Crawler adsorption type cleaning robot and outer wall cleaning system

Abstract

The utility model relates to a crawler adsorption type cleaning robot and an outer wall cleaning system, and belongs to the technical field of high-rise outer wall cleaning equipment. The cleaning robot conducts synchronous cleaning through a double-shaft motor belt wheel transmission rolling brush and a gear meshing transmission disc brush. The magnetic attraction type crawler belt detects the position of the wall face through the infrared laser probe so that the robot can automatically walk and return on the wall face. And meanwhile, the safety rope pull ring and the linkage mechanism are designed, so that the safety and reliability of cleaning operation of the cleaning robot are enhanced. The outer wall cleaning system comprises the cleaning robot with the magnetic attraction type caterpillar band, the crawling track, the L-shaped suspension frame and the like, and stable operation and convenient and fast movement are achieved. According to the utility model, the cleaning efficiency is improved, the labor intensity is reduced, the operation safety is guaranteed, and the application prospect is wide.

Description

Technical Field

[0001] The utility model belongs to the technical field of high-rise building exterior wall cleaning equipment, and specifically relates to a crawler adsorption type cleaning robot and an exterior wall cleaning system. Background Art

[0002] With the acceleration of urbanization and the improvement of people's quality of life, high-rise buildings have sprung up in cities and become an important part of the city skyline. In order to create a modern and beautiful architectural style, these high-rise buildings widely use glass curtain walls as exterior wall materials. However, during long-term use, glass curtain walls will inevitably be polluted by dust, haze in the air and solid matter in rainwater, which not only affects the beauty of the building, but also increases the difficulty of cleaning and maintenance.

[0003] Traditional glass curtain wall cleaning methods mainly rely on manual operation, using ropes, hanging baskets and other equipment for high-altitude work. However, with the continuous increase in building height and the expansion of cleaning area, this manual cleaning method faces huge safety risks and heavy workload. High-altitude work itself is extremely dangerous, and cleaning work requires meticulousness, making manual cleaning not only inefficient but also extremely labor-intensive.

[0004] In order to overcome the shortcomings of traditional cleaning methods, people began to explore the use of robots to clean glass curtain walls. At present, some suction-type cleaning robots have appeared on the market, which use suction cups and other devices to move and clean on glass curtain walls. Although these robots have certain cleaning capabilities, they often have the following problems: first, the movement stability is poor, and it is difficult to work stably on complex wall surfaces; second, the cleaning device is complex and energy-intensive, resulting in low cleaning efficiency; third, the scope of application is limited, and they can only adapt to specific working environments and curtain wall structures.

[0005] Therefore, how to improve the stability, cleaning efficiency and application scope of the cleaning robot has become an urgent problem to be solved. In view of these problems, it is necessary to develop a new type of glass curtain wall cleaning robot to achieve efficient, safe and automatic cleaning of the glass curtain wall, thereby improving the efficiency and safety of cleaning work and reducing manual labor intensity and cost. Utility Model Content

[0006] In view of the many problems of existing cleaning robots in the background technology, such as poor stability, low cleaning efficiency and limited application scope, the utility model provides a crawler adsorption type cleaning robot and an exterior wall cleaning system.

[0007] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a crawler adsorption type cleaning robot, comprising a shell, an infrared laser probe is arranged on the front end surface of the shell, magnetic suction crawlers are respectively installed on the left and right side surfaces of the shell through connecting pieces, two mounting holes are respectively arranged on the left and right side surfaces of the shell, a shaft sleeve is arranged in each mounting hole, a coupling is arranged between the two shaft sleeves on the front and rear sides of the shell, a roller brush is arranged on each of the couplings, a frame is installed in the shell, two-axis motors are respectively arranged on both sides of the frame, two first pulleys are arranged on the outer output shaft of each of the two-axis motors, second pulleys are respectively arranged at both ends of the two couplings, the two first pulleys and the two second pulleys on the same side of the shell are respectively connected by two belts, the infrared laser probe controls the two dual-axis motors through a controller to synchronously drive the two roller brushes in a pulley transmission mode to perform cleaning action, and at the same time, the two magnetic suction crawlers are driven by the coupling to realize automatic return walking on the wall; at the same time, the two disc brushes respectively cooperate with the two roller brushes through a gear meshing transmission mode to realize synchronous cleaning action.

[0008] As a further supplement to the above technical solution, active bevel gears are respectively provided on the inner output shafts of the two dual-axis motors, two rotating shafts are provided between the housing and the frame, driven bevel gears meshing with the active bevel gears are respectively provided on the two rotating shafts, disc brushes are respectively provided at the lower ends of the two rotating shafts, and the two disc brushes realize synchronous cleaning action with the two roller brushes through gear meshing transmission.

[0009] As a further explanation and limitation of the above technical solution, the rotating shaft is a separate structure, which includes an upper shaft sleeve and a lower shaft sleeve, which are assembled by plug-in and connected by a transmission shaft, and the upper and lower ends of the transmission shaft are respectively connected to the upper shaft sleeve and the lower shaft sleeve through two bearings, the upper shaft sleeve is installed on the inner side of the top wall of the shell, the lower shaft sleeve is connected to the frame through a bushing, and a mounting plate is provided at the bottom end of the lower shaft sleeve, the disc brush is fixed to the mounting plate through a plurality of spring connecting rods, and the driven bevel gear is keyed to the lower shaft sleeve.

[0010] As a further supplement to the above technical solution, a transmission gear is keyed to the lower shaft sleeve, a connecting support is arranged on the frame, and two meshing linkage gears are arranged on the connecting support through two axial pins. The two linkage gears are respectively meshed with the transmission gear to form a linkage mechanism of the two disc brushes.

[0011] As a further supplement to the above technical solution, a handle is provided on the shell to facilitate operators to hold and carry it.

[0012] As a further supplementary explanation of the above technical solution, a safety rope pull ring is arranged on the shell, and the safety rope pull ring is used to connect the safety rope to prevent accidental falling.

[0013] An exterior wall cleaning system, a cleaning robot is adsorbed on a crawling track through a magnetic crawler, the crawling track is fixed on an L-shaped suspension frame, and moving wheels are arranged on the L-shaped suspension frame.

[0014] As a further supplementary explanation of the above technical solution, a rotating shaft is arranged on the L-shaped suspension frame through two bearing supports, and a reel is arranged on the rotating shaft for winding the safety rope.

[0015] As a further supplement to the above technical solution, a first pulley and a second pulley are provided on the L-shaped suspension frame, and the two are arranged vertically. One end of the safety rope pull ring is fixed on the safety rope pull ring, and the other end of the safety rope pull ring is successively passed around the first pulley and the second pulley and fixed on the reel.

[0016] As a further supplement to the above technical solution, two connecting sleeves are provided on the inner side of the L-shaped suspension frame, a telescopic rod is inserted in the connecting sleeve, a resistance wheel is provided on the telescopic rod, and a positioning bolt is provided on the connecting sleeve for adjusting the extension length of the telescopic rod to ensure that the resistance wheel contacts the inner side of the top edge of the outer wall to prevent the crawling track from shaking during movement.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] 1. The utility model ingeniously drives two roller brushes through two dual-axis motor pulleys and two disc brushes through gear meshing to achieve synchronous cleaning action. At the same time, the cleaning robot combines an infrared laser probe to control the two dual-axis motors through a controller to drive the magnetic crawler to achieve mobile cleaning operations. This design enables the cleaning robot to perform efficient and precise cleaning operations on the exterior wall surface, greatly improving the cleaning efficiency and effect.

[0019] 2. The utility model adopts a rotating shaft separation structure to install two disc brushes on the cleaning robot. This structural design not only facilitates the assembly and maintenance of the robot, but also enables the two disc brushes to rotate synchronously, further improving the cleaning effect.

[0020] 3. The utility model is designed with a safety rope pull ring on the shell. The design of the safety rope can effectively prevent falling due to accidents during the cleaning operation, thereby ensuring the safety of the operation.

[0021] 4. The utility model adds a linkage mechanism, that is, two meshing linkage gears and two transmission gears meshing with them. When one dual-axis motor fails, the other motor can drive the two disc brushes to rotate synchronously through the linkage mechanism to ensure that the cleaning operation continues, thereby improving the reliability and stability of the equipment.

[0022] 5. The utility model also provides an exterior wall cleaning system, which includes a cleaning robot, a magnetic crawler, a crawling track, and an L-shaped suspension frame. The cleaning robot is attached to the crawling track by the magnetic crawler, and the crawling track is fixed to the L-shaped suspension frame. This design enables the cleaning robot to operate stably on the exterior wall surface, and at the same time, the moving wheels on the L-shaped suspension frame also facilitate the movement and positioning of the entire system.

[0023] 6. The utility model also adds a telescopic rod adjustment device. By adjusting the length of the telescopic rod, the contact wheel can be closely contacted with the inner side of the top edge of the outer wall, thereby effectively preventing the crawling track from shaking during movement. This design not only improves the stability of the cleaning operation, but also further enhances the reliability and safety of the entire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an assembly diagram of the cleaning robot in the present utility model;

[0025] Figure 2 This is a structural diagram of the cleaning robot in the utility model;

[0026] Figure 3 It is an assembly diagram of the separate structure rotating shaft in the utility model;

[0027] Figure 4 This is a structural diagram of the exterior wall cleaning system of the utility model equipped with a cleaning robot;

[0028] Figure 5 This is a reference diagram for the cleaning operation of the cleaning robot in the present invention.

[0029] In the figure: it includes a shell 1, an infrared laser probe 2, a magnetic crawler 3, a connecting piece 4, a mounting hole 5, a sleeve 6, a coupling 7, a roller brush 8, a frame 9, a dual-axis motor 10, a first pulley 11, a second pulley 12, a belt 13, an active bevel gear 14, a rotating shaft 15, a driven bevel gear 16, a spring connecting rod 17, a disc brush 18, a transmission gear 19, a connecting support 20, a shaft pin 21, a linkage gear 22, a first pulley 23, a second pulley 24, a crawling track 25, an L-shaped suspension frame 26, a moving wheel 27, a connecting sleeve 28, a telescopic rod 29, a positioning bolt 30, a contact wheel 31, a bearing support 32, a rotating shaft 33, a reel 34, a handle 35, a safety rope pull ring 36, and a safety rope 37.

[0030] Among them, the rotating shaft is a separated structure, and the specific structure is as follows: the upper shaft sleeve is 1501, the lower shaft sleeve is 1502, the transmission shaft is 1503, the bearing is 1504, the mounting plate is 1505, and the bushing is 1506. DETAILED DESCRIPTION

[0031] In order to further illustrate the technical solution of the utility model, the following Figures 1 to 5 , we further illustrate the utility model through four embodiments according to the design scheme and implementation process. Embodiment 1

[0032] As attached Figures 1 to 3As shown, a crawler adsorption type cleaning robot comprises a shell 1, an infrared laser probe 2 is arranged on the front end surface of the shell 1, magnetic crawlers 3 are respectively installed on the left and right side surfaces of the shell 1 through connecting members 4, two mounting holes 5 are respectively arranged on the left and right side surfaces of the shell 1, a shaft sleeve 6 is arranged in each of the mounting holes 5, a coupling 7 is arranged between the two shaft sleeves 6 on the front and rear sides of the shell 1, a roller brush 8 is arranged on each of the couplings 7, a frame 9 is installed in the shell 1, and dual-axis motors 10 are respectively arranged on both sides of the frame 9, two first pulleys 11 are arranged on the outer output shaft of each of the dual-axis motors 10, second pulleys 12 are respectively arranged at both ends of the two couplings 7, and the two first pulleys 11 located on the same side of the shell 1 It is connected to the two second pulleys 12 by two belts 13 respectively, and a driving bevel gear 14 is respectively arranged on the inner output shafts of the two dual-axis motors 10, and two rotating shafts 15 are arranged between the shell 1 and the frame 9, and a driven bevel gear 16 meshing with the driving bevel gear 14 is respectively arranged on the two rotating shafts 15, and a disc brush 18 is respectively arranged at the lower end of the two rotating shafts 15. The infrared laser probe 2 controls the two dual-axis motors 10 through a controller to synchronously drive the two roller brushes 8 to perform cleaning action in a pulley transmission manner, and at the same time drives the two magnetic tracks 3 to realize automatic return walking on the wall through the coupling 7; at the same time, the two disc brushes 18 cooperate with the two roller brushes 8 through a gear meshing transmission manner to realize synchronous cleaning action.

[0033] In the above embodiment, as shown in the attached Figure 3 As shown, the rotating shaft 15 is a separate structure, which includes an upper shaft sleeve 1501 and a lower shaft sleeve 1502, which are assembled by plugging and connected by a transmission shaft 1503. The upper and lower ends of the transmission shaft 1503 are respectively connected to the upper shaft sleeve 1501 and the lower shaft sleeve 1502 through two bearings 1504. The upper shaft sleeve 1501 is installed on the inner side of the top wall of the shell 1, and the lower shaft sleeve 1502 is connected to the frame 9 through a bushing 1506. A mounting plate 1505 is provided at the bottom end of the lower shaft sleeve 1502. The disc brush 18 is fixed to the mounting plate 1505 through a plurality of spring connecting rods 17, and the driven bevel gear 16 is keyed to the lower shaft sleeve 1502.

[0034] An exterior wall cleaning system, such as the attached Figure 4 and 5As shown, the cleaning robot is adsorbed on the crawling track 25 through the magnetic crawler 3, and the crawling track 25 is fixed on the L-shaped suspension frame 26. The L-shaped suspension frame 26 is provided with a moving wheel 27, and the L-shaped suspension frame 26 is provided with a rotating shaft 33 through two bearing supports 32. A reel 34 is provided on the rotating shaft 33. A safety rope pull ring 36 is installed on the housing 1 to connect the safety rope 37. The first pulley 23 and the second pulley 24 are provided on the L-shaped suspension frame 26, and the two are arranged vertically. One end of the safety rope pull ring 36 is fixed on the safety rope pull ring 36, and the other end of the safety rope pull ring 36 is fixed on the reel 34 by passing the first pulley 23 and the second pulley 24 in turn. When the cleaning robot is cleaning the exterior wall, the safety rope 37 can effectively prevent the risk of falling due to unexpected situations. Embodiment 2

[0035] In order to prevent the cleaning work from being unable to continue due to the failure of any of the dual-axis motors during the cleaning process, we have added a linkage mechanism solution based on the above embodiment. The specific implementation method is as follows:

[0036] As attached Figure 3 As shown, a transmission gear 19 is keyed to the lower shaft sleeve 1502, and a connecting support 20 is provided on the frame 9. Two meshing linkage gears 22 are installed on the connecting support 20 through two shaft pins 21. The two linkage gears 22 are respectively meshed with the transmission gear 19, thereby forming a linkage mechanism between the two disc brushes 18.

[0037] When one of the dual-axis motors stops working due to a fault, the other dual-axis motor can still drive the two disc brushes 18 to rotate synchronously through the linkage mechanism, ensuring that the cleaning operation can continue, thereby greatly improving the reliability and stability of the cleaning equipment. Embodiment 3

[0038] In order to facilitate the operator to move or carry the entire device, two handles 35 are installed on the outside of the housing 1. This design not only improves work efficiency, but also reduces the risk of accidents that may occur during the transportation process, providing a strong guarantee for the safety of the operator. Embodiment 4

[0039] As attached Figure 4As shown, in one embodiment of the present invention, two connecting sleeves 28 are designed on the inner side of the L-shaped suspension frame 26, and telescopic rods 29 are arranged on the two connecting sleeves 28, and the telescopic rods 29 can be flexibly inserted and pulled out. In addition, a friction wheel 31 is installed on the telescopic rod 29, and a positioning bolt 30 is also provided on the connecting sleeve 28. The function of this positioning bolt 30 is to adjust the extension length of the telescopic rod 29. By rotating the positioning bolt 30, the position of the telescopic rod 29 in the connecting sleeve 28 can be accurately controlled, so as to adjust the contact tightness between the friction wheel 31 and the inner side of the top edge of the outer wall. This can effectively prevent the crawling track 25 from shaking during movement. When the friction wheel 31 is tightly fitted on the inner side of the top edge of the outer wall, it can provide stable support for the crawling track 25, ensuring that it remains stable and stable during movement. This not only improves the operating efficiency of the equipment, but also extends the service life of the equipment.

[0040] In summary, by providing the connecting sleeve 28 and the telescopic rod 29 on the L-shaped suspension frame 26, and equipping the abutment wheel 31 and the positioning bolt 30, the present invention achieves effective fixation and stable support of the crawling track 25, thereby improving the working efficiency and reliability of the equipment.

[0041] The above shows and describes the main features and advantages of the utility model. For those skilled in the art, it is obvious that the specific implementation of the utility model is not limited to the details of the above exemplary embodiments, and the creative ideas and design ideas of the utility model can be realized in other specific forms without departing from the spirit or basic features of the utility model, which should be equivalent to the protection scope disclosed in the technical solution of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the utility model.

[0042] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A crawler suction cleaning robot, comprising a housing (1), characterized in that: An infrared laser probe (2) is arranged on the front end surface of the shell (1), and magnetic tracks (3) are respectively installed on the left and right side surfaces of the shell (1) through connecting pieces (4). Two mounting holes (5) are respectively arranged on the left and right side surfaces of the shell (1), and a shaft sleeve (6) is arranged in each of the mounting holes (5). A coupling (7) is arranged between the two shaft sleeves (6) on the front and rear sides of the shell (1), and a roller brush (8) is arranged on each of the couplings (7). A frame (9) is installed in the shell (1), and dual-axis motors (10) are respectively arranged on both sides of the frame (9). Two first pulleys (11) are arranged on the outer output shaft of each of the dual-axis motors (10), and second pulleys (12) are arranged at both ends of the two coupling shafts (7). The two first pulleys (11) and the two second pulleys (12) located on the same side of the housing (1) are connected to each other via two belts (13). The infrared laser probe (2) controls the two dual-axis motors (10) through a controller to synchronously drive the two roller brushes (8) to perform a cleaning action in a pulley transmission manner, and at the same time drives the two magnetic tracks (3) through the coupling shaft (7) to realize automatic return walking on the wall.

2. The crawler suction cleaning robot according to claim 1, characterized in that: Active bevel gears (14) are respectively arranged on the inner output shafts of the two dual-axis motors (10); two rotating shafts (15) are arranged between the housing (1) and the frame (9); driven bevel gears (16) meshing with the active bevel gears (14) are respectively arranged on the two rotating shafts (15); disc brushes (18) are respectively arranged at the lower ends of the two rotating shafts (15); the two disc brushes (18) respectively achieve synchronous cleaning action with the two roller brushes (8) through gear meshing transmission.

3. The crawler suction cleaning robot according to claim 2, characterized in that: The rotating shaft (15) is a separate structure, comprising an upper shaft sleeve (1501) and a lower shaft sleeve (1502), which are assembled by plugging and connected by a transmission shaft (1503). The upper and lower ends of the transmission shaft (1503) are respectively connected to the upper shaft sleeve (1501) and the lower shaft sleeve (1502) through two bearings (1504). The upper shaft sleeve (1501) is mounted on the inner side of the top wall of the housing (1). The lower shaft sleeve (1502) is connected to the frame (9) through a bushing (1506). A mounting plate (1505) is provided at the bottom end of the lower shaft sleeve (1502). The disc brush (18) is fixed to the mounting plate (1505) through a plurality of spring connecting rods (17). The driven bevel gear (16) is keyed to the lower shaft sleeve (1502).

4. The crawler suction cleaning robot according to claim 3, characterized in that: A transmission gear (19) is keyed onto the lower shaft sleeve (1502), a connecting support (20) is provided on the frame (9), two meshing linkage gears (22) are provided on the connecting support (20) via two shaft pins (21), and the two linkage gears (22) are respectively meshed with the transmission gear (19) to form a linkage mechanism for the two disc brushes (18).

5. A crawler suction cleaning robot according to any one of claims 1 to 4, characterized in that: A handle (35) is provided on the housing (1) to facilitate operators to hold and carry the device.

6. The crawler suction cleaning robot according to claim 5, characterized in that: A safety rope pull ring (36) is provided on the housing (1), and the safety rope pull ring (36) is used to connect a safety rope (37) to prevent accidental falling.

7. An exterior wall cleaning system, comprising a crawling track (25), characterized in that: The invention comprises a crawler suction type cleaning robot as claimed in claim 6, wherein the cleaning robot is sucked onto a crawling track (25) by means of a magnetic suction crawler (3), wherein the crawling track (25) is fixed onto an L-shaped suspension frame (26), and a moving wheel (27) is arranged on the L-shaped suspension frame (26).

8. An exterior wall cleaning system according to claim 7, characterized in that: A rotating shaft (33) is arranged on the L-shaped suspension frame (26) via two bearing supports (32), and a reel (34) is arranged on the rotating shaft (33) for reeling up the safety rope (37).

9. An exterior wall cleaning system according to claim 8, characterized in that: A first pulley (23) and a second pulley (24) are provided on the L-shaped suspension frame (26), and the two are arranged vertically. One end of the safety rope pull ring (36) is fixed on the safety rope pull ring (36), and the other end of the safety rope pull ring (36) is passed around the first pulley (23) and the second pulley (24) in sequence and is fixed on the reel (34).

10. An exterior wall cleaning system according to any one of claims 7 to 9, characterized in that: Two connecting sleeves (28) are arranged on the inner side of the L-shaped suspension frame (26), a telescopic rod (29) is inserted in the connecting sleeve (28), a contact wheel (31) is arranged on the telescopic rod (29), and a positioning bolt (30) is arranged on the connecting sleeve (28) for adjusting the extension length of the telescopic rod (29) to ensure that the contact wheel (31) contacts the inner side of the top edge of the outer wall, thereby preventing the crawling track (25) from shaking during movement.

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