CN115813251A - Self-adaptive obstacle-crossing climbing type curtain wall cleaning robot - Google Patents

Abstract

The invention provides a self-adaptive obstacle-crossing climbing type curtain wall cleaning robot, which comprises: the main part frame, hoist engine power module, wind path system module, waterway system, cleaning module, safe induction module, planet obstacle crossing mechanism and bow-shaped power system. Self-adaptation climbing formula curtain cleaning robot that hinders more has added bow power of going supplementary, supplementary with the thrust of rotor blade, the pressure of the more stable laminating curtain is provided, and in the aspect of hindering more, use three group's planet wheels as obstacle-surmounting equipment to realize self-adaptation climbing of hindering more, avoid using complicated sensor to detect, reduce cost and system complexity have strengthened the stability that cleaning robot body supported simultaneously for the cleaning unit compromises obstacle-surmounting ability and curtain cleaning performance.

Description

Self-adaptive obstacle-crossing climbing type curtain wall cleaning robot

Technical Field

The invention relates to the field of curtain wall cleaning robots, in particular to a self-adaptive obstacle-crossing climbing type curtain wall cleaning robot.

Background

The traditional curtain wall cleaning method is mainly characterized in that a water hanger, a scraping strip and a water bucket are carried by a spider man working aloft, a curtain wall cleaning tool is placed in a mode of adding a seat plate through a lifting rope, and a standing plane is provided for the spider man, so that glass is cleaned. The mode of cleaning by manpower has the problems of mixed qualification, low working efficiency, high cleaning cost, high working risk coefficient and the like. The curtain wall cleaning robot in the prior art mostly mainly cleans pure plane glass, does not have self-adaptive obstacle crossing capability, and can realize obstacle crossing cleaning mainly by sensing an active obstacle crossing cleaning mode, a non-full contact obstacle crossing cleaning mode and the like even if the robot can simply cross obstacles. The perception active obstacle crossing cleaning is mainly characterized in that a sensor is used for detecting in advance, and then a process sequence control mechanism is used for crossing obstacles, so that the defects of low efficiency, high failure rate, complex operation, more required operators and the like are overcome; the non-full-contact obstacle crossing is mainly characterized in that a lifting point is controlled through an upper end hanger, a robot body and an operation surface are separated by a certain distance, only a large cleaning cloth brush is ensured to be in contact with the operation surface, the cloth brush and the operation surface generate forward pressure through the pushing of a fan, and the determination of unstable pressure, unstable robot body, obstacle crossing cleaning jitter and the like in the cleaning process is realized; and the two modes have the problems of low cleaning efficiency, poor cleaning effect and the like during cleaning.

In addition, curtain cleaning robot among the prior art hinders more, removes and mainly hangs mobile robot body through upper end cantilever beam, steel wire rope hoist engine, and at the practical application in-process, for laying curtain cleaning robot need carry cantilever beam and hoist engine to the roof, the operation process is numerous and heavy, and is artifical and man-hour consume great, and the steel wire rope that the simultaneous movement hoist and mount was used is mostly one, and in use robot body poor stability, factor of safety is low.

Curtain cleaning robot among the prior art adopts scraping strip and row brush auxiliary cleaning more after scrubbing, and two kinds of auxiliary cleaning modes all need to reach the effect with operation glass face contact when wasing, need both consider to leave the operation surface in order to realize surmounting the obstacle during auxiliary cleaning, consider again with the operation surface contact in order to realize wasing, and system control is complicated, and adaptability is low.

Disclosure of Invention

In order to solve the technical problems that the curtain wall cleaning robot in the prior art is difficult to consider obstacle crossing cleaning and cleaning effects, is low in safety coefficient, is complex to operate and the like, the invention provides a brand-new self-adaptive obstacle crossing climbing type cleaning robot, and the obstacle crossing cleaning efficiency and the cleaning effect are enhanced on the basis of replacing manual cleaning.

Therefore, the invention adopts the following specific technical scheme:

the utility model provides a self-adaptation climbing formula curtain cleaning robot that hinders more, includes: main body frame (1), hoist engine power module, wind path system module, waterway system, cleaning module, safety induction module, its characterized in that: self-adaptation climbing curtain cleaning robot that hinders still includes planet obstacle-crossing mechanism and bow-shaped power system, and bow-shaped power system provides the bow and moves the power, supplementary with rotor blade's thrust reversal, thereby gives curtain cleaning robot provides the pressure of stable laminating curtain.

Preferably, the upper end and the lower end of the main body frame 1 are respectively provided with an upper rope dividing fixing rod 105 and a lower rope dividing fixing rod 106, and the upper end and the lower end are used for adjusting the positions of a rope inlet point and a rope outlet point, so that the rope inlet point and the gravity center of the robot body are on the same straight line, and the robot body is ensured to be in a vertical state in a natural state; and meanwhile, the upper rope and the lower rope are adjusted to enable the robot body to be in a vertical state during cleaning, and if the rope dividing point at the lower end of the rope is not on a straight line formed by the rope inlet point and the gravity center of the robot body, the bow running force is increased.

Preferably, the bow force system is provided with two ropes with fixed upper ends and counter weights at lower ends as rails, and a moving winch system with a winch is used as a power source, and the bow force system moves along the direction of the ropes by utilizing the friction force generated between the ropes and the winch after being tightened.

Preferably, the upper end of the main body frame is provided with two planet wheel supports I, the lower end of the main body frame is provided with two planet wheel supports II and two auxiliary supporting legs, and the planet obstacle crossing mechanisms are arranged on the planet wheel supports I and the planet wheel supports II;

the planet obstacle crossing mechanism comprises four groups of planet wheel modules, and each planet wheel module comprises a foamed rubber wheel, a planet carrier, a fixed pin rod and a reverse thrust sensor.

Preferably, main body frame front end both sides are provided with left fixing base and right fixing base respectively for installation cleaning module, cleaning module include big round brush, round brush motor, motor fixing base, bearing, auxiliary stay axle, adapter, bearing, oil blanket, vice fixing base and manger plate cover, wherein, according to the operation surface type and treat the washing condition in the cleaning module, select different big round brush material types.

Preferably, the rear end of the main body frame is provided with a rotor wing fixing frame, and a rotor wing part, blades, a rotor wing motor and a rotor wing cover are arranged in the rotor wing fixing frame.

Preferably, the waterway system comprises a heater, a high-pressure water pump, a water purifier, a cleaning agent box, a water spraying waterway and a high-pressure nozzle; the high-pressure spray head is fixed on the robot main body frame and is configured to control to open the waterway system when the robot main body frame starts to perform a brushing task, provide purified water with a preset temperature according to the state of the operation surface to be cleaned, and spray the purified water to the operation surface by using the high-pressure spray head to clean the operation surface;

after the waterway system is washed, the air path system module is used for secondarily cleaning the operation surface; the wind path system module comprises a fan and a wind knife, wherein the fan increases the gas pressure by means of input mechanical energy and discharges gas to the wind knife, the wind knife is arranged on the robot main body frame 1, the wind knife is arranged above the high-pressure spray rod, and the installation angle of the wind knife is adjusted by a screw of the main frame.

Preferably, the mounting angle is between 0 and 15 °.

Preferably, three planet wheels in the planet wheel module are respectively spaced by 120 degrees.

Preferably, the safety sensing module comprises a rope buckle, a pipe fixing seat, a rotating rod, a contact switch, a sensing pull rope, a carbon fiber pipe, a contact fixing seat, a rotating fixing part and a fixing pipe.

Compared with the traditional manual cleaning mode, the self-adaptive obstacle-crossing climbing type curtain wall cleaning robot provided by the invention has the advantages that the danger coefficient and the operation difficulty of the operation are reduced, the robot can be operated through a wireless terminal during cleaning, meanwhile, a plurality of cleaning robots can be operated, and the investment of cleaning personnel is reduced.

In the aspect of obstacle crossing, the invention uses three groups of planetary wheels as obstacle crossing equipment to realize self-adaptive obstacle crossing climbing without using complex sensors, thereby reducing the cost and complexity of the system, strengthening the stable support of the cleaning robot body and ensuring that the cleaning unit achieves reasonable balance in obstacle crossing and cleaning; when the robot body moves, the invention adopts the technical scheme that two movable winches are respectively arranged at two sides of the integrated robot body, and a novel winch type winch and two polymer ropes are adopted to realize the stable up-and-down movement of the robot.

In the aspect of cleaning capacity, compared with the existing curtain wall cleaning robot, the invention uses the oversized rolling brush in the aspect of main cleaning, the main shaft is small, the brush hair is long, the thick-planting pentagram nylon wire is adopted, the large-range coverage can be realized during cleaning, and the cleaning efficiency is high; the cross section of the bristles is in a pentagram shape, so that the force of the bristles striking the surface of the glass can be improved when the rolling brush is rolled on the glass for cleaning, the cleaning effect is enhanced, meanwhile, the long bristles can finish cleaning at a right angle formed by the glass and an obstacle surface when obstacle-crossing cleaning is carried out, and the cleaning margin of a curtain wall cleaning robot is reduced; in addition, in the aspect of auxiliary cleaning, water is sprayed to the surface of the operating glass through a high-pressure spray head in a water path system before brushing, and the first layer of cleaning can be achieved before brushing through water pressure striking, hot water softening stains and pure water non-adhesive force carrying stains; after the cleaning, the air path system is matched, and the air knife, the air path pipeline, the fan and the variable frequency driver are used for cleaning again. The invention adopts a non-contact auxiliary cleaning mechanism, avoids the interference of auxiliary cleaning on the obstacle crossing capability, can further realize the water wiping effect and the effect of quickly drying and drying the cleaned glass surface, and reduces the residual water stain on the glass surface.

Curtain cleaning robot mostly adopts reverse fan to provide thrust in the existing market, and the thrust of fan is limited, and power changes thrust ratio greatly, and the operating efficiency is low. In the cleaning operation, the curtain wall cleaning robot adds bow force assistance to assist the reverse thrust of the rotor blade, provides more stable pressure for attaching to the curtain wall, utilizes the lifting force formed by the double ropes, adds pulling force below the ropes to enable the robot body to bear two upper and lower force effects, and enables the robot to have the bow force assistance all the time during cleaning, like a slingshot, so that the robot body is more stable in the obstacle crossing cleaning process.

From the overall structure, the curtain wall cleaning robot in the prior art mostly takes the welding frame main frame as a main frame, and a new cleaning module cannot be replaced in the aspect of cleaning.

In the aspect of safety strategy, the curtain wall cleaning robot in the prior art is mostly controlled by hardware, and whether the robot reaches the highest position or not is observed by adding artificial eyes, so that the state of a winch and the state of a robot body need to be concerned by manpower constantly, and the operation efficiency is low. The invention adopts a multilayer correlation mode to realize safety control, sets multiple safety control mechanisms through a software layer, a hardware layer, a structural layer and a communication layer, and adds upper end in-place detection in the structural layer, so that different arrival points can be set according to the roof requirements, and the detection point mechanism is not influenced by the roof structure.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is an overall structure diagram of a curtain wall cleaning robot according to the present invention;

FIG. 2 is a view showing the construction of a main frame of the curtain wall cleaning robot according to the present invention;

FIG. 3 is a diagram of the bow force system of the curtain wall cleaning robot of the present invention;

FIG. 4 is a structural diagram of a cleaning module of the curtain wall cleaning robot in the invention;

FIG. 5 is a structure diagram of a waterway system of the curtain wall cleaning robot in the invention;

FIG. 6 is a top and bottom cleaning flow chart of the curtain wall cleaning robot of the present invention;

FIG. 7 is a view showing the structure of an air knife of the curtain wall cleaning robot according to the present invention;

FIG. 8 is a structural view of a double hoist of the curtain wall cleaning robot according to the present invention;

FIG. 9 is a structural view of a traveling hoist of the curtain wall cleaning robot according to the present invention;

FIG. 10 is a structural view of an upper right rope-separating assembly of the curtain wall cleaning robot in the invention;

FIG. 11 is a schematic view of a traveling hoist of the curtain wall cleaning robot according to the present invention;

FIG. 12 is a schematic view of a planetary obstacle crossing mechanism of the curtain wall cleaning robot in the invention;

FIG. 13 is a structural diagram of a safety sensing module of the curtain wall cleaning robot in the invention;

fig. 14 is a schematic view of the overall control of the curtain wall cleaning robot in the invention.

Wherein, 1-main body frame, 2 rotor wing parts, 3-cleaning module, 4-waterway system, 5-air path system, 6-mobile windlass, 7-obstacle crossing module, 8-bow force providing component and 9-safety induction module;

10-a main body frame, 11-a planet wheel bracket I, 13-a planet wheel bracket II, 14-an auxiliary supporting leg, 107-a left fixed seat, 108-a right fixed seat, 112-a movable rod, 113-a fixed pin, 111-a planet wheel fixed rod, 103-a movable winch fixed rod, 105-an upper rope-dividing fixed rod, 106-a lower rope-dividing fixed rod, 101-a front end frame, 104-a rotor wing fixed frame and 102-a main frame;

2-rotor part, 21-blade, 22-rotor motor, 23-rotor cover, 81-rope;

31-a large rolling brush, 32-a rolling brush motor, 33-a motor fixing seat, 34-a bearing, 35-an auxiliary supporting shaft, 36-an adapter, 37-a bearing, 38-an oil seal, 39-an auxiliary fixing seat and 310-a water retaining cover;

40-spray head group frame, 401-high pressure spray head, 402-high pressure spray rod (with cleaning liquid), 403-spray head fixing seat, 405-high pressure spray rod (without cleaning liquid), 41-cleaning agent box, 42-high pressure pipeline, 43-siphon device, 44-control valve, 45-water source, 46-water purifier, 47-heater, 48-high pressure pump station and 49-electric cabinet;

52-air knife;

60 mobile windlasses, 61-upper right rope distributing components, 62-upper left rope distributing components, 63-lower right rope distributing components, 64-lower left rope distributing components, 607-direct current servo motors and 601-3-planetary reducers; 608-outer cover fixing, 609-outer cover, 601-1 outer cover, 601-2 coil protecting, 604-rope separator, 601-4 fixing seat, 605-rotating pulley, 601-5 fixing rod, 611-fixing plate, 612 auxiliary branching pulley, 613-main branching pulley, 614-fixing pin shaft, 615-bearing, 616-coding wheel fixing seat, 617-coding wheel fixing sleeve, 618-encoder, 619-fixing sleeve pin, 611-1 fixing bolt, 611-2 limiting hoop, 611-3-bearing, 611-4 clamp spring and 611-5 reinforcing plate;

71-a planet wheel module, 711-a foamed rubber wheel, 712-a planet carrier, 713-a fixed pin rod and 714-a reverse thrust sensor;

91-rope buckle, 92-pipe fixing seat, 93-rotating rod, 94-contact switch, 95-induction pull rope, 96-carbon fiber pipe, 97-contact fixing seat, 98-rotating fixing piece and 99-fixing pipe.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

The embodiment provides a climbing formula curtain cleaning machines people is crossed to self-adaptation obstacle, includes: the system comprises a main body frame, a winch power module, an air path system module, a water path system, a cleaning module, a safety sensing module, a planet obstacle crossing mechanism and an arc force system;

as shown in fig. 1-2, the upper end of the main body frame 1 is provided with two planet wheel supports i, the lower end is provided with two planet wheel supports ii and two auxiliary support legs 14, and the planet obstacle crossing mechanisms are respectively arranged on the planet wheel supports i and the planet wheel supports ii; the planet obstacle crossing mechanism comprises four planet wheel modules 71, wherein each single module comprises a foamed rubber wheel 711, a planet carrier 712, a fixed pin rod 713 and a reverse thrust sensor 714;

the cleaning device comprises a main body frame 1, a main body frame, a cleaning module and a control module, wherein the two sides of the front end of the main body frame 1 are respectively provided with a left fixing seat 107 and a right fixing seat 108 for mounting the cleaning module, the cleaning module comprises a large rolling brush 31, a rolling brush motor 32, a motor fixing seat 33, a bearing 34, an auxiliary supporting shaft 35, an adapter 36, a bearing 37, an oil seal 38, an auxiliary fixing seat 39 and a water retaining cover 310, and different material types of the large rolling brush are selected in the cleaning module according to the type of an operation surface and the condition to be cleaned;

a rotor wing fixing frame 104 is arranged at the rear end of the main body frame 1, and a rotor wing part 2, blades 21, a rotor wing motor 22 and a rotor wing cover 23 are arranged in the rotor wing fixing frame 104;

the upper end and the lower end of the main body frame 1 are respectively provided with an upper rope distributing fixing rod 105 and a lower rope distributing fixing rod 106 which are used for adjusting the positions of a rope inlet point and a rope outlet point, so that the rope inlet point and the gravity center of the robot body are on the same straight line, and the robot body is ensured to be in a vertical state in a natural state; meanwhile, the upper rope and the lower rope are adjusted to enable the robot body to be in a vertical state during cleaning, and if the rope dividing point at the lower end of the rope is not on a straight line formed by the rope entering point and the gravity center of the robot body, the bow traveling force is increased;

the winch power module is welded on two sides of the main body framework through a movable winch fixing rod 103 and used for carrying a movable winch component, so that the robot body has the capability of moving up and down;

further, referring to fig. 5, the water path system includes a heater, a high pressure water pump, a water purifier, a cleaning agent tank, a water spraying path and a high pressure nozzle; the high-pressure nozzle is fixed on the robot main body frame and is configured to control to open the waterway system when the brushing task is started, purified water with preset temperature is provided according to the state to be cleaned of the working surface, and the working surface is cleaned by the high-pressure nozzle. Specifically, when the cleaning is started, the water path system is opened, hot purified water with the temperature of 50-80 ℃ is provided, the hot purified water is sprayed to the surface of the operating glass through the high-pressure spray head, and the first layer of cleaning can be achieved before the cleaning through water pressure striking, hot water stain softening and pure water non-adhesive force stain carrying, so that the auxiliary before the cleaning is realized.

Further, referring to fig. 7, the wind path system module includes a fan and a wind knife, wherein the fan increases the pressure of the gas by means of the input mechanical energy and discharges the gas to the wind knife, the wind knife is provided to a component on the robot body, the wind knife edge extends a first preset distance along the direction of the wind provided by the wind path system, the wind knife is disposed above the high pressure spray rod, the installation angle of the wind knife can be adjusted by the screw adjustment with the main frame, and the angle is preferably positioned between 0 ° and 15 °;

the safety sensing module comprises a rope buckle 91, a pipe fixing seat 92, a rotating rod 93, a contact switch 94, a sensing pull rope 95, a carbon fiber pipe 96, a contact fixing seat 97, a rotating fixing part 98 and a fixing pipe 99,

further, referring to fig. 3, two ropes with upper end fixed and lower end counterweight of the bow force system are rails, a mobile winch system with a winch is used as a power source, friction force generated between the rope and the winch system after tightening is utilized to move along the direction of the rope, a movable platform in the system is a rigid mechanism, the rope is a flexible elastic mechanism, and the rope rails can meet the requirements of the movable platform on shape and position. In the cleaning operation, the pressure of the attached curtain wall provided by the bow force system is added to assist the counter thrust of the rotor blade, so that more stable pressure of the attached curtain wall is provided, and the robot body is more stable in the obstacle crossing cleaning process;

the main body frame of the curtain wall cleaning robot is formed by welding and assembling 304 stainless steel. Various modules can be carried, wherein the left fixing seat 107 and the right fixing seat 108 are fixed rolling brushes, and different rolling brush material types can be replaced according to the condition of the working surface during actual cleaning. The existing rolling brush is divided into a pentagonal star-shaped brush and a foaming cotton sheet brush, and the pentagonal star-shaped brush is used when the glass surface is mainly cleaned; the foamed cotton sheet brush is used for cleaning mainly non-glass surfaces (aluminum plate surfaces, cement wall surfaces, tile surfaces and the like). The planet wheel support I11 and the planet wheel support II 13 are an upper group of fixing frames and a lower group of fixing frames and are used for installing obstacle-crossing planet wheel assemblies and supporting the upper part and the lower part of the rolling brush. The width can be controlled to the planet wheel support, because during the washing operation, the glass width is respectively different, can adjust for different planet wheel support widths through the regulation hole to by fixed pin 113 installation fixed, convenient operation is swift. The second planet wheel bracket 13 and the auxiliary supporting legs 14 can be used for supporting the robot to fall on the ground. Go up branch rope dead lever 105 and branch rope dead lever 106 down and be used for adjusting the position of going into the rope and going out the rope point, guarantee that the robot body is in the vertical state when wasing, simultaneously through the effect of upper and lower rope, make the robot body possess the bow to move the power under out of plumb state. The fixed rods 103 of the mobile winch are welded on two sides of the main body frame and used for carrying the components of the mobile winch, so that the robot body has the capability of moving up and down.

Further, referring to fig. 3 and 11, the upper ends of the ropes 81 in the bow force system are fixed to a roof cement column and locked to the roof through a fixing buckle, the two ropes are wound in a winch in the mobile winch through an upper end rope distributor and reach the ground through a lower end rope distributor, and the ropes below the winch are pulled by a counterweight on the ground to bear the pulling force of the upper end and the lower end, so that the robot body generates positive pressure on the glass surface, namely bow force, which is used for supplementing the rotor force.

The bow force is the pressure to the wall surface provided by the ropes at the upper end and the lower end due to the inclination angle, and is respectively marked as FQL1 and FQL2.

FQL2＝FQL2*sin(B0)＝[F+Rs*x*g/cos(B0) ² ]*sin(B0)；

MA＝[sin(A0)，-1，-1；cos(A0)，0，0；0，LQ-h1，-(LQ+h1)*sin(B0)]

MB＝[FQ2-FL2*sin(B0)-FT0；FL2*cos(B0)+G-Ff；FQ2*h1-Ff*L-(h1+h2)*sin(B0)]

MC＝MA\MB；

FL1＝MC(1，1)；

FQ1＝MC(2，1)；

FQ3＝MC(3，1)；

FQL1＝FL1*sin(A0)；

Wherein: FL2 is the tension of a rope at the lower end and is determined by the pretightening force F and the position of the movable platform; FL1 is the driven force, and is determined by FL2, the dead weight G, and the self position, without breaking the rope.

The rotor reverse thrust FT is reverse thrust control quantity pointing to the wall surface, and the value range is 0-150N.

TABLE 1 Bow travel force values at different heights for 150 m working surface cleaning

Further, referring to fig. 12, the planetary obstacle crossing mechanism of the curtain wall cleaning robot switches rotation and revolution of the planetary auxiliary wheel, and the revolution shaft switches along with the auxiliary wheel in the switching process to realize lifting, so that rotation passing without special control of the wheel shaft assembly and rigid change of the supporting height of the whole mechanism are completed.

The planet wheel obstacle crossing mechanism comprises four groups of planet wheel modules 71, and each single module comprises a foaming rubber wheel 711, a planet carrier 712, a fixed pin rod 713 and a reverse thrust sensor 714. When the planet wheel is actually used, the passing capacity of the planet wheel set needs to be considered, and meanwhile, the stress change brought to the system in the obstacle crossing process of the planet wheel set and the 'jumping' and inclination problems brought by the force change need to be comprehensively considered. Aiming at the problems, the invention introduces self-adaptive obstacle crossing treatment under two conditions of single-wheel obstacle crossing and planet-wheel obstacle crossing to realize self-adaptive obstacle crossing.

Single-wheel obstacle crossing condition:

the wheel diameter is increased, so that the push-lift ratio in the process of crossing small obstacles is reduced; by reducing the density of the wheels, the elasticity of the wheels is increased, the buffering capacity of the wheels is increased, and the impact on the glass surface is reduced.

The smaller the pushing-lifting ratio is, the smaller the impact of the wheel is when passing the obstacle, and the influence on the movable platform body is the smallest. Specifically, when the height of the obstacle is 30mm, the lifting-pushing ratio of the wheel diameter of 120mm is 1.732, and the lifting-pushing ratio of the wheel diameter of 180mm is 1.118; when the height of the obstacle is 10mm, the lifting-pushing ratio of the wheel diameter of 120mm is 0.663, and the lifting-pushing ratio of the wheel diameter of 180mm is 0.515.

TABLE 2 Single-wheel push angle A and push-lift ratio B parameter corresponding table under different wheel diameters and obstacle heights

Planet wheel obstacle crossing (double-small wheel rotation obstacle crossing and planet wheel revolution obstacle crossing):

obstacle crossing is completed through rotation when the obstacle is small, and obstacle crossing is completed through revolution when the obstacle is too large.

Support force that receives by the front small wheel is FQ1 with mechanism running direction, and the rear end is FQ2, distributes beneficial moment of torsion and harmful moment of torsion respectively according to equal sign both sides, promptly: beneficial torque = detrimental torque, collated as:

two small wheels rotate to cross obstacles: a = asind (R-i/R)

The force storage process: FY0= FQ1+ FQ2+ sind (A0) × Fz;

FQ1*sqrt(3)*D+FZ*sind(A)*sqrt(3)*D＝FY*sqrt(3)D/2+

FX*D/2；

critical point: FQ1=0; FZ × cosd (a) = FX;

FZ*sind(A)*sqrt(3)*D＝FY*sqrt(3)D/2+FX*D/2；

2*FZ*sind(A)*sqrt(3)＝FY*sqrt(3)+FZ*cosd(A)；

FZ(2*sind(A)*sqrt(3)-cosd(A))＝FY*sqrt(3)；

FZ＝FY*sqrt(3)/(2*sind(A)*sqrt(3)-cosd(A))

FX＝FY*sqrt(3)*cosd(A)/(2*sind(A)*sqrt(3)-cosd(A))

the planet wheel revolution surmounting the obstacle: FQ2+ sqrt (3) + FX + D/2= fy + sqrt (3) D/2;

FX*D/2＝FY*sqrt(3)D/2；

FZ＝FX＝FY*sqrt(3)；

when the pull-press ratio of the double small wheels rotating and crossing the obstacle is less than

When the mechanism is in use, the two small wheels (autorotation) rotate to cross the obstacle and are larger than

And meanwhile, the planetary gear revolution of the mechanism crosses the obstacle.

The vertical pressure provides positive pressure to the glass surface for the movable platform body through the bow force and the rotor wing; the pressure resistance ratio is the ratio of the reverse resistance to the vertical pressure of the small wheel when the planet wheel moves forward; the tension-compression ratio is the ratio of the tension required by the rope when the planet wheels advance to the vertical pressure.

TABLE 3 Planet wheel resistance-compression ratio and tension-compression ratio parameter corresponding table under different wheel diameters and obstacle heights

Furthermore, in order to reduce the requirement of wheel set obstacle crossing on the pulling force, avoid jumping caused by excessive force accumulation, and avoid serious inclination of the robot due to the fact that the pulling force requirement is too large, the pulling force of a rope and the blocking force generated at the position of a small wheel form a large moment, the curtain wall cleaning robot provided by the invention reduces the vertical pressure, reduces the pulling force requirement, preferably increases the number of small wheels carried by one circle to reduce the distribution angle of the small wheels: the number of the wheels is respectively 3, 4, 5 and 6, and the corresponding tension-compression ratio values are respectively 1.732, 1.414, 1.175 and 1.

Further, referring to fig. 8 to 9, the moving power source of the robot body is a moving hoist fixed to both sides of the main body frame, and the robot body can stably move up and down by IMU synchronous control. When the hoisting points at the upper ends of the double hoisting systems cannot be vertically aligned, the hoisting machines are independently controlled by the angle sensors to ensure that the double hoisting systems are horizontal;

the double hoist system includes a travelling hoist 60 (two), an upper right rope distribution assembly 61, an upper left rope distribution assembly 62, a lower right rope distribution assembly 63 and a lower left rope distribution assembly 64. The moving winch 60 is provided with a direct current servo motor 607 and a planetary reducer 601-3, and controls the rotation of the winch in an external mode. The winch is composed of an inner disc 603 and an outer disc 601, and a tooth-shaped clamping rope in the winch can rotate on the inner surface of the mobile winch by using the rope, so that the robot body is driven to move. An outer sheath 606 is secured to the outer periphery of the capstan to prevent the rope from escaping the capstan and to guide and retain the rope within the capstan profile as it rotates. The housing fixture 608, the housing 609, the housing cover 601-1 and the protective coil 601-2 keep the motor end in a waterproof state. Rope distributor 604 for separating the rope that blocks in the capstan winch tooth form, make the capstan winch can be smooth and easy rotate on the rope and creep, rope distributor can keep apart rope inlet end and rope outlet end simultaneously, avoids the interact. The fixed seat 601-4, the rotating pulley 605 and the fixed rod 601-5 are used for conducting the rope inlet end and the rope outlet end through the pulleys, so that the use efficiency of the winch and the rope is higher, and the included angle of the rope inlet end and the rope outlet end is 180 degrees;

on the robot body frame, two sets of rope components about the partial shipment for keep the focus of upper end lifting rope point and robot body on a straight line, guarantee that the robot body is vertical state under natural state. When the rope distributing point at the lower end of the rope is not positioned on a straight line formed by the lifting rope point at the upper end and the gravity center of the robot body, the bow running force is increased. The upper rope distributing component comprises a fixing plate 611, an auxiliary rope distributing pulley 612, a main rope distributing pulley 613, a fixing pin 614, a bearing 615, a coding wheel fixing seat 616, a coding wheel fixing sleeve 617, a coder 618, a fixing sleeve pin 619, a fixing bolt 611-1, a limiting hoop 611-2, a bearing 611-3, a clamping spring 611-4 and a reinforcing plate 611-5. The rope is always forced on the 618-coder by limiting the rope movement by means of two pulleys 612, 613, so that the actual movement of the travelling hoist is determined by the data from the coder. When the robot inclines to one side in the cleaning process, the limiting hoop 611-2 is used as a main bearing point in the inclining process, so that the rope can be effectively protected from acting on the inner side of the pulley;

in a curtain wall cleaning project, the invention provides a scheme for auxiliary cleaning of a fan and an air knife in order to solve the problem of quickly removing residual water on glass, and has the advantages that compared with a contact type scraping strip and a contact type row brush, the invention adopts a non-contact mode to remove water stains, has low structural requirements and small obstacle crossing influence, and can achieve ideal effects when crossing obstacles while removing water stains.

The fan is a machine which increases the pressure of gas and discharges the gas by means of input mechanical energy, and is a driven fluid machine. The device mainly comprises a motor, a driver (frequency converter), a coupler, a fan, an inlet filter, a connecting pipe fitting and the like. The air knife is arranged on the robot body, and the knife edge of the air knife extends a preset distance along the direction of the air blown out by the fan. The lengthened knife edge utilizes the coanda effect to guide air to be attached to the surface of the knife edge, so that the integrity of the wind is continued to the downstream of the airflow, and surrounding air entrainment is formed, and finally the utilization rate of the wind is improved;

the air knife is arranged above the high-pressure spray rod, the installation angle of the air knife can be adjusted through the adjustment of a screw of the main frame, and preferably, the angle is positioned to be 0-15 degrees. Through a mode of multiple experiments, an ideal angle A between the air knife and the wall surface is determined, after the angle is increased, the water blowing force begins to be weakened, but a large amount of air still passes through water drops below the air knife, so that air convection is caused, the evaporation speed of the water drops is increased, and water marks are caused; when the angle a =0, the splash of water droplets still does not occur.

The wind path system and the robot body adoptThe hose connection, specifically, the blower is placed on the ground, a PVC steel wire hose with the diameter of 76 mm and the length of 200m is used for connecting the blower to the robot body, and preferably, the wind pressure and the flow required by the blower are ideal 24Kpa and 1600m ³ /H。

Further, referring to fig. 5, the waterway system is installed in the robot body, and includes a nozzle assembly 40, a high-pressure nozzle 401, a high-pressure spray bar (with cleaning liquid) 402, a nozzle fixing seat 403, a high-pressure spray bar (without cleaning liquid) 405, a cleaning agent tank 41, a high-pressure pipeline 42, a siphon device 43, and a control valve 44. The equipment placed on the ground comprises a water source 45, a water purifier 46, a heater 47, a high-pressure pump station 48 and an electric cabinet 49;

the water source can be used for taking water in the building along with operation, the required water pressure has no requirement, and the water tank is introduced through an external water pipe. Through the multi-layer filtration of water purifier, can effectively filter aquatic incrustation scale, rust, particulate matter, heavy metal, chloride etc. thereby reach the pure water standard and let the adhesive force and the electrostatic force of water weaken. The pure water is heated to 90-100 ℃ hot water through a heater and is pumped to the robot body through a high-pressure pump and a high-pressure pipeline. The temperature of the water source transferred into the robot body is between 50 and 80 degrees according to the length of the pipeline and the height of the robot body. It was found that hot water at 50-80 degrees was effective in removing stained surfaces. When hot water arrives robot body after, can be by solenoid valve control water route, robot body top has two high pressure spray lance 402, 405: wherein the high pressure spray bar 402 is connected to the siphon through the pipe of the control valve 44 and can spray high pressure hot water with detergent; the high pressure spray bar 405 is connected to a hot water source through a line that controls the valve 44. The control valve 44 is a two-position three-way valve. Referring to fig. 6, the curtain wall cleaning robot is used for cleaning in an upward direction and then in a downward direction. When cleaning is carried out upwards, the high-pressure spray rod 402 is opened through the control valve 44, and only hot water with cleaning agent is sprayed; in the down wash, high pressure spray bar 405 is opened by control valve 44 and only pure hot water is sprayed.

Further, referring to fig. 3, the cleaning module includes a large rolling brush 31, a rolling brush motor 32, a motor fixing base 33, a bearing 34, an auxiliary support shaft 35, an adapter 36, a bearing 37, an oil seal 38, a secondary fixing base 39 and a water blocking cover 310. The large rolling brush 31 is made of two material types, the first type is a five-pointed star long nylon wire, a carbon fiber tube is additionally arranged in the large rolling brush, a nylon tube is sleeved on the outer layer of the large rolling brush, bristles are punched in a quincunx mode and are implanted into the nylon tube through a metal hoop, the large rolling brush is firmly fixed, the bristles do not have operating force on glass in a non-rotating state, when the rolling brush rotates, effective striking cleaning force can be generated on the glass, and preferably, the rotating speed reaches 120-250 turns, so that the cleaning effect is better; the second type is that a foam cotton strip is adopted, the foam cotton is cut into a required sheet shape, a standard aluminum section pipe is arranged inside the foam cotton strip, the rolling brush is combined in an assembling mode, the sheet brush has certain operating force on a cleaning surface in a non-rotating state, and the effect is better than that of a brushing state when non-glass surfaces are cleaned.

The round brush among the prior art adopts external motor and right angle reduction gear mostly, and the round brush washs on the curtain this moment and can lead to both sides to wash and leave white space increase, and in the in-service use process, the round brush can't wash about the motor end vacates 200 mm. The rolling brush provided by the invention adopts the built-in motor, the motor and the rolling brush are combined into a whole, the motor fixing seat and the auxiliary supporting shaft are additionally arranged inside the rolling brush, the motor directly drives the rolling brush to rotate through the outer rotor, and meanwhile, the bearing and the oil seal are additionally arranged at the tail end of the rolling brush, so that the water sprayed out by the high-pressure spray head only acts on the outer part of the rolling brush. Further, a water retaining cover 310 is arranged behind the rolling brush, so that the front-end cleaning equipment is separated from all the rear equipment, and water is prevented from affecting a rear module;

furthermore, when the curtain wall cleaning robot in the prior art is in actual use, whether the robot reaches the roof is mostly observed through human eyes or by means of a telescope at the bottom of the building, when the high-rise building is too high, the distance between the robot body and the roof is difficult to judge by observing the roof from the bottom of the building, and when the wall of the roof is too high, the distance cannot be determined at the roof. Referring to fig. 13, the safety sensing module provided by the invention detects the height of the curtain wall cleaning robot with the height difference from the roof being smaller than a first preset distance. Wherein, the cord lock 91 can move only in one direction upwards after being locked, and the upward movement requires a predetermined amount of force. In actual use, the rope buckle 91 has different upper end positions to be limited according to the change of the roof structure, and the locking position can be adjusted at any time. The cord lock 91 is fixed to the upper end limit position of the cord and connected by the induction cord 95. Robot and response stay cord 95 can not contact when normal washing, and only after the robot reachs the restriction position, just can contact response stay cord 95 through carbon fiber pipe 96, the stay cord can produce certain pressure to carbon fiber pipe this moment, through carbon fiber pipe pressure dwang 93, press movable contact switch 94 through the dwang, be provided with two sets of contact switches, through the pressure of stay cord, contact switch can be by preceding to the back trigger, the centre has a predetermined time difference. In the hardware control layer, the first front contact is triggered first, the second contact switch at the back is used as a standby forced emergency stop point, and the sensing combined pressure of the two groups of contacts does not exceed the upward force required by the rope buckle 91. When contact, hardware and software layer all go wrong, the power that robot body rose this moment is far more than rope buckle 91 up required power, can also drive response stay cord 95 and continue up to move, because there is certain distance in addition between upper end restriction position and the roof, the system has more reaction time, has adopted the package rubber tyer in the robot upper end simultaneously, has soft crashproof function. The safety sensing module is provided with a plurality of layers of safety control on each layer of hardware, software and the like.

Curtain cleaning robot uses super large brush radius, and cooperation soft brush hair and rigid support contact make all contact segments in the obstacle height within range become flexible accessible contact, control the cleaning force of brush hair simultaneously in ideal within range.

Among the prior art, the most wiper mechanism of curtain cleaning robot is simple, and it is big to wash to leave white, and the cleaning performance is poor, and equipment is heavy, and real cleaning time accounts for than few on the activity duration, and required manual work is many simultaneously, and personnel account for than for equipment in arranging, wasing, supplementary, safety. The curtain wall cleaning robot provided by the invention adopts a multi-level cleaning process in cleaning, the upper and lower cleaning steps are different, and secondary pollution caused by equipment cleaning is avoided; meanwhile, the manual participation is reduced during cleaning, all the control is completed by one operator, and the control can be completed on one operating machine when a plurality of cleaning robots cooperate; the curtain wall cleaning robot is arranged on the site, a conventional upper end hanging bracket is not needed, the structural requirement on the roof is low, and no white space is generated at the right angle of the roof.

The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that the embodiments may be practiced without the specific details. Thus, the foregoing descriptions of specific embodiments described herein are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. It will be apparent to those skilled in the art that many modifications and variations are possible in light of the above teaching. Further, as used herein to refer to the position of a component, the terms above and below, or their synonyms, do not necessarily refer to an absolute position relative to an external reference, but rather to a relative position of the component with reference to the drawings.

Moreover, the foregoing drawings and description include many concepts and features that may be combined in various ways to achieve various benefits and advantages. Thus, features, components, elements and/or concepts from various different figures may be combined to produce embodiments or implementations not necessarily shown or described in this specification. Furthermore, not all features, components, elements and/or concepts shown in a particular figure or description are necessarily required to be in any particular embodiment and/or implementation. It is to be understood that such embodiments and/or implementations fall within the scope of the present description.

Claims (10)

1. The utility model provides a self-adaptation climbing formula curtain cleaning robot that hinders more, includes: main body frame (1), hoist engine power module, wind path system module, waterway system, cleaning module, safety induction module, its characterized in that: self-adaptation climbing curtain cleaning robot that hinders still includes planet obstacle-crossing mechanism and bow-shaped power system, and bow-shaped power system provides the bow and moves the power, supplementary with rotor blade's thrust reversal, thereby gives curtain cleaning robot provides the pressure of stable laminating curtain.

2. The adaptive obstacle-surmounting climbing curtain wall cleaning robot according to claim 1, characterized in that: an upper rope dividing fixing rod (105) and a lower rope dividing fixing rod (106) are further arranged at the upper end and the lower end of the main body frame (1) respectively and used for adjusting the positions of a rope inlet point and a rope outlet point, so that the rope inlet point and the gravity center of the robot body are on the same straight line, and the robot body is ensured to be in a vertical state in a natural state; and meanwhile, the upper rope and the lower rope are adjusted to enable the robot body to be in a vertical state during cleaning, and if the rope dividing point at the lower end of the rope is not on a straight line formed by the rope inlet point and the gravity center of the robot body, the bow running force is increased.

3. The adaptive obstacle-surmounting climbing curtain wall cleaning robot as recited in claim 1, wherein: the bow force system takes two ropes with upper end fixed and lower end counterweight as tracks, takes a mobile winch system with a winch as a power source, and moves along the direction of the ropes by utilizing the friction force generated between the ropes and the winch after being tightened.

4. The adaptive obstacle-surmounting climbing curtain wall cleaning robot as recited in claim 1, wherein: the upper end of the main body frame (1) is provided with two planet wheel supports I (11), the lower end of the main body frame is provided with two planet wheel supports II (13) and two auxiliary supporting legs (14), and planet obstacle crossing mechanisms are respectively arranged on the planet wheel supports I (11) and the planet wheel supports II (13);

the planet obstacle crossing mechanism comprises four groups of planet wheel modules (71), and a single planet wheel module (71) comprises a foamed rubber wheel (711), a planet carrier (712), a fixed pin rod (713) and a reverse thrust sensor (714).

5. The adaptive obstacle-surmounting climbing curtain wall cleaning robot as recited in claim 1, wherein: the cleaning device comprises a main body frame (1), wherein a left fixing seat (107) and a right fixing seat (108) are respectively arranged on two sides of the front end of the main body frame (1) and used for installing a cleaning module, the cleaning module comprises a large rolling brush (31), a rolling brush motor (32), a motor fixing seat (33), a bearing (34), an auxiliary supporting shaft (35), an adapter (36), a bearing (37), an oil seal (38), an auxiliary fixing seat (39) and a water retaining cover (310), and different material types of the large rolling brush are selected in the cleaning module according to the type of an operation surface and the condition to be cleaned.

6. The adaptive obstacle-surmounting climbing curtain wall cleaning robot as recited in claim 1, wherein: the rear end of the main body frame (1) is provided with a rotor wing fixing frame (104), and a rotor wing part (2), blades (21), a rotor wing motor (22) and a rotor wing cover (23) are arranged in the rotor wing fixing frame (104).

7. The adaptive obstacle-surmounting climbing curtain wall cleaning robot according to claim 1, characterized in that: the waterway system comprises a heater, a high-pressure water pump, a water purifier, a cleaning agent box, a water spraying waterway and a high-pressure nozzle; the high-pressure spray head is fixed on the robot main body frame and is configured to control to open the waterway system when the robot main body frame starts to perform a brushing task, provide purified water with a preset temperature according to the state of the operation surface to be cleaned, and spray the purified water to the operation surface by using the high-pressure spray head to clean the operation surface;

after the waterway system is washed, the air path system module is used for secondarily cleaning the operation surface; the wind path system module comprises a fan and an air knife, wherein the fan increases air pressure by means of input mechanical energy and discharges air to the air knife, the air knife is arranged on the robot main body frame (1), the air knife is arranged above the high-pressure spray rod, and the installation angle of the air knife is adjusted by a screw of the main frame.

8. The adaptive obstacle-surmounting climbing curtain wall cleaning robot as recited in claim 7, wherein: the installation angle is between 0 and 15 degrees.

9. The adaptive obstacle-surmounting climbing curtain wall cleaning robot as recited in claim 4, wherein: three planet wheels in the planet wheel module (71) are respectively at intervals of 120 degrees.

10. The adaptive obstacle-surmounting climbing curtain wall cleaning robot as recited in claim 1, wherein:

the safety sensing module comprises a rope buckle (91), a pipe fixing seat (92), a rotating rod (93), a contact switch (94), a sensing pull rope (95), a carbon fiber pipe (96), a contact fixing seat (97), a rotating fixing part (98) and a fixing pipe (99).

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