the above technical solution, the sub-robot includes a rotating cleaning brush or wiping assembly and a liquid spraying device. The liquid spraying device is connected to a water tank and is used to spray cleaning liquid onto the glass surface during the cleaning process. The rotating cleaning brush or wiping assembly performs friction cleaning on the glass surface under the action of the drive motor built into the sub-robot to remove stains.

[0027] To further optimize the above technical solution, the sub-robot also includes a squeegee structure to remove the cleaned liquid and improve the cleanliness of the glass surface.

[0028] In this embodiment, the adsorption support leg 3 also includes a universal joint 34, the fixed end of which is fixed to the second end of the first damper 33, and the movable end is fixed to the vacuum suction cup 35.

[0029] like Figure 3 As shown, the universal joint includes a fixed component, a cross shaft, and a movable component. One end of the fixed component is fixed to the end of the first damper, and the two limbs of the cross shaft are rotatably connected to the other end of the fixed component. One end of the movable component is rotatably connected to the other two limbs of the cross shaft. One end of the vacuum suction cup is fixed to the movable component. The cross shaft enables multi-degree-of-freedom rotation of the vacuum suction cup, allowing for ±10° angle adjustment. This ensures the suction effect of the vacuum suction cup on the building's exterior wall and prevents gaps caused by the tilt of the glass curtain wall.

[0030] When there is an angular deviation between the support base and the glass curtain wall surface, the vacuum suction cup automatically adjusts its posture through the universal joint under the action of external force during the contact with the glass, so that the contact surface of the suction cup is basically parallel to the glass surface, thereby improving the adsorption and sealing performance.

[0031] In some other specific embodiments, both the first damper and the second damper are hydraulic spring dampers. The hydraulic spring damper includes an elastic element and a damping element. The elastic element is used to provide axial elastic expansion and contraction capability, and the damping element is used to provide damping force during expansion and contraction. The damper is used to absorb the instantaneous impact of adsorption and compensate for minor height errors. After adsorption is completed, the damper enters a locked state to improve the overall structural rigidity.

[0032] To further optimize the above technical solution, and to prevent the sub-robot from falling into the storage box during the transfer or movement of the support base, a limiting component is installed on the inner wall of the storage box 44 to confine the sub-robot within the storage box 44 when not in operation. The limiting component can be a safety rope, with one end fixed to the sub-robot and the other end fixed to the inner wall of the storage box 44. This safety rope prevents the sub-robot from falling. Alternatively, the limiting component can be a buckle; in the non-operational state, the sub-robot can be secured within the storage box using the buckle.

[0033] To further optimize the above technical solution, a battery 8 and a controller 7 are fixed inside the support base 1. The battery 8 is electrically connected to the controller 7. The controller 7 is used to control the posture of the building window cleaning robot structure.

[0034] To further optimize the above technical solution, a laser rangefinder 6 is fixed to the upper end of the support base 1 on the side corresponding to the storage box 44.

[0035] In this embodiment, an adjustment component 9 is also included. The adjustment component 9 is installed at the end of the support base 1 away from the laser rangefinder 6 and includes a forward adjustment fan 91 and a lateral adjustment fan 92. The forward adjustment fan 91 is fixed in the middle of one side of the support base 1 and its air supply direction is parallel to the sliding direction of the storage box 44. There are two lateral adjustment fans 92, which are fixed on both sides of the support base 1 respectively. The air supply direction of the two lateral adjustment fans 92 is perpendicular to the sliding direction of the storage box 44.

[0036] The controller has a built-in IMU for detecting acceleration and displacement. When working at height, if the crosswind acts on the support and causes it to move beyond a certain range, the lateral adjustment fan will start and the first electric push rod will be activated to fix the support. When the first electric push rod 7 is pushed to its limit and the suction cup still does not adhere to the glass, the laser rangefinder will measure the distance and determine the distance. The forward adjustment fan will then be activated to adjust the position of the support.

[0037] In some other specific embodiments, the support base 1 includes a frame 12 and a housing 11, with the housing 11 covering the periphery of the frame 12; a plurality of first sleeves 32 are respectively fixed at the four corners of the frame 12 and a vacuum suction cup 35 extends out of the housing 11; and a window cleaning assembly 4 is installed in the middle of the frame 12.

[0038] To further optimize the above technical solution and facilitate comprehensive cleaning of the glass curtain wall on the building's exterior, a suspension assembly 10 is also included. The suspension assembly 10 includes a guide rail 101, a hanging platform 102, and steel wire ropes 103. Multiple connectors 13 are fixed on the top surface of the support base 1. The guide rail 101 is installed on the roof of the building on the side corresponding to the glass curtain wall. The hanging platform 102 is slidably connected to the guide rail 101, and a winch is fixed on the hanging platform 102. The steel wire ropes 103 are multi-stranded, with one end of the multi-stranded steel wire ropes 103 wound around the winch and the other end fixed to the multiple connectors 13.

[0039] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0040] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-point adsorption type building window cleaning robot structure, characterized in that, include: Support base (1) An air compressor (2) is fixed to the inner bottom wall of the support base (1) to provide negative pressure; Adsorption legs (3), the number of adsorption legs (3) is multiple and distributed around the support base (1); each of the multiple adsorption legs (3) includes a first sleeve (32), a first electric push rod (31), a first damper (33) and a vacuum suction cup (35); the first sleeve (32) is fixed on the support base (1); the cylinder of the first electric push rod (31) is fixed to one end of the first sleeve (32) and its piston rod is inserted into the first sleeve (32); the first end of the first damper (33) is slidably connected to the first sleeve (32) and fixed to the piston rod of the first electric push rod (31); the vacuum suction cup (35) is hinged to the second end of the first damper (33) and connected to the air compressor (2) through a pipeline to adsorb onto the glass curtain wall of the building; A window cleaning assembly (4) is slidably connected to the middle of the support base (1) to perform cleaning operations on the glass curtain wall.

2. The multi-point adsorption type building window cleaning robot structure according to claim 1, characterized in that, The adsorption support leg (3) also includes a universal joint (34), the fixed end of which is fixed to the second end of the first damper (33), and the movable end is fixed to the vacuum suction cup (35).

3. The multi-point adsorption type building window cleaning robot structure according to claim 1, characterized in that, The support base (1) has a water tank (5) fixed inside. The window cleaning assembly (4) includes a mounting base (45), a second sleeve (42), a second electric push rod (41), a second damper (43), a storage box (44), and a sub-robot. The mounting base (45) is fixed in the middle of the support base (1); the second sleeve (42) is fixed on the mounting base (45), the cylinder of the second electric push rod (41) is fixed at one end of the second sleeve (42) and its piston rod is inserted into the second sleeve (42); the first end of the second damper (43) is slidably connected in the second sleeve (42) and fixed to the piston rod of the second electric push rod (41); the storage box (44) is slidably connected on the mounting base (45) and fixed to the second end of the second damper (43); the sub-robot is located in the storage box (44) and connected to the water tank (5) through a pipeline; the storage box (44) can extend out of the support base (1) with the extension and retraction of the second electric push rod (41) and the sub-robot can detach from the storage box (44) and adhere to the glass curtain wall.

4. The multi-point adsorption type building window cleaning robot structure according to claim 3, characterized in that, The inner wall of the storage box (44) is fitted with a limiting member to confine the sub-robot within the storage box (44) when it is not in operation.

5. The structure of a multi-point adsorption-type building window cleaning robot according to claim 4, characterized in that, The axis of the second sleeve (42) is parallel to the axis of the first sleeve (32), and the storage box (44) and the vacuum suction cup (35) are located on the same side of the support base (1).

6. The multi-point adsorption type building window cleaning robot structure according to claim 5, characterized in that, A laser rangefinder (6) is fixed to the upper end of the support base (1) on the side corresponding to the storage box (44).

7. The structure of a multi-point adsorption-type building window cleaning robot according to claim 6, characterized in that, It also includes an adjustment component (9), which is installed at one end of the support base (1) away from the laser rangefinder (6), including a forward adjustment fan (91) and a side adjustment fan (92); the forward adjustment fan (91) is fixed in the middle of one side of the support base (1) and its air supply direction is parallel to the sliding direction of the storage box (44); there are two side adjustment fans (92) and they are fixed on both sides of the support base (1), and the air supply direction of the two side adjustment fans (92) is perpendicular to the sliding direction of the storage box (44).

8. The structure of a multi-point adsorption-type building window cleaning robot according to claim 1, characterized in that, The support base (1) is equipped with a battery (8) and a controller (7), and the battery (8) is electrically connected to the controller (7); the controller (7) is used to control the posture of the building window cleaning robot structure.

9. The structure of a multi-point adsorption-type building window cleaning robot according to any one of claims 1 to 8, characterized in that, The support base (1) includes a frame (12) and a shell (11), the shell (11) covering the periphery of the frame (12); a plurality of first sleeves (32) are respectively fixed at the four corners of the frame (12) and the vacuum suction cup (35) extends out of the shell (11); the window cleaning assembly (4) is installed in the middle of the frame (12).

10. The structure of a multi-point adsorption-type building window cleaning robot according to any one of claims 1 to 8, characterized in that, It also includes a suspension assembly (10), which includes a guide rail (101), a hanging platform (102), and a steel wire rope (103); the top surface of the support base (1) is fixed with a plurality of connectors (13); the guide rail (101) is installed on the roof of the building on the side corresponding to the glass curtain wall, the hanging platform (102) is slidably connected to the guide rail (101), and a winch is fixed on the hanging platform (102); the steel wire rope (103) is multi-stranded, one end of the multi-stranded steel wire rope (103) is wound around the winch, and the other end is fixed to the plurality of connectors (13).

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