CN110123191B - Window cleaning robot system and cleaning method - Google Patents

Abstract

The invention relates to the field of robot technology, and in particular to a window cleaning robot system and a cleaning method. A window cleaning robot system includes at least two window cleaning robots. The at least two window cleaning robots are connected in series through flexible connectors to form a closed structure that can be placed outside the building. The building is cleaned by connecting at least two window cleaning robots in series to form a closed structure that is placed outside the building. The window cleaning robot is fixed to the outside of the building through the tension of the flexible connector. There is no need to use an adsorption device, which simplifies the installation of the window cleaning robot. structure, high safety performance and improved energy utilization. This solves the problems of low safety performance and complex structure of window cleaning robots in the prior art.

Description

Window cleaning robot system and cleaning method

Technical field

The invention relates to the field of robot technology, and in particular to a window cleaning robot system and a cleaning method.

Background technique

With the rapid, steady and healthy development of China's national economy, more and more high-rise and super-high-rise buildings are rising from the ground in cities. In order to increase the internal lighting and heat insulation of the buildings and the beauty of the exterior walls, modern The exterior walls of super high-rise buildings often use double-layer glass curtain wall structures with thermal insulation and heat insulation. In order to maintain the long-term cleanliness and beauty of the building exterior walls, the glass curtains on the building exterior walls need to be cleaned regularly, which accelerates the need for high-rise window cleaning equipment. Popular application in the country.

With the rapid development of science and technology in modern society, the necessity of using window cleaning robots in high-rise and super-high-rise glass curtain buildings has been generally recognized, and window cleaning robots are the safest and most practical special equipment for high-altitude operations. However, existing window cleaning robots generally have the following problems: low safety performance, complex structure, low energy utilization and work efficiency; they cannot pass through convex and concave areas on the wall, and have low obstacle surmounting ability.

Contents of the invention

In order to solve the problems of low safety performance and complex structure of window cleaning robots in the prior art, the present invention proposes a window cleaning robot system and cleaning method to solve the above technical problems. The technical solution of the present invention is as follows:

A window cleaning robot system includes at least two window cleaning robots. The at least two window cleaning robots are connected in series through flexible connectors to form a closed structure that can be placed outside the building.

Further, the window cleaning robot includes a crawler walking unit, a car body and a cleaning unit. The crawler walking unit drives the car body to move. The crawler walking unit can rotate relative to the car body. The cleaning unit is installed on the car body. On the body.

Further, the crawler traveling unit includes two parallel crawlers, the crawler traveling units are connected through a vehicle axle, and the vehicle axle supports the vehicle body through a turret unit.

Further, the vehicle body is provided with a two-way winch unit, which is used to retract and store the flexible connectors on both sides of the window cleaning robot where it is located.

Further, the two-way captive unit includes a driving device and two reels. The driving device drives one of the reels through a worm gear, and gear transmission is between the two reels. The two reels can be retracted and released respectively. The flexible connectors on both sides of the window cleaning robot.

Further, the cleaning unit is arranged on the vehicle body through a folding arm. One end of the folding arm is connected to the vehicle body, and the other end of the folding arm is connected to the cleaning unit. The folding arm is pushed by the push rod assembly. The cleaning unit is driven to contact or break away from the outer surface of the building.

A cleaning method for a window cleaning robot, using the above-mentioned window cleaning robot system, includes the following steps:

S1. Install the window cleaning robot system on the outside of the building;

S2. The cleaning unit on the window cleaning robot comes into contact with the outer surface of the building, and all window cleaning robots move horizontally to clean the outer surface of the building;

S3. The cleaning unit on the window cleaning robot is separated from the outer surface of the building, and all the window cleaning robots move vertically simultaneously, driving the overall lifting and lowering of the window cleaning robot system;

S4. Repeat steps S2 and S3 until cleaning is completed;

The order of step S2 and step S3 is adjustable.

Further, when the window cleaning robot moves horizontally, the crawler walking unit of the window cleaning robot is parallel to the flexible connector; when the window cleaning robot moves vertically, the crawler walking unit of the window cleaning robot is parallel to the flexible connector. The flexible connector is vertical.

Further, the crawler walking unit of the window cleaning robot and the vehicle body are connected through a turret unit, and the turret unit realizes steering through the differential motion of the two walking crawlers of the crawler walking unit.

Further, in step S2, when all window cleaning robots move asynchronously, the crawler walking unit of the window cleaning robot operates in cooperation with the two-way winch unit, and each window cleaning robot moves horizontally on its plane.

Based on the above technical solution, the technical effects that the present invention can achieve are:

1. The window cleaning robot system and cleaning method of the present invention clean the building by connecting at least two window cleaning robots in series to form a closed structure that is placed outside the building. The window cleaning robot is fixed to the building through the tension of the flexible connector. Externally, there is no need to use an adsorption device, which simplifies the structure of the window cleaning robot, has high safety performance and improves energy utilization;

2. The window cleaning robot system and cleaning method of the present invention, by setting the window cleaning robot as a crawler walking unit, can increase the contact area between the window cleaning robot and the glass curtain wall on the building, reduce the pressure on the glass curtain wall, and can also pass The track material is further set to rubber to increase the friction between the track and the glass curtain wall and improve safety performance; in addition, the crawler walking unit has strong obstacle surmounting ability and can easily cross the concave and convex structure on the outer surface of the building;

3. The window cleaning robot system and cleaning method of the present invention support the car body through the turret unit, which can realize mutual rotation between the car body and the crawler walking unit, and the car body can also be driven and rotated independently; the turret unit utilizes both crawler walking units. The differential motion of the walking track on the side realizes steering and facilitates control;

4. The window cleaning robot system and cleaning method of the present invention set a bidirectional winch unit to tighten the flexible connectors on both sides of the window cleaning robot, providing a certain pre-tightening force and improving the safety performance of the window cleaning robot;

5. The cleaning method of the window cleaning robot of the present invention realizes cleaning in the horizontal direction through the horizontal movement of the window cleaning robot, and then realizes the overall lifting and lowering of the window cleaning robot system through the vertical movement of the window cleaning robot until cleaning is completed. It can realize the automatic and complete cleaning of the building by the window cleaning robot; in addition, the steering between the horizontal movement and the vertical movement of the window cleaning robot is realized through the differential movement of the two walking tracks, which is convenient for adjustment. During the whole process, the cleaning unit does not need to be used. The building can be cleaned by deflection, which is very convenient and efficient;

6. In the cleaning method of the window cleaning robot of the present invention, when the window cleaning robot cleans horizontally, the crawler walking unit of the window cleaning robot operates in conjunction with the two-way winch unit to ensure that the flexible connector remains preset during the horizontal cleaning process of the window cleaning robot. The tight force enables the window cleaning robot to stick to the building and improve safety performance.

Description of the drawings

Figure 1 is a state diagram of the window cleaning robot system of the present invention when it is working;

Figure 2 is a front view of the crawler walking unit of the window cleaning robot of the present invention when it is parallel to the flexible connector;

Figure 3 is a top view of the crawler walking unit of the window cleaning robot of the present invention when it is parallel to the flexible connector;

Figure 4 is a top view of the crawler walking unit of the window cleaning robot of the present invention when it is perpendicular to the flexible connector;

Figure 5 is a schematic structural diagram of the window cleaning robot of the present invention;

Figure 6 is a schematic structural diagram of the window cleaning robot when the cleaning part is in another structural form;

In the picture: 1-window cleaning robot; 11-track walking unit; 111-walking track; 12-body; 13-cleaning unit; 131-cleaning parts; 14-turret unit; 15-two-way winch unit; 151-volume Barrel; 152-driving device; 153-gear; 154-baffle; 16-folding arm; 161-first connecting arm; 162-second connecting arm; 163-push rod assembly; 17-axle; 18-support seat ; 2-Flexible connectors; 3-Buildings.

Detailed ways

The content of the present invention will be further described below in conjunction with the accompanying drawings. In the description of the present invention, it should be understood that the terms "radial", "axial", "upper", "lower", "top", "bottom", "inner", "outer" and the like indicate orientations Or the positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. , therefore cannot be construed as a limitation of the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "setting" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Connect, or connect integrally; either directly or indirectly through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

As shown in Figures 1-6, this embodiment provides a window cleaning robot system, including at least two window cleaning robots 1. The at least two window cleaning robots 1 are connected in series through flexible connectors 2 to form a system that can be placed outside the building 3. In a closed structure, the exterior of the building 3 is cleaned through the overall movement of the window cleaning robot 1. The flexible connector 2 has a certain tension to ensure that the window cleaning robot 1 is close to the outer surface of the building 3. In this way, the window cleaning robot 1 can be close to the outer surface of the building 3 without setting up an adsorption structure.

During cleaning, the window cleaning robot 1 is distributed on the plane to be cleaned outside the building 3. At least one window cleaning robot 1 is distributed on each plane to be cleaned. The window cleaning robot 1 only needs to clean the plane to be cleaned. The window cleaning robot 1 includes a crawler walking unit 11, a body 12, a cleaning unit 13 and a two-way winch unit 15. The crawler walking unit 11 drives the body 12 to move, the crawler walking unit 11 can rotate relative to the body 12, and the cleaning unit 13 and the two-way winch unit 15. The unit 15 is supported on the body 12 .

Specifically, the crawler running unit 11 includes two parallel and symmetrically arranged walking crawlers 111. The two walking crawlers 111 are connected through an axle 17, and the axle 17 supports the vehicle body 12. Further, the two walking crawlers 111 are driven by two driving motors respectively. The two driving motors drive the driving sprockets of the two walking crawlers 111 respectively. The driving sprockets drive the driven wheels to rotate. During normal linear motion, the two driving The motors drive the two walking crawlers 111 to travel at the same speed to achieve linear motion; when steering is required, the two driving motors drive the two walking crawlers 111 to move differentially to achieve steering. Preferably, using rubber as the track material can reduce the unit pressure on the glass curtain and increase friction, thereby improving safety performance.

The axle 17 is connected to the vehicle body 12 through the turret unit 14. By providing the turret unit 14, the crawler unit 11 can be steered relative to the vehicle body 12, and the steering of the vehicle body 12 can be controlled individually. The turret unit 14 is composed of internal and external gears. The internal gear is larger and the external gear is larger. The internal gear is provided with circumferentially distributed screw holes. The internal gear is connected to the axle 17 through screws. A bearing is arranged in the center of the external gear. , connected to the body 12 through the shaft, using shaft shoulders and screws to fix the gears to achieve axial positioning. The internal and external gears are provided with concave and convex grooves to ensure reliable meshing of the internal and external gears. When the crawler traveling unit 11 operates at differential speed, the internal gear and the external gear Relative rotation is achieved between them to realize the steering of the crawler walking unit 11.

A cleaning unit 13 is provided on the vehicle body 12 , and the cleaning unit 13 is used to clean the plane to be cleaned of the building 3 . The cleaning unit 13 includes at least one cleaning piece 131, and the cleaning piece 131 includes but is not limited to a cleaning brush and a cleaning roller. The cleaning part 131 is connected to the vehicle body 12 through the folding arm 16. One end of the folding arm 16 is connected to the vehicle body 12, and the other end is connected to the cleaning part 131. The folding arm 16 drives the cleaning part 131 to swing relative to the vehicle body 12 to achieve contact or contact with the building 3. Leave the building 3. Specifically, the folding arm 16 includes at least one connecting arm. When the folding arm 16 includes one connecting arm, one end of the connecting arm is hinged with the vehicle body 12, and the other end of the connecting arm is connected to the cleaning member 131, and the cleaning member 131 is driven up and down through the push rod assembly. swing. In this embodiment, the folding arm 16 includes a first connecting arm 161 and a second connecting arm 162. One end of the first connecting arm 161 is hingedly connected to the column of the vehicle body 12, and the other end of the first connecting arm 161 is connected to the second connecting arm 162. Hinged, the free end of the second connecting arm 162 is connected with the cleaning member 131 . The fixed end of the push rod assembly 163 is hinged with the vehicle body 12 , and the telescopic end of the push rod assembly 163 is hinged with the second connecting arm 162 for pushing the second connecting arm 162 to swing up and down relative to the first connecting arm 161 to realize the connection with the building 3 Engagement and disengagement. The push rod assembly 163 is optional but not limited to an electric push rod.

Further, as shown in Figures 2-5, the cleaning member 131 adopts a cleaning roller, and the cleaning roller is driven to rotate by a driving motor. Specifically, the driving motor is installed on the central axis of the cleaning drum. A pinion is installed on the output shaft of the driving motor. An internal gear is installed on the inner wall of the cylinder of the cleaning drum. A planetary gear is installed between the pinion gear and the internal gear. The frame support uses meshed planetary gears to realize the rotation of the external drum. Both ends of the cleaning drum are supported by bearings to ensure the rotation of the cleaning drum. FIG. 6 shows a schematic structural diagram of the cleaning member 131 being a cleaning brush.

The body 12 is also provided with a two-way winch unit 15, which is used to retract and release the flexible connectors 2 on both sides of the window cleaning robot 1 where it is located. The two-way winch unit 15 includes two drums 151 and a driving device 152. The flexible connectors 2 on both sides of the window cleaning robot 1 are respectively wound on the two drums 151. The flexible connection is achieved by rotating the drum 151 clockwise or counterclockwise. Retract and release connector 2. The driving device drives one of the drums 151 to rotate. The other ends of the two drums 151 away from the driving device 152 are provided with two gears 153 that mesh with each other. Through the gear transmission connection, the two drums 151 can work simultaneously to achieve wiping. The flexible connectors 2 on both sides of the window robot 1 are retracted and unfolded. Preferably, the two-way hoisting unit 15 is installed on the vehicle body 12 through a support base 18. The support base 18 is optional but not limited to channel steel. The support base 18 is fastened to the vehicle body 12 through screws. The driving device 152 is optional but not limited to a motor. The motor can realize bidirectional operation and realize the retracting and unfolding of the flexible connector 2 . Both ends of the drum 151 are rotatably mounted on the support seat through bearings. The bearings are optional but not limited to angular contact ball bearings to reduce the axial force and maintain the stability of the two-way hoisting unit. Preferably, baffles 154 are provided at both ends of the drum 151 to prevent the flexible connectors from escaping out of the drum 151 .

It is further equipped with a deceleration module. The deceleration module includes a worm gear structure and a helical gear structure. The drive shaft and the worm of the driving device are connected through a coupling. The worm gear and worm are arranged at 90° to achieve primary deceleration and self-locking; the worm gear and the secondary The smaller helical gears in the two-stage helical gear reduction mechanism are jointly arranged on the connecting shaft. The larger helical gear meshes with the smaller helical gear and is arranged parallel to the connecting shaft to achieve two-stage reduction; the larger helical gear The shaft is the output shaft, and the tilt direction of each gear is based on reducing the axial force on the shaft; both ends of each shaft are rotatably mounted on the support seat through bearings, and the bearings are optional but not limited to angular contact ball bearings. , reduce the axial force and keep the deceleration module stable.

The body 12 is also provided with an energy module, a control module and a water storage module. The energy module provides power for the entire vehicle; the control module controls the entire vehicle to achieve the climb and descent of the overall system and cleaning operations; the water storage module provides sufficient water source for cleaning operations, and the water in the water storage module is transported to the cleaning part 131 through the water pipe on for cleaning purposes.

The flexible connector 2 connects at least two window cleaning robots 1 in series into a closed structure that can be placed outside the building 3. During the working process, the flexible connector 2 maintains a certain tension so that the window cleaning robot 1 can be close to the outside of the building 3. The flexible connector 2 is optional but not limited to a flexible belt.

This embodiment also provides a cleaning method for a window cleaning robot system, which adopts the above-mentioned window cleaning robot system and includes the following steps:

S1. Install the window cleaning robot system on the outside of the building;

S2. The cleaning unit 13 on the window cleaning robot 1 is in contact with the outer surface of the building 3, and all the window cleaning robots 1 move horizontally to clean the outer surface of the building 3;

S3. The cleaning unit 13 on the window cleaning robot 1 is separated from the outer surface of the building 3, and all the window cleaning robots 1 move vertically simultaneously, driving the overall lifting and lowering of the window cleaning robot system;

S4. Repeat steps S2 and S3 until cleaning is completed;

The order of steps S2 and S3 is adjustable.

In step S1, the window cleaning robot system is placed outside the building 3, and at least one window cleaning robot 1 is distributed on the plane to be cleaned of the building 3.

In step S2, the cleaning unit 13 on the window cleaning robot 1 contacts the outer surface of the building under the action of the folding arm 16, and at least two window cleaning robots 1 move horizontally to clean the plane where they are located. Preferably, when the window cleaning robot 1 moves horizontally, the crawler traveling unit 11 of the window cleaning robot 1 is parallel to the flexible connector 2 . Further preferably, when a single window cleaning robot 1 moves horizontally, the crawler traveling unit 11 of the window cleaning robot 1 and the two-way winch unit 15 operate simultaneously; when all window cleaning robots 1 move horizontally synchronously, the crawlers of all window cleaning robots 1 move simultaneously. The units 11 operate synchronously, and the two-way hoisting unit 15 does not need to work. In addition, there are other situations where the window cleaning robot 1 and the two-way winch unit 15 cooperate to ensure that the window cleaning robot 1 is close to the outside of the building 3.

After the window cleaning robot 1 moves horizontally to complete cleaning in the horizontal direction, it moves vertically to reach another cleaning height. In step S3, all the window cleaning robots 1 move vertically synchronously to drive the entire window cleaning robot system to lift. During the lifting process, the cleaning unit 13 separates from the outer surface of the building 3 under the action of the folding arm 16. Preferably, when the window cleaning robot 1 moves vertically, the crawler traveling unit 11 of the window cleaning robot 1 is perpendicular to the flexible connector 2 . By controlling the relative positions of the crawler traveling unit 11 and the vehicle body 12, the operation of the window cleaning robot 1 can be ensured, and the surface to be cleaned outside the building 3 can be completely cleaned without missing the cleaning area.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, other modifications can be made without departing from the purport of the present invention. various changes.

Claims (1)

1. A cleaning method of a window cleaning robot system, characterized by: The window cleaning robot system includes at least two window cleaning robots (1). The at least two window cleaning robots (1) are connected in series through flexible connectors (2) to form a closed structure that can be placed outside the building (3); The window cleaning robot (1) is distributed on the plane to be cleaned outside the building (3), and at least one window cleaning robot (1) is distributed on each of the plane to be cleaned; The window cleaning robot (1) includes a crawler walking unit (11), a body (12) and a cleaning unit (13). The crawler walking unit (11) drives the body (12) to move. The crawler walking unit (12) 11) Rotatable relative to the body (12), the cleaning unit The element (13) is installed on the body (12); The crawler traveling unit (11) includes two parallel crawlers (111). The crawler traveling unit (11) is connected by a vehicle axle (17), and the vehicle axle (17) is connected by a turret unit (14). Support the body (12); The vehicle body (12) is provided with a two-way winch unit (15). The two-way winch unit (15) is used to store and release the flexible connectors (2) on both sides of the window cleaning robot (1) where it is located. ; The cleaning unit (13) is arranged on the vehicle body (12) through a folding arm (16). One end of the folding arm (16) is connected to the vehicle body (12), and the other end of the folding arm (16) is connected to the vehicle body (12). Cleaning unit (13), the folding arm (16) drives the cleaning unit (13) to contact or break away from the outer surface of the building (3) under the push of the push rod assembly (163); Specifically, it includes the following steps: S1. Install the window cleaning robot system on the outside of the building; S2. The cleaning unit (13) on the window cleaning robot (1) is in contact with the outer surface of the building (3), and all the window cleaning robots (1) move horizontally to clean the outer surface of the building (3); S3. The cleaning unit (13) on the window cleaning robot (1) is separated from the outer surface of the building (3), and all the window cleaning robots (1) move vertically simultaneously, driving the overall lifting and lowering of the window cleaning robot system; S4. Repeat steps S2 and S3 until cleaning is completed; The order of step S2 and step S3 is adjustable; When the window cleaning robot (1) moves horizontally, the crawler walking unit (11) of the window cleaning robot (1) is parallel to the flexible connector (2); when the window cleaning robot (1) moves vertically, , the crawler walking unit (11) of the window cleaning robot (1) is perpendicular to the flexible connector (2); The crawler walking unit (11) and the body (12) of the window cleaning robot (1) are connected through a turret unit (14), and the turret unit (14) passes through both sides of the crawler walking unit (11). The differential motion of each walking track (111) realizes steering; In step S2, when all the window cleaning robots (1) move asynchronously, the crawler walking unit (11) of the window cleaning robot (1) cooperates with the two-way winch unit (15), and each window cleaning robot (1) The robot (1) moves horizontally on its plane.