A walking frame structure of a glass curtain wall cleaning robot

Abstract

The utility model provides a kind of walking vehicle frame structure of glass curtain wall cleaning robot belongs to vehicle frame body technical field, the walking vehicle frame structure of this glass curtain wall cleaning robot includes vehicle frame pedestal, four macnamera wheels, main mechanical arm and secondary mechanical arm;The four macnamera wheels are respectively installed in the four side edges of the vehicle frame pedestal;The main mechanical arm is hollow cuboid structure, is connected in the top of the vehicle frame pedestal by grabbing connector;The secondary mechanical arm is connected with the main mechanical arm, and motion controller is provided at the junction, and the end of the secondary mechanical arm is provided with cleaning head;The front and rear connecting portion of the vehicle frame pedestal is provided with the hinged mechanism that can be twisted at small angle, and the hinged mechanism makes the rear wheel of the side of the vehicle frame pedestal off the ground when obstacle avoidance, the utility model can solve the technical problem that existing curtain wall cleaning robot exists when cleaning will change the path of travel, leading to cleaning repetition or not thorough.

Description

Technical Field

[0001] This utility model belongs to the field of vehicle frame technology, and more specifically, relates to a walking frame structure for a glass curtain wall cleaning robot. Background Technology

[0002] The rapid development of urban rail transit has led to a continuous increase in subway operating mileage and passenger flow. As a core facility to ensure passenger safety, the need for cleaning and maintenance of subway platform safety glass curtain walls (platform screen door systems) is becoming increasingly prominent.

[0003] Traditional manual cleaning of subway platform glass curtain walls faces numerous limitations: the work must be completed within a limited time window, resulting in high labor intensity and low efficiency; personnel entering the platform area require complex construction permits, which may affect operational safety the following day; and the subway environment imposes strict requirements on equipment noise and dust control. Manual cleaning of subway platform screen doors also necessitates consideration of high personnel costs, nighttime work allowances, and safety management investments.

[0004] Subway platform screen door cleaning robots face specific obstacle challenges during operation. Traditional subway platform screen doors employ a modular construction, primarily consisting of three parts: the door body, the top box, and the threshold, completely isolating the platform from the track area. The top box uses a multi-panel assembly structure, typically composed of 2-3 aluminum alloy profile panels longitudinally spliced ​​together, connected by tenons, slots, and sealing strips. When traditional cleaning robots encounter obstacles at the seams, they deviate from their intended path, requiring them to return and reposition, resulting in repeated cleaning or omissions in certain areas, impacting overall work quality and efficiency. Utility Model Content

[0005] In view of this, the present invention provides a walking frame structure for a glass curtain wall cleaning robot, which can solve the technical problem that existing subway curtain wall cleaning robots change their travel path during cleaning, resulting in incomplete cleaning or repetitive cleaning.

[0006] This utility model is implemented as follows:

[0007] This utility model provides a walking frame structure for a glass curtain wall cleaning robot, comprising a frame base, four Mecanum wheels, a main robotic arm, and a secondary robotic arm; the four Mecanum wheels are respectively mounted on the four sides of the frame base; the main robotic arm is a hollow cubic structure and is connected to the upper part of the frame base via a gripping connector; the secondary robotic arm is connected to the main robotic arm, and a motion controller is provided at the connection point; a cleaning head is provided at the end of the secondary robotic arm; a hinge mechanism that can be twisted at a small angle is provided at the connection point between the front and rear parts of the frame base, and the hinge mechanism allows one rear wheel of the frame base to lift off the ground when avoiding obstacles, thereby enabling the cleaning device to automatically avoid protrusions on the curtain wall without changing the travel route.

[0008] The technical advantages of the walking frame structure of the glass curtain wall cleaning robot provided by this utility model are as follows:

[0009] 1. This glass curtain wall cleaning robot's chassis structure integrates omnidirectional Mecanum wheels, articulated intelligent obstacle avoidance, collaborative control of primary and secondary robotic arms, and an integrated sensing system. This facilitates automatic obstacle-crossing cleaning without deviating from the preset path. It significantly improves cleaning continuity and coverage in complex curtain wall environments, reducing manual intervention. It enhances safety and overall cleaning efficiency in high-rise operations, adapting to common obstacles such as frame protrusions and sealing strips while reducing equipment maintenance frequency and operating costs.

[0010] 2. Mecanum wheels enable precise omnidirectional movement with zero turning radius, allowing robots to easily navigate narrow areas between curtain wall frames.

[0011] 3. By lifting one rear wheel off the ground at a small angle, "imperceptible obstacle crossing" is achieved, maintaining the same travel route and avoiding path deviation caused by traditional obstacle avoidance.

[0012] Based on the above technical solution, the walking frame structure of the glass curtain wall cleaning robot of this utility model can be further improved as follows:

[0013] The hinge mechanism includes a vertical gear, a motor, and a limiting assembly;

[0014] When the motor provides positive torque, it self-locks after reaching the limit, enabling the Mecanum wheel to leave the ground. When the motor provides reverse torque, the frame automatically resets after obstacle avoidance.

[0015] Optionally, the gripping connector is a steering shaft, used to drive the main robotic arm to rotate, thereby achieving cleaning work in an arc-shaped area under the same plane.

[0016] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the main robotic arm can rotate freely 360° in the same plane relative to the vehicle frame base, which can flexibly adapt to local tilting of the curtain wall or slight yaw of the vehicle body. The steering axis can compensate for attitude deviations in real time.

[0017] Optionally, the chassis base integrates a power module and a control module, and the main robotic arm is equipped with a sensor module, including an ultrasonic sensor, for detecting protrusions in the curtain wall and triggering the twisting of the hinge mechanism.

[0018] The advantages of adopting the above-mentioned improved solution are as follows: multiple modules are highly integrated inside the base, eliminating exposed cables and improving overall waterproof and dustproof capabilities. Ultrasonic sensors detect protrusions, triggering the hinge mechanism to predict and avoid obstacles.

[0019] Optionally, the motion controller is used to control the cleaning head at the end of the secondary robotic arm to conform to the curtain wall surface in real time, and to coordinate with the omnidirectional motion of the Mecanum wheel to realize cleaning path planning.

[0020] The beneficial effects of adopting the above-mentioned improved scheme are as follows: the motion controller, in conjunction with the Mecanum wheel and the cleaning head path planning, facilitates real-time adjustment of the end torque of the secondary robotic arm, maintaining constant brush pressure and avoiding scratches on the coated glass or incomplete cleaning. Simultaneously, it facilitates the decoupling of the Mecanum wheel velocity vector and the joint planning of the secondary arm's inverse kinematics, achieving an optimal "zigzag" or "spiral" cleaning path with a coverage rate exceeding 99%.

[0021] Optionally, the internal wiring of the hollow cubic structure of the main robotic arm is used to transmit power and control signals to the secondary robotic arm.

[0022] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the internal wiring of the hollow cube of the main robotic arm facilitates the routing of power supply, control signals, and air circuits all within the internal space, completely eliminating the risk of cables being torn off by strong winds at high altitudes. The aluminum alloy cube frame also serves as a heat dissipation channel, and the corrugated pipes used to fix the wiring harness provide excellent vibration and tensile strength.

[0023] Optionally, the torsion angle range of the hinge mechanism is 0°~15°, ensuring that the ground clearance of one rear wheel is sufficient to pass over the curtain wall protrusions while maintaining the overall direction of travel.

[0024] The advantages of adopting the above-mentioned improved scheme are as follows: precise control of the hinge torsion angle from 0° to 15° facilitates a rear wheel lift height of approximately 30mm, sufficient to safely traverse common window frame protrusions without affecting overall passability. When one rear wheel is off the ground, it maintains stable three-point support with a center of gravity offset of less than 5mm and a travel direction drift of less than 1°, ensuring path accuracy. The hinge shaft incorporates a built-in rigid stop and angle limiter to prevent spring overload deformation and protect the mechanism's long-term stability.

[0025] Optionally, each Mecanum wheel is driven by a motor. The Mecanum wheel includes a hub, a plurality of circumferentially distributed inclined rollers, and a roller shaft. The hub is a hollow cylinder with 8-12 inclined mounting slots evenly opened along the circumferential direction on its outer circumference. A roller shaft is fixed in each mounting slot. The roller shaft forms a 35° angle with the hub axis. The outer surface of the roller is covered with a high-friction polyurethane layer and can rotate freely around the roller shaft through bearings.

[0026] The advantages of adopting the above-mentioned improved scheme are as follows: The Mecanum wheels are driven by a motor, which facilitates independent vector control of the four wheels, achieving a positioning accuracy of ±0.1mm, meeting the requirements of fine cleaning paths. The polyurethane rollers have a high coefficient of friction, providing 1.5 times the vehicle weight in suction force and resisting slippage even in gale-force winds. The 8-12 rollers are designed for even force distribution, facilitating partial replacement of individual rollers.

[0027] Optionally, the cleaning head is a replaceable soft brush that is compatible with different curtain wall materials, and the brush pressure can be adjusted by the motion controller to optimize the cleaning effect.

[0028] The advantages of adopting the above-mentioned improvement scheme are: the detachable magnetic snap-on quick-change interface allows for brush head replacement in 10 seconds, requires no tools, and is highly efficient in maintenance.

[0029] Optionally, a flexible buffer joint is further provided at the connection between the main robotic arm and the secondary robotic arm to absorb vibrations caused by the tilting of the vehicle frame base during obstacle avoidance.

[0030] The beneficial effects of adopting the above-mentioned improvement scheme are: the flexible buffer joint at the connection between the main and secondary arms is conducive to absorbing more than 90% of high-frequency vibrations when tilting to avoid obstacles, and the pressure fluctuation of the cleaning head is less than 0.05N.

[0031] Compared with the prior art, the beneficial effects of the walking frame structure of the glass curtain wall cleaning robot provided by this utility model are:

[0032] 1. This glass curtain wall cleaning robot's chassis structure integrates omnidirectional Mecanum wheels, articulated intelligent obstacle avoidance, collaborative control of primary and secondary robotic arms, and an integrated sensing system. This facilitates automatic obstacle-crossing cleaning without deviating from the preset path. It significantly improves cleaning continuity and coverage in complex curtain wall environments, reducing manual intervention. It enhances safety and overall cleaning efficiency in high-rise operations, adapting to common obstacles such as frame protrusions and sealing strips while reducing equipment maintenance frequency and operating costs.

[0033] 2. Mecanum wheels enable precise omnidirectional movement with zero turning radius, allowing robots to easily navigate narrow areas between curtain wall frames.

[0034] 3. By lifting one rear wheel off the ground at a small angle, "impeded obstacle crossing" is achieved, maintaining the same travel route and avoiding path deviation and cleaning interruption caused by traditional obstacle avoidance. Attached Figure Description

[0035] 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.

[0036] Figure 1 This is a schematic diagram of the walking frame structure of a glass curtain wall cleaning robot;

[0037] Figure 2 A side view of the walking frame structure of a glass curtain wall cleaning robot;

[0038] The attached diagram lists the components represented by each number as follows:

[0039] 10. Chassis base; 20. Mecanum wheel; 30. Main robotic arm; 40. Secondary robotic arm; 50. Cleaning head. Detailed Implementation

[0040] 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.

[0041] like Figure 1-2 The diagram shows an embodiment of the walking frame structure of a glass curtain wall cleaning robot provided by this utility model. In this embodiment, it includes a frame base 10, four Mecanum wheels 20, a main robotic arm 30, and a secondary robotic arm 40. The four Mecanum wheels 20 are respectively installed on the four sides of the frame base 10. The main robotic arm 30 has a hollow cubic structure and is connected to the top of the frame base 10 through a gripping connector. The secondary robotic arm 40 is connected to the main robotic arm 30, and a motion controller is provided at the connection point. A cleaning head 50 is provided at the end of the secondary robotic arm 40. A hinge mechanism that can be twisted at a small angle is provided at the connection point between the front and rear parts of the frame base 10. The hinge mechanism allows one rear wheel of the frame base 10 to lift off the ground when avoiding obstacles, thereby enabling the cleaning device to automatically avoid protrusions on the curtain wall without changing the travel route.

[0042] The motion controller can be an EtherCAT motion controller.

[0043] The chassis base 10 integrates a power module and a control module. The main robotic arm 30 is equipped with a sensor module, which includes an ultrasonic sensor for detecting protrusions in the curtain wall and triggering the twisting of the hinge mechanism.

[0044] In the above technical solution, the articulation mechanism includes a vertical gear, a motor, and a limiting component;

[0045] When the motor provides positive torque, it self-locks after reaching the limit, allowing the Mecanum wheel to leave the ground. When the motor provides reverse torque, the frame automatically resets after obstacle avoidance.

[0046] The articulated mechanism, also known as the interchange suspension system, is a passive or active adaptive obstacle avoidance subsystem in the chassis of a mobile robot. This design is commonly found in the independent suspension of wheeled robots, and it is combined with self-locking gears to ensure stability. A self-locking turbine motor, specifically the Jiangte JTM-60 series, is used. The self-locking joint driven by the motor is the Yiyou Robotics Integrated Joint Module YB-50 series.

[0047] Optionally, in the above technical solution, the gripping connector is a steering shaft, used to drive the main robotic arm to rotate, thereby achieving cleaning work in an arc-shaped area under the same plane.

[0048] Optionally, in the above technical solution, the chassis base 10 integrates a power module and a control module, and the main robotic arm is equipped with a sensor module, which includes an ultrasonic sensor for detecting protrusions in the curtain wall and triggering the twisting of the hinge mechanism.

[0049] Optionally, in the above technical solution, the motion controller is used to control the cleaning head 50 at the end of the secondary robotic arm 40 to fit against the curtain wall surface in real time, and to coordinate with the omnidirectional motion of the Mecanum wheel 20 to realize cleaning path planning.

[0050] Optionally, in the above technical solution, the internal wiring of the hollow cubic main robotic arm 30 is used to transmit power and control signals to the secondary robotic arm 40.

[0051] Optionally, in the above technical solution, the torsion angle range of the hinge mechanism is 0°-15°, ensuring that the ground clearance of one rear wheel is sufficient to pass over the curtain wall protrusions while maintaining the overall direction of travel.

[0052] Optionally, in the above technical solution, each Mecanum wheel 20 is driven by a motor. The Mecanum wheel 20 includes a hub, a plurality of circumferentially distributed inclined rollers, and a roller shaft. The hub is a hollow cylinder with 8-12 inclined mounting slots evenly opened on its outer circumferential surface. A roller shaft is fixed in each mounting slot, and the roller shaft forms a 35° angle with the hub axis. The outer surface of the roller is covered with a high-friction polyurethane layer and can rotate freely around the roller shaft through bearings.

[0053] Optionally, in the above technical solution, the cleaning head 50 is a replaceable soft brush, which is compatible with different curtain wall materials, and the brush pressure is adjusted by a motion controller to optimize the cleaning effect.

[0054] Optionally, in the above technical solution, a flexible buffer joint is further provided at the connection between the main robotic arm 30 and the secondary robotic arm 40 to absorb the vibration caused by the tilting of the chassis base 10 during obstacle avoidance.

[0055] The robot was securely placed on the ground, and then the power and control modules built into the chassis base were activated. Through a remote control terminal, the operator inputs the coordinates of the designated cleaning area or selects a preset full-coverage mode. The motion controller then combines this with real-time scanning of the subway curtain wall distribution by ultrasonic sensors to generate an optimized "zigzag" or "spiral" cleaning trajectory. Once operation begins, the four motor-driven Mecanum wheels achieve omnidirectional movement at a stable speed of 0.3 m / s, supporting lateral movement, diagonal movement, and rotation in place with zero turning radius. Simultaneously, the main robotic arm adjusts its posture via the steering axis to ensure alignment with the curtain wall plane; the secondary robotic arm extends precisely under closed-loop servo control, applying constant pressure to the replaceable soft-bristle cleaning head against the glass surface, and simultaneously spraying cleaning fluid and rotating the brush at high speed to perform scrubbing. When the ultrasonic sensor detects an obstacle more than 30 cm away from a protrusion, the system immediately triggers an intelligent obstacle avoidance sequence: within 0.8 seconds, the motion controller instructs the motor to provide positive torque, driving the vertical gear to rotate. This causes the rear Mecanum wheel on the affected side to twist at a small angle around the hinge mechanism, lifting the wheel approximately 30 mm off the ground, creating temporary three-point support for the front wheel and the opposite rear wheel, until the limit assembly triggers the motor self-locking. During the instantaneous tilt of the vehicle body, the flexible buffer joint at the connection between the steering shaft and the main and secondary arms works together to absorb vibration and impact. After overcoming the obstacle, the sensor confirms passage, and the motion controller instructs the motor to provide reverse torque, automatically resetting the frame within 0.4 seconds. The wheels smoothly return to a vertical position, restoring all-wheel drive and continuing along the original path with a directional deviation of less than 1° and a positional error of less than 8 mm.

[0056] Specifically, the principle of this utility model is as follows: The design principle of the glass curtain wall cleaning robot's walking frame structure is based on a system synergy centered on omnidirectional precise movement, early obstacle avoidance, mechanically flexible obstacle crossing, and constant force contact at the end effector, achieving automated cleaning without veer. Four Mecanum wheels are decoupled from the speed vector of the inclined polyurethane rollers via motor drive, achieving omnidirectional movement with zero turning radius, allowing the cleaning device to avoid curtain wall protrusions without changing its travel route. The entire system integrates the base power control module and the internal wiring of the main arm, forming a closed-loop link of sensor feedforward, controller decision-making, actuator response, and feedback correction, breaking through the traditional "obstacle-avoidance and stop-washing" bottleneck, and achieving truly seamless obstacle crossing, efficient continuous operation, and safe and reliable cleaning of complex high-rise curtain walls.

[0057] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A walking frame structure for a glass curtain wall cleaning robot, characterized in that, The device includes a chassis base, four Mecanum wheels, a main robotic arm, and a secondary robotic arm. The four Mecanum wheels are respectively mounted on the four sides of the chassis base. The main robotic arm has a hollow cubic structure and is connected to the top of the chassis base via a gripping connector. The secondary robotic arm is connected to the main robotic arm, and a motion controller is provided at the connection point. A cleaning head is provided at the end of the secondary robotic arm. A hinge mechanism that can be twisted at a small angle is provided at the front and rear connection points of the chassis base. The hinge mechanism allows one of the rear wheels of the chassis base to lift off the ground when avoiding obstacles, thereby enabling the cleaning device to automatically avoid protrusions on the curtain wall without changing the travel route.

2. The walking frame structure of a glass curtain wall cleaning robot according to claim 1, characterized in that, The hinge mechanism includes a vertical gear, a motor, and a limiting assembly; When the motor provides positive torque, it self-locks after reaching the limit, enabling the Mecanum wheel to leave the ground. When the motor provides reverse torque, the frame automatically resets after obstacle avoidance.

3. The walking frame structure of a glass curtain wall cleaning robot according to claim 2, characterized in that, The gripping connector is a steering shaft, used to drive the main robotic arm to rotate, thereby enabling cleaning work in an arc-shaped area on the same plane.

4. The walking frame structure of a glass curtain wall cleaning robot according to claim 3, characterized in that, The chassis base integrates a power module and a control module. The main robotic arm is equipped with a sensor module, which includes an ultrasonic sensor for detecting protrusions in the curtain wall and triggering the twisting of the hinge mechanism.

5. The walking frame structure of a glass curtain wall cleaning robot according to claim 4, characterized in that, The motion controller is used to control the cleaning head at the end of the secondary robotic arm to fit against the curtain wall surface in real time, and to coordinate with the omnidirectional motion of the Mecanum wheel to realize cleaning path planning.

6. The walking frame structure of a glass curtain wall cleaning robot according to claim 5, characterized in that, The internal wiring of the hollow cubic structure of the main robotic arm is used to transmit power and control signals to the secondary robotic arm.

7. The walking frame structure of a glass curtain wall cleaning robot according to claim 6, characterized in that, The hinge mechanism has a torsion angle range of 0°-15°, ensuring that the ground clearance of one rear wheel is sufficient to pass over the curtain wall protrusions while maintaining the overall direction of travel.

8. The walking frame structure of a glass curtain wall cleaning robot according to claim 7, characterized in that, Each Mecanum wheel is driven by a motor. The Mecanum wheel includes a hub, a plurality of circumferentially distributed inclined rollers, and a roller shaft. The hub is a hollow cylinder with 8-12 inclined mounting slots evenly opened on its outer circumferential surface. A roller shaft is fixed in each mounting slot. The roller shaft is at a 35° angle to the hub axis. The outer surface of the roller is covered with a high-friction polyurethane layer and can rotate freely around the roller shaft through bearings.

9. The walking frame structure of a glass curtain wall cleaning robot according to claim 8, characterized in that, The cleaning head is a replaceable soft brush, which is compatible with different curtain wall materials, and the brush pressure can be adjusted by the motion controller to optimize the cleaning effect.

10. The walking frame structure of a glass curtain wall cleaning robot according to claim 9, characterized in that, The connection between the main robotic arm and the secondary robotic arm is further provided with a flexible buffer joint, which is used to absorb the vibration caused by the tilting of the vehicle frame base during obstacle avoidance and to prevent the secondary robotic arm from vibrating during obstacle crossing.

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