A pose adjusting structure of a glass curtain wall cleaning robot

Abstract

The utility model provides a kind of pose adjusting structure of glass curtain wall cleaning robot belongs to glass curtain wall cleaning robot technical field, and the pose adjusting structure of this glass curtain wall cleaning robot includes upper swing arm, lower swing arm and cleaning device, the upper swing arm is door shape structure, and its front end is hingedly provided with the cleaning device, the lower swing arm is arranged at the bottom of the upper swing arm, and is hingedly arranged with the upper swing arm, and the upper swing arm is used to drive the cleaning device to swing up and down;Tension spring assembly is arranged between the upper swing arm and the cleaning device, and the tension direction of the tension spring assembly is used to force the cleaning device to close to glass surface;It can solve the technical problem that the pose adjusting structure of existing cleaning robot cannot adjust pose freely in complex environment, water stain remains after cleaning, and it is difficult to provide efficient and uniform cleaning effect.

Description

Technical Field

[0001] This utility model belongs to the technical field of glass curtain wall cleaning robots, and specifically relates to an attitude adjustment structure for a glass curtain wall cleaning robot. Background Technology

[0002] With the rapid development of modern urban rail transit systems, subways, as an important component of urban public transportation, are increasingly highlighting the importance of their platform safety protection facilities. Subway safety curtain walls, as key facilities for ensuring passenger safety and preventing falls onto the tracks, are widely used in subway platforms. However, over long-term use, the surface of subway safety curtain walls easily accumulates dust, stains, watermarks, fingerprints, and various pollutants left by passengers, affecting their transparency and aesthetics, and may even obstruct the train driver's view, posing safety hazards.

[0003] Subway safety curtain walls are typically installed along the entire length of the platform, covering a wide area and standing quite tall. Manual cleaning is not only inefficient but also poses certain safety risks, especially during operation, where it is crucial to avoid interfering with passengers and train operations. Furthermore, subway safety curtain walls are mostly made of glass or transparent composite materials, and the surface material requires specific cleaning methods. Traditional manual wiping easily leaves watermarks or scratches, affecting the lifespan and visual appeal.

[0004] With the development of intelligent control technology, robot control systems have gradually become an important technical means for the maintenance of subway facilities. Advanced control systems enable robots to navigate autonomously, locate precisely, and clean efficiently in complex platform environments. The subway platform environment is complex, and the layout of safety curtain walls may involve curves, column obstructions, and variations in height, which places higher demands on the path planning and posture adjustment capabilities of cleaning robots.

[0005] The existing posture adjustment structure of cleaning robots cannot adjust their posture freely in complex environments, leaving water stains after cleaning and making it difficult to provide efficient and uniform cleaning results. Utility Model Content

[0006] In view of this, the present invention provides a posture adjustment structure for a glass curtain wall cleaning robot, which can solve the technical problems that the existing posture adjustment structure of cleaning robots cannot adjust its posture freely in complex environments, and water stains remain after cleaning, making it difficult to provide efficient and uniform cleaning results.

[0007] This utility model is implemented as follows:

[0008] This utility model provides a posture adjustment structure for a glass curtain wall cleaning robot, comprising an upper rotating arm, a lower rotating arm, and a cleaning device. The upper rotating arm has a U-shaped structure, with the cleaning device hinged to its front end. The lower rotating arm is located at the bottom of the upper rotating arm and hinged to it. The upper rotating arm is used to drive the cleaning device to swing up and down. A tension spring assembly is provided between the upper rotating arm and the cleaning device, and the tension of the tension spring assembly is used to force the cleaning device to move closer to the glass surface. The bottom of the lower rotating arm is fixed to the support frame of the glass curtain wall cleaning robot and is fixedly connected by a support cylinder.

[0009] Based on the above technical solution, the posture adjustment structure of the glass curtain wall cleaning robot of this utility model can be further improved as follows:

[0010] The cleaning device includes a back plate, a floating scraper assembly, a wastewater collection tank, and a posture adjustment roller. The back plate is hinged to the upper rotating arm and has an elongated hole in its center. The floating scraper assembly is located at the top of the tension spring assembly near the glass curtain wall, has an arc-shaped structure, and is fixed by a pressure strip. The wastewater collection tank is located behind the floating scraper assembly and is integrally formed with the back plate. A flexible corrugated pipe is connected to the bottom to absorb the scraped water. The posture adjustment roller is located at the top of the cleaning device, with its rim slightly higher than the floating scraper assembly by 2mm. When the glass curtain wall cleaning robot moves to the frame, the roller contacts the frame edge first, forcing the entire cleaning device to swing backward around the hinge axis. The floating scraper assembly automatically lifts away from the glass, achieving purely mechanical obstacle crossing.

[0011] Furthermore, the floating scraper assembly includes a double-layer rubber strip with different curvatures; the bottom rubber strip is provided with multiple V-grooves.

[0012] Furthermore, the attitude adjustment rollers include three rollers, which are respectively located on the left and right sides and the middle position of the top of the floating scraper assembly, and the distance between adjacent attitude adjustment rollers is the same.

[0013] Furthermore, the tension spring assembly includes a fixed sleeve and a support rod. The fixed sleeve is fixed to one side of the upper rotating arm by a square rod. The support rod is sleeved inside the fixed sleeve, with one end fixedly connected to the cleaning device and the other end blocked by a bolt. The diameter of the bolt is larger than the inner diameter of the fixed sleeve. A spring is sleeved on the outer wall of the support rod between the cleaning device and the fixed sleeve.

[0014] Furthermore, the upper rotating arm, the lower rotating arm, and the back plate are all made of aluminum plate.

[0015] Furthermore, the support cylinder is a cylindrical structure, which is horizontally arranged on one side of the support frame and fixedly connected to the support frame by multiple bolts to support the attitude adjustment device.

[0016] Furthermore, the upper rotating arm comprises three parts: a first horizontal bar connected to the cleaning device, a third inclined bar connected to the lower rotating arm, and a second vertical bar connected between the first horizontal bar and the third inclined bar.

[0017] Furthermore, a swing motor is provided between the third tilting rod and the second vertical rod.

[0018] Furthermore, the lower rotating arm is arranged perpendicular to the horizontal plane; a through hole is provided between the lower rotating arm and the third tilting rod.

[0019] Compared with the prior art, the beneficial effects of the posture adjustment structure of the glass curtain wall cleaning robot provided by this utility model are:

[0020] The upper swing arm has a portal-shaped structure, providing excellent stability and flexibility. The front end is hinged to the cleaning device, allowing the cleaning device to swing up and down to adapt to cleaning needs at different angles.

[0021] The lower rotating arm is located at the bottom of the upper rotating arm and is hinged to it. This connection allows the lower rotating arm to assist the upper rotating arm in supporting and driving the cleaning device. The bottom of the lower rotating arm is fixed to the support frame, ensuring the stability of the entire structure.

[0022] A tension spring assembly connects the upper rotating arm and the cleaning device, its function being to force the cleaning device close to the glass surface through elastic force. This design ensures that the cleaning device can be stably pressed against the glass curtain wall during the cleaning process, thereby improving the cleaning effect.

[0023] The back plate is hinged to the upper rotating arm and has an elongated hole in the center to allow for flexible movement of the cleaning device. The back plate provides structural support for the entire cleaning device.

[0024] The floating wiper assembly is located near the top of the glass and has an arc-shaped structure. It is secured by a retaining strip and has a degree of floating to adapt to the unevenness of the glass surface. The wiper has multiple V-grooves to help improve cleaning effectiveness and reduce scratches on the glass surface.

[0025] The wastewater collection tank is located behind the floating scraper assembly and is connected to a flexible corrugated pipe at the bottom. It is used to collect and drain the scraped water and dirt, ensuring the cleanliness of the cleaning area.

[0026] The cleaning device is equipped with attitude adjustment rollers on top, with the rims slightly higher than the floating scraper assembly by 2mm. When the robot approaches the edge, the rollers contact the edge first, forcing the entire cleaning device to swing back around the hinge axis, and the floating scraper assembly automatically lifts away from the glass, achieving obstacle crossing.

[0027] The floating scraper assembly uses two rubber strips with different curvatures, enhancing its adaptability to glass surfaces. Multiple V-grooves are designed at the bottom of the rubber strips to improve cleaning efficiency and reduce friction and damage to the glass surface during cleaning.

[0028] There are three attitude adjustment rollers, installed on the left, right, and center sides of the top of the floating scraper assembly. The three rollers are equidistant from each other, ensuring that the rollers apply force evenly when contacting the frame, guaranteeing that the cleaning device can smoothly pass over the frame.

[0029] The tension spring assembly comprises a fixed sleeve and a support rod. The fixed sleeve is connected to the upper rotating arm via a square rod, and the support rod is fitted inside the fixed sleeve and fixedly connected to the cleaning device. One end of the support rod is secured by a bolt with a diameter larger than the inner diameter of the fixed sleeve to ensure the stability of the assembly. Simultaneously, a spring is fitted onto the outer wall of the support rod to provide necessary elastic support.

[0030] The upper swing arm, lower swing arm, and back plate are all made of aluminum plate, which has strong corrosion resistance and lightweight characteristics, and can withstand the load of the cleaning device without adding too much weight.

[0031] The support cylinder adopts a cylindrical structure, is horizontally installed on one side of the support frame, and is fixedly connected to the frame by multiple bolts, serving to support the entire attitude adjustment device.

[0032] The upper swing arm consists of three parts: the first part is a horizontal bar connected to the cleaning device; the second part is a third inclined bar connected to the lower swing arm; and the third part is a vertical bar connecting the horizontal bar and the inclined bar. This design ensures both structural stability and flexible movement.

[0033] A swing motor is installed between the second vertical rod and the third tilting rod. The swing angle of the cleaning device can be adjusted by driving the motor, so as to clean different parts of the glass curtain wall.

[0034] The lower swing arm is set perpendicular to the horizontal plane and has a through hole between it and the third tilting rod to ensure a flexible connection between the upper and lower swing arms and to make necessary adjustments under different working conditions.

[0035] The posture adjustment structure of this glass curtain wall cleaning robot, through a series of mechanical design innovations, ensures that the cleaning device can freely adjust its posture in complex environments, automatically clean residual water stains, and improve cleaning efficiency. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the posture adjustment structure of a glass curtain wall cleaning robot.

[0038] Figure 2 This is a side view of the posture adjustment structure of a glass curtain wall cleaning robot.

[0039] Figure 3 This is a schematic diagram of the cleaning device.

[0040] Figure 4 This is a schematic diagram of the floating scraper assembly;

[0041] The attached diagram lists the components represented by each number as follows:

[0042] 10. Upper rotating arm; 20. Lower rotating arm; 30. Cleaning device; 31. Back plate; 32. Floating scraper assembly; 33. Sewage collection tank; 34. Attitude adjustment roller; 40. Tension spring assembly; 50. Support cylinder. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0044] like Figure 1-4 The diagram shows a schematic of the posture adjustment structure of a glass curtain wall cleaning robot provided by this utility model. The structure includes an upper rotating arm 10, a lower rotating arm 20, and a cleaning device 30. The upper rotating arm 10 has a U-shaped structure, with the cleaning device 30 hinged to its front end. The lower rotating arm 20 is located at the bottom of the upper rotating arm 10 and is hinged to it. The upper rotating arm 10 is used to drive the cleaning device 30 to swing up and down. A tension spring assembly 40 is provided between the upper rotating arm 10 and the cleaning device 30. The tension of the tension spring assembly 40 is used to force the cleaning device 30 to move closer to the glass surface. The bottom of the lower rotating arm 20 is fixed to the support frame of the glass curtain wall cleaning robot and is fixedly connected by a support cylinder 50.

[0045] In the aforementioned technical solution, the cleaning device 30 includes a back plate 31, a floating scraper assembly 32, a wastewater collection tank 33, and a posture adjustment roller 34. The back plate 31 is hinged to the upper rotating arm 10 and has an elongated hole in its center. The floating scraper assembly 32 is located at the top of the tension spring assembly 40 near the glass curtain wall and has an arc-shaped structure, which is fixed by a pressure strip. The wastewater collection tank 33 is located behind the floating scraper assembly 32 and is integrally formed with the back plate 31. A flexible corrugated pipe is connected to the bottom to suck up the scraped water. The top of the cleaning device 30 is equipped with a posture adjustment roller 34, with the wheel rim slightly higher than the floating scraper assembly 32 by 2mm. When the glass curtain wall cleaning robot moves to the frame, the roller contacts the frame first, forcing the entire cleaning device to swing back around the hinge axis. The floating scraper assembly 32 is automatically lifted away from the glass, realizing purely mechanical obstacle crossing.

[0046] Furthermore, in the above technical solution, the floating scraper assembly 32 includes a double-layer rubber strip with different curvatures; the bottom rubber strip is provided with multiple V-grooves.

[0047] Furthermore, in the above technical solution, the attitude adjustment rollers 34 include three rollers, which are respectively arranged on the left and right sides and the middle position of the top of the floating scraper assembly 32, and the distance between adjacent attitude adjustment rollers 34 is the same.

[0048] Furthermore, in the above technical solution, the tension spring assembly 40 includes a fixed sleeve and a support rod. The fixed sleeve is fixed to one side of the upper rotating arm 10 by a square rod. The support rod is sleeved inside the fixed sleeve, with one end fixedly connected to the cleaning device 30 and the other end blocked by a bolt. The diameter of the bolt is larger than the inner diameter of the fixed sleeve. A spring is sleeved on the outer wall of the support rod between the cleaning device 30 and the fixed sleeve.

[0049] Furthermore, in the above technical solution, the upper rotating arm 10, the lower rotating arm 20, and the back plate 31 are all made of aluminum plate.

[0050] Furthermore, in the above technical solution, the support cylinder 50 is a cylindrical structure, which is horizontally set on one side of the support frame and fixedly connected to the support frame by multiple bolts, for supporting the attitude adjustment device.

[0051] Furthermore, in the above technical solution, the upper rotating arm 10 includes three parts: a first horizontal bar connected to the cleaning device 30, a third inclined bar connected to the lower rotating arm 20, and a second vertical bar connected between the first horizontal bar and the third inclined bar.

[0052] Furthermore, in the above technical solution, a swing motor is provided between the third tilting rod and the second vertical rod.

[0053] Furthermore, in the above technical solution, the lower rotating arm 20 is set perpendicular to the horizontal plane; a through hole is provided between the lower rotating arm 20 and the third tilting rod.

[0054] In practical applications, the adjustable structure of glass curtain wall cleaning robots is widely used in the exterior cleaning of modern subway safety curtain walls. First, the operator secures the cleaning robot to the support frame on the glass curtain wall facade. The support frame firmly supports the entire adjustable structure, including the upper arm, lower arm, and cleaning device. The cleaning device is connected to the upper arm via a hinged connection, while the lower arm is fixed to the support frame, ensuring the stability of the entire system.

[0055] Before starting, the operator adjusts the pressure of the cleaning device according to the actual condition of the glass surface. The elastic adjustment of the tension spring assembly ensures that the cleaning device maintains appropriate contact force with the glass surface. At this time, the floating scraper assembly of the cleaning device automatically adjusts its angle to adapt to the undulations of the glass surface, ensuring maximum cleaning effect.

[0056] After the robot is started, the electric drive system begins to work, and the cleaning device starts to swing, gradually covering the entire glass surface. The motor drive allows the upper rotating arm to precisely adjust the angle of the cleaning device, thereby efficiently cleaning the glass surface. Especially near the frame, the posture adjustment rollers will contact the frame first, triggering the backswing function of the cleaning device, causing the cleaning device to automatically lift away from the glass, avoiding collision with the frame and successfully completing the cleaning task.

[0057] During the cleaning process, the multiple V-groove design on the floating scraper assembly effectively reduces the risk of scratching the glass surface while improving cleaning efficiency. The floating nature of the scraper assembly allows the robot to better adapt to changes in the glass surface, ensuring a uniform cleaning effect. Wastewater generated during the cleaning process is collected in a wastewater collection tank at the rear of the cleaning unit and discharged through a flexible corrugated pipe, ensuring the clean area remains clean and tidy.

[0058] After cleaning is completed, the operator can easily adjust the robot's structure to suit different facade requirements. Regular inspection and maintenance of the tension spring assembly, cleaning device, and rollers ensure the robot's long-term efficient operation.

[0059] Through this highly efficient posture adjustment structure, the glass curtain wall cleaning robot can operate smoothly in various complex environments, providing excellent cleaning results, greatly improving cleaning efficiency, and reducing the cost and risk of manual cleaning. This embodiment is not only applicable to the cleaning of curtain wall facades, but can also be extended to more buildings with glass curtain walls.

[0060] Specifically, the principle of this invention is as follows: During installation, ensure the robot's support frame is stable and accurately align the upper and lower rotating arms to guarantee the stability of the mechanical structure. Adjust the distance between the cleaning device and the glass. Depending on the actual situation, use a tension spring assembly to adjust the pressure of the cleaning device to ensure it can stably press against the glass during operation. Start the electric drive system, driving the cleaning device to begin swinging. The electric drive can adjust the swing angle of the cleaning device according to different areas of the glass, ensuring uniform cleaning of the entire glass surface. Utilizing the hinge structure of the upper and lower rotating arms, the posture of the cleaning device can be flexibly adjusted to adapt to different cleaning angles. Especially near the frame, the posture adjustment rollers can automatically lift the cleaning device to avoid collision with the frame.

[0061] After cleaning, the floating squeegee assembly automatically adjusts its angle according to the surface undulations of the glass, automatically cleaning residual water stains and improving cleaning efficiency. The V-groove design of the floating squeegee effectively reduces friction on the glass surface and improves cleaning efficiency. A wastewater collection tank collects wastewater generated during cleaning and discharges it through a flexible corrugated pipe, ensuring no water stains are left behind. When cleaning areas near the frame, the attitude adjustment roller first contacts the frame, automatically triggering the cleaning device to swing back, thus avoiding the frame and continuing the cleaning operation. Regularly check the elasticity and fixation of the tension spring assembly to ensure it provides appropriate pressure during cleaning. The surfaces of the cleaning device and rollers need to be wiped regularly to prevent the accumulation of dirt and dust from affecting the cleaning effect.

Claims

1. A posture adjustment structure for a glass curtain wall cleaning robot, characterized in that, The system includes an upper rotating arm (10), a lower rotating arm (20), and a cleaning device (30). The upper rotating arm (10) has a U-shaped structure, with the cleaning device (30) hinged to its front end. The lower rotating arm (20) is located at the bottom of the upper rotating arm (10) and is hinged to it. The upper rotating arm (10) is used to drive the cleaning device (30) to swing up and down. A tension spring assembly (40) is provided between the upper rotating arm (10) and the cleaning device (30). The tension of the tension spring assembly (40) is used to force the cleaning device (30) to move closer to the glass surface. The bottom of the lower rotating arm (20) is fixed to the support frame of the glass curtain wall cleaning robot and is fixedly connected by a support cylinder (50).

2. The posture adjustment structure of a glass curtain wall cleaning robot according to claim 1, characterized in that, The cleaning device (30) includes a back plate (31), a floating scraper assembly (32), a sewage collection tank (33), and a posture adjustment roller (34). The back plate (31) is hinged to the upper rotating arm (10) and has an elongated hole in the center. The floating scraper assembly (32) is located at the top of the tension spring assembly (40) near the glass curtain wall and has an arc-shaped structure. It is fixed by a pressure strip. The sewage collection tank (33) is located behind the floating scraper assembly (32) and is integrally formed with the back plate (31). The bottom is connected to a flexible corrugated pipe for sucking up the scraped water. The top of the cleaning device (30) is provided with the posture adjustment roller (34), and the rim of the roller is slightly higher than the floating scraper assembly (32) by 2mm. When the glass curtain wall cleaning robot moves to the frame, the roller contacts the frame first, forcing the entire cleaning device to swing back around the hinge axis. The floating scraper assembly (32) automatically lifts away from the glass, realizing purely mechanical obstacle crossing.

3. The posture adjustment structure of a glass curtain wall cleaning robot according to claim 2, characterized in that, The floating scraper assembly (32) includes a double-layer rubber strip with different curvatures; the bottom rubber strip is provided with multiple V-grooves.

4. The posture adjustment structure of a glass curtain wall cleaning robot according to claim 3, characterized in that, The attitude adjustment rollers (34) include three rollers, which are respectively located on the left and right sides and the middle of the top of the floating scraper assembly (32), and the distance between adjacent attitude adjustment rollers (34) is the same.

5. The posture adjustment structure of a glass curtain wall cleaning robot according to claim 4, characterized in that, The tension spring assembly (40) includes a fixed sleeve and a support rod. The fixed sleeve is fixed to one side of the upper rotating arm (10) by a square rod. The support rod is sleeved inside the fixed sleeve, with one end fixedly connected to the cleaning device (30) and the other end blocked by a bolt. The diameter of the bolt is larger than the inner diameter of the fixed sleeve. A spring is sleeved on the outer wall of the support rod between the cleaning device (30) and the fixed sleeve.

6. The posture adjustment structure of a glass curtain wall cleaning robot according to claim 5, characterized in that, The upper rotating arm (10), the lower rotating arm (20), and the back plate (31) are all made of aluminum plate.

7. The posture adjustment structure of a glass curtain wall cleaning robot according to claim 6, characterized in that, The support cylinder (50) is a cylindrical structure, which is horizontally arranged on one side of the support frame and fixedly connected to the support frame by multiple bolts, and is used to support the attitude adjustment structure.

8. The posture adjustment structure of a glass curtain wall cleaning robot according to claim 7, characterized in that, The upper rotating arm (10) comprises three parts: a first horizontal bar connected to the cleaning device (30), a third inclined bar connected to the lower rotating arm (20), and a second vertical bar connected between the first horizontal bar and the third inclined bar.

9. The posture adjustment structure of a glass curtain wall cleaning robot according to claim 8, characterized in that, A swing motor is installed between the third tilting rod and the second vertical rod.

10. The posture adjustment structure of a glass curtain wall cleaning robot according to claim 9, characterized in that, The lower rotating arm (20) is set perpendicular to the horizontal plane; a through hole is provided between the lower rotating arm (20) and the third tilting rod.

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