Cleaning manipulator with rotation and scraping combination
By combining robotic arms and brushes, the design solves the problems of insufficient multi-degree-of-freedom adjustment of brush components and insufficient integration of synchronous cleaning and squeegeeing in existing technologies. It achieves efficient cleaning and adaptive bonding of complex curtain wall surfaces, reduces cleaning residue, improves decontamination efficiency, and supports rapid maintenance.
Patent Information
- Application Number
- CN202520546433.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-26
- Publication Date
- 2026-02-27
- Estimated Expiration
- 2035-03-26
AI Technical Summary
Existing curtain wall cleaning brush assemblies mostly adopt rigid structures, which are difficult to adapt to uneven surfaces or curvature changes. They also lack multi-degree-of-freedom adjustment and synchronous cleaning and squeegee functions, resulting in residual stains or wear in cleaning dead corners. The transmission mechanism linkage design is simple, making it difficult to achieve efficient cleaning and adaptive fit.
It adopts a combination design of robotic arm, brush, water cutter, bending and fixing frame, support base, transmission device, support rod and spring. The floating structure of support rod and spring realizes the multi-degree-of-freedom movement of brush and water cutter. Combined with servo motor drive and belt drive, it realizes the synchronous operation of brush rotation cleaning and water cutting scraping. A cleaning nozzle is added for precise spraying.
It achieves adaptive floating of the brush and water cutter, reduces residual water marks during cleaning, enhances adaptability to complex curtain wall surfaces, improves cleaning efficiency, and facilitates maintenance through modular design.
Smart Images
Figure CN223944367U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a cleaning device field especially relates to a kind of cleaning manipulator containing rotation and scraping combination. BACKGROUND
[0002] Traditional curtain wall cleaning brush assembly is mostly rigid structure, which is difficult to adapt to the unevenness or the change of curvature of curtain wall surface, resulting in cleaning dead angle residual stain or excessive wear of brush. In the prior art, some brushes are floated by simple spring structure, but the multi-degree-of-freedom adjustment capability is insufficient, and the synchronous cleaning and water scraping function integration is lacking, and water marks are easily left after cleaning. In addition, the linkage design of transmission mechanism and cleaning component is relatively single, and it is difficult to realize the balance of efficient cleaning and self-adaptive fitting. Therefore, a brush assembly with multi-angle adjustment, self-adaptive floating and cleaning-water scraping collaborative operation is needed to improve the curtain cleaning effect and equipment durability. SUMMARY
[0003] The embodiment of the present application provides a cleaning manipulator containing rotation and scraping combination, which solves the technical problems that in the prior art, some brushes are floated by simple spring structure, but the multi-degree-of-freedom adjustment capability is insufficient, and the synchronous cleaning and water scraping function integration is lacking, and water marks are easily left after cleaning, and in addition, the linkage design of transmission mechanism and cleaning component is relatively single, and it is difficult to realize the balance of efficient cleaning and self-adaptive fitting.
[0004] The technical scheme adopted by the embodiment of the present application is as follows:
[0005] A cleaning manipulator containing rotation and scraping combination, comprising a manipulator, a brush, a water cutter, a bent fixing frame, a support seat, a transmission device and a support connecting rod, the support seat is arranged at the end of the manipulator, four groups of support connecting rods are arranged on the support seat in a rectangular array, the bent fixing frame is sleeved on the four groups of support connecting rods, springs are arranged around each group of support connecting rods, and the two ends of each group of springs abut against the support seat and the bent fixing frame, respectively, the brush is rotatably connected to the front end of the bent fixing frame, the water cutter is installed at the front end of the bent fixing frame, and the water cutter is arranged close to one side of the brush, the transmission device is installed at the rear end of the bent fixing frame, and the transmission device is drivingly connected to the brush.
[0006] Further technical solutions are as follows: the transmission device comprises a first pulley, a second pulley, a driving device and a belt, the driving device is installed at the rear end of the bent fixing frame, the first pulley is arranged on the output shaft of the driving device, the second pulley is arranged at one end of the brush, and the belt is wound around the first pulley and the second pulley.
[0007] Further technical solutions are as follows: the driving device is a servo motor.
[0008] Further technical solutions are that a plurality of cleaning spray heads arranged in a linear array are arranged on one side of the front end of the bending fixing frame.
[0009] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
[0010] 1. Due to the arrangement of the mechanical hand, the brush, the water cutting, the bending fixing frame, the support seat, the transmission device, the support connecting rod and the spring, the posture of the brush and the water cutting can be automatically adjusted according to the ups and downs of the curtain wall surface through the floating structure of the support connecting rod and the spring, so as to avoid residues or damage caused by uneven cleaning pressure. The mechanical hand drives the bending fixing frame to realize multi-degree-of-freedom movement such as pitching and yawing of the brush and the water cutting, so as to adapt to complex curtain wall curved surfaces. The synchronous operation of the brush rotation cleaning and the water cutting reduces water mark residues. After the cleaning spray head is additionally arranged, precise spraying of cleaning liquid can be realized, and the decontamination efficiency is improved. The rectangular array layout of the four groups of support connecting rods enhances the torsional resistance of the bending fixing frame, and prevents the components from deviating or shaking during cleaning. The transmission device adopts belt transmission, which is convenient for disassembly and replacement. The brush and the bending fixing frame are modularly connected, and quick maintenance is supported. BRIEF DESCRIPTION OF DRAWINGS
[0011] Figure 1 It is a whole structure schematic diagram of a cleaning mechanical hand comprising a rotation and scraping combination in the embodiments of the present application
[0012] Figure 2 It is a partial structure schematic diagram for reflecting the connection relationship between the support connecting rod and the bending fixing frame in the embodiments of the present application.
[0013] Figure 3 It is a partial structure schematic diagram for reflecting the transmission device in the embodiments of the present application.
[0014] In the figure: 1, mechanical hand; 2, brush; 3, water cutting; 4, bending fixing frame; 41, cleaning spray head; 5, support seat; 6, transmission device; 61, first pulley; 62, second pulley; 63, driving device; 64, belt; 7, support connecting rod. DETAILED DESCRIPTION
[0015] The embodiments of the present application provide a cleaning mechanical hand comprising a rotation and scraping combination, and solve the technical problems in the prior art that part of the brush is realized to float through a simple spring structure, but the multi-degree-of-freedom adjustment capability is insufficient, and the synchronous cleaning and water scraping function integration is lacked, water marks are easily left after cleaning, in addition, the linkage design of the transmission mechanism and the cleaning part is single, and high-efficiency cleaning and self-adaptive fitting balance cannot be realized.
[0016] The technical solutions in the embodiments of the present application are to solve the above problems, and the general idea is as follows:
[0017] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings in the specification and specific embodiments.
[0018] A cleaning robot with a combination of rotation and scraping, as shown in Figure 1 , Figure 2 and Figure 3 , comprising a robot 1, a brush 2, a water cutter 3, a bent fixed frame 4, a support seat 5, a transmission device 6 and a support connecting rod 7. The end of the robot 1 is provided with the support seat 5. The support seat 5 is provided with four groups of support connecting rods 7 arranged in a rectangular array, the bent fixed frame 4 is sleeved on the four groups of support connecting rods 7, a spring is arranged around each group of support connecting rods 7, and the two ends of each group of springs are respectively abutted on the support seat 5 and the bent fixed frame 4. The brush 2 is rotatably connected to the front end of the bent fixed frame 4. The water cutter 3 is installed at the front end of the bent fixed frame 4, and the water cutter 3 is placed close to one side of the brush 2. The transmission device 6 is installed at the rear end of the bent fixed frame 4, and the transmission device 6 is drivingly connected to the brush 2.
[0019] The transmission device 6 comprises a first pulley 61, a second pulley 62, a driving device 63 and a belt 64. The driving device 63 is installed at the rear end of the bent fixed frame 4. The first pulley 61 is arranged on the output shaft of the driving device 63. The second pulley 62 is arranged at one end of the brush 2. The belt 64 is wound around the first pulley 61 and the second pulley 62.
[0020] The driving device 63 is a servo motor.
[0021] A plurality of groups of cleaning nozzles 41 arranged in a straight line array are vertically arranged on one side of the front end of the bent fixed frame 4.
[0022] The robot 1 is installed with the support seat 5 at the end, four support connecting rods 7 are arranged at the four corners of the support seat 5, and the bent fixed frame 4 is sleeved on the four support connecting rods 7. A spring is sleeved on each support connecting rod 7, and the two ends of the spring are respectively abutted on the support seat 5 and the bent fixed frame 4. The brush 2 is rotatably connected to the bent fixed frame 4 at the front end through a bearing, the water cutter 3 is arranged in parallel on one side of the brush 2, and the distance between the water cutter 3 and the brush 2 is adjustable. The transmission device 6 is installed at the rear end of the bent fixed frame 4, and the driving device 63 of the transmission device 6 drives the brush 2 to rotate through the belt 64.
[0023] When working, the robot 1 drives the brush 2 and the water cutter 3 to move in close contact with the surface of the curtain wall, the brush 2 rotates to clean the stains, and the water cutter 3 simultaneously scrapes off the residual water. When there are concave and convex parts on the surface of the curtain wall, the bent fixed frame 4 is pushed by external force to compress the spring, driving the brush 2 and the water cutter 3 to float along the support connecting rod 7, maintaining stable contact pressure with the wall surface.
[0024] A plurality of linearly arranged cleaning nozzles 41 are installed on one side of the front end of the bending fixing frame 4. During cleaning, the cleaning nozzles 41 spray cleaning liquid to the contact area of the brush 2 and the curtain wall, the brush 2 rotates to evenly spread the cleaning liquid, and the water cutting 3 immediately scrapes off the dirty water, forming an integrated process of "cleaning-drying".
[0025] Due to the adoption of the manipulator 1, the brush 2, the water cutting 3, the bending fixing frame 4, the support seat 5, the transmission device 6, the support connecting rod 7 and the spring, through the floating structure of the support connecting rod 7 and the spring, the brush 2 and the water cutting 3 can automatically adjust the posture according to the ups and downs of the curtain wall surface, avoiding residual or damage caused by uneven cleaning pressure. The manipulator 1 drives the bending fixing frame 4 to realize the pitch, deflection and other multi-degree-of-freedom motion of the brush 2 and the water cutting 3, and adapt to complex curtain wall curved surfaces. The synchronous operation of the rotating cleaning of the brush 2 and the water cutting 3 reduces the water mark residue; the addition of the cleaning nozzles 41 can realize accurate spraying of cleaning liquid and improve the decontamination efficiency. The rectangular array layout of the four groups of support connecting rods 7 enhances the torsional resistance of the bending fixing frame 4, preventing the components from deviating or shaking during cleaning. The transmission device 6 adopts belt 64 transmission, which is convenient for disassembly and replacement; the brush 2 and the bending fixing frame 4 are modularly connected, supporting quick maintenance.
[0026] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all changes and modifications falling within the scope of the present application.
[0027] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and variations.
Claims
1. A cleaning robot comprising a combination of rotation and wiping, characterized in that, Including mechanical arm (1), brush (2), water cutting (3), bending fixed frame (4), support seat (5), transmission device (6) and support connecting rod (7), the end of the mechanical arm (1) is provided with the support seat (5), the support seat (5) is provided with four groups of support connecting rods (7) arranged in rectangular array, the bending fixed frame (4) is sleeved on four groups of support connecting rods (7), the spring is arranged around each group of support connecting rods (7), and the two ends of each group of spring are respectively abutted on the support seat (5) and the bending fixed frame (4), the brush (2) is rotatably connected to the front end of the bending fixed frame (4), the water cutting (3) is installed on the front end of the bending fixed frame (4), and the water cutting (3) is placed close to one side of the brush (2), the transmission device (6) is installed on the rear end of the bending fixed frame (4), and the transmission device (6) is drivingly connected to the brush (2).
2. A cleaning robot as claimed in claim 1, characterized in that The transmission device (6) comprises a first pulley (61), a second pulley (62), a driving device (63) and a belt (64), the driving device (63) is installed on the rear end of the bending fixed frame (4), the first pulley (61) is arranged on the output shaft of the driving device (63), the second pulley (62) is arranged on one end of the brush (2), and the belt (64) is wound on the first pulley (61) and the second pulley (62).
3. A cleaning robot as claimed in claim 2, wherein, The driving device (63) is a servo motor.
4. A cleaning robot as claimed in claim 1, wherein, A plurality of groups of cleaning nozzles (41) are vertically arranged in a straight line array on one side of the front end of the bending fixed frame (4).