CN212165733U - Intelligent robot for full-automatic cleaning of mansion glass curtain wall - Google Patents

Abstract

The utility model discloses an intelligent robot for full-automatic cleaning of mansion glass curtain walls, which comprises a solar rack and a mobile client, wherein the rack is provided with a master controller, a climbing system, a rotor system and a photoelectric system; the master controller is connected with the mobile client in a wireless communication way; the flying frame is fixedly provided with a flying motor controller and a gyroscope, the flying motor controller is in communication connection with the gyroscope, and the flying motor controller is in control connection with the master controller; the utility model discloses convenient to use, easy operation not only can adsorb automatically regulated washs the position on glass curtain wall, can also stride across the glass crossbeam automatically and remove and carry out cleaning work to next glass curtain wall on, realizes full self-cleaning to it is inconvenient with current cleaning robot to solve present manual cleaning curtain wall glass with high costs, the risk is big, can not effectively hinder the problem more.

Description

Intelligent robot for full-automatic cleaning of mansion glass curtain wall

Technical Field

The utility model belongs to glass curtain wall washs the field, concretely relates to full self-cleaning mansion glass curtain wall's intelligent robot.

Background

The glass curtain wall is a beautiful and novel building wall decoration method, is a remarkable characteristic of the modern high-rise building era, and is a building external protective structure or a decoration structure which has certain displacement capacity relative to a main structure by a support structure system and does not bear the action of the main structure. However, with the rapid development of China, the number of high-rise buildings is increased, and how to clean the glass curtain wall of the high-rise building is a big problem.

The traditional cleaning method for the building glass curtain wall is to use a professional to manually clean, but the traditional method for manually cleaning the building glass curtain wall has many defects and hidden dangers, for example, when the cleaning area is large, a large amount of labor force is needed, the cost is high, and the problems of difficult management of personnel, low professional level and the like exist due to too many personnel, so that the cleaning effect is poor, the cleaning efficiency is low, the glass curtain wall can be damaged to a certain extent, and the light transmittance and the service life of the glass curtain wall can be influenced; and the cleaning personnel need hang in the air at work, have huge potential safety hazard, and when the glass curtain wall that is located building top and corner edge area was cleared up to the clearance, danger is higher.

Nowadays, products of the intelligent cleaning robot are mainly divided into a sucker suction type cleaning robot and a cable type robot, and compared with manual cleaning of outer wall glass, the sucker type robot is safe and fast, but the sucker type robot is far away from the manual cleaning, and cleaning operation can be carried out only by customizing specific products according to different glass structures; and for the outer wall of the complex glass beam structure, no good obstacle crossing scheme exists; the cable type robot needs to adjust the position of the cable continuously for cleaning, which causes the problems of low cleaning efficiency and inconvenient use.

SUMMERY OF THE UTILITY MODEL

Defect and problem to current cleaning machines people existence, the utility model provides a full self-cleaning mansion glass curtain's intelligent robot, this intelligent robot convenient to use not only can adsorb automatically regulated washing position on glass curtain, can also stride across the glass crossbeam automatically and remove and carry out cleaning work to next glass curtain on, realize full self-cleaning to it is with high costs to solve present manual cleaning curtain glass, the risk is big and current cleaning machines people uses inconveniently, can not effectively hinder the problem more.

The utility model provides a scheme that its technical problem adopted is: an intelligent robot for fully automatically cleaning a mansion glass curtain wall is characterized by comprising a rectangular rack and a mobile client, wherein the rack is provided with a master controller, a climbing system, a rotor system and a photoelectric system; the master controller is connected with the mobile client in a wireless communication way; the climbing system comprises vertical moving units fixedly arranged on the left side and the right side of the rack and horizontal moving units fixedly arranged on the front side and the rear side of the rack, the control ends of the vertical moving units and the horizontal moving units are in control connection with a master controller, and the climbing system can be driven to drive the rack to move up and down or move left and right along the glass curtain wall by controlling the vertical moving units or the horizontal moving units through the master controller; the rotor wing system comprises a flight frame, the flight frame is fixedly connected with the upper end face of a rack, a flight motor controller and a gyroscope are fixedly arranged on the flight frame, the flight motor controller is in communication connection with the gyroscope, the flight motor controller is in control connection with a master controller, two cantilevers which are arranged outwards in a scattering manner are fixed in the middle of the left side and the right side of the flight frame, a flight rotor wing is arranged at the tail end of each cantilever, each flight rotor wing is in control connection with the motor controller, and the motor controller is used for controlling each flight rotor wing to rotate so that the rotary flight system drives the rack to fly and move; the electric system comprises a distance sensor and a position sensor, the left end and the right end of a rolling brush frame of the rolling brush mechanism at the front end of the rack and the left end and the right end of a scraper plate of the scraper mechanism at the tail end of the rack are fixedly provided with photoelectric distance sensors, the position sensor is adhered to the bottom surface of the rack, and the distance sensor and the position sensor are both in communication connection with the master controller through electric wires; and the frame is provided with a cleaning system for cleaning the curtain wall glass.

The liquid spraying mechanism is arranged on the front side of the rack, the scraping plate mechanism is arranged on the rear side of the rack, the liquid spraying mechanism is arranged on the rack between the rolling brush mechanism and the scraping plate mechanism, a switch or a valve for controlling the liquid spraying mechanism to be opened and closed is arranged on the liquid spraying mechanism, and the switch or the valve is in control connection with the controller.

The round brush mechanism includes round brush, round brush frame and dead lever, round brush frame is the forked fixing base, round brush frame and frame interval set up, just round brush frame is parallel to each other with the frame, round brush frame passes through dead lever and frame fixed connection together, the round brush suit is in round brush frame, and the circumference side of round brush lower extreme closely contradicts together with glass curtain wall.

Hydrojet mechanism includes drawing liquid pump, liquid storage pot and shower nozzle, along the fixed shower nozzle that is provided with a plurality of spouts decurrent in longitudinal separation in the frame, the drawing liquid end of drawing liquid pump passes through the water pipe and is connected with the leakage fluid dram of cleaner liquid bottle, the flowing back end of drawing liquid pump leads to pipe to be connected with the shower nozzle, the drawing liquid pump passes through electric wire and master controller control connection, through master controller control drawing liquid pump open and close.

The scraper mechanism comprises scrapers which are arranged in parallel with the rack at intervals, an inverted L-shaped connecting piece is fixed in the middle of the upper end of each scraper, the other end of each connecting piece is fixed with one end adjacent to the rack, and the rubbing ends of the scrapers at the lower ends of the scrapers are tightly butted with the glass curtain wall.

The frame includes frame body and connection structure, both ends symmetry is fixed with connection structure around the frame body, forms the installing port of rectangle between connection structure and the pricing body.

The vertical movement unit comprises a track sucker a and a driving structure a for driving the track sucker a to work, the track suckers a are symmetrically fixed on the left side and the right side of the frame, the main controller is in control connection with the driving structure a, and the track suckers a on the left side and the right side of the frame can be driven to drive the frame to move up and down along the glass curtain wall through the driving structure a controlled by the main controller.

The horizontal migration unit includes track sucking disc b and the drive structure b of drive track sucking disc b work, bilateral symmetry is fixed with track sucking disc b around the frame, main control unit is connected with drive structure control, can order about the track sucking disc b of the frame left and right sides through main control unit control drive structure b and drive the frame and remove along glass curtain wall and remove.

The master controller is provided with a wireless transmitting and receiving module and is connected with the mobile client through the wireless transmitting and receiving module.

The utility model has the advantages that: the utility model provides a pair of full self-cleaning mansion glass curtain wall's intelligent robot, compare with current cleaning robot, totally 4 advantages:

1. the utility model provides a full self-cleaning mansion glass curtain wall's intelligent robot is equipped with rotor system on the robot, and when the machine is accomplishing the back to monolithic curtain wall glass washing, rotor system can drive the machine and hang the sky crossbeam all around of strideing across curtain wall glass, moves and continues the washing operation on a next curtain wall glass.

2. The utility model provides a full self-cleaning mansion glass curtain wall's intelligent robot is equipped with climbing system and cleaning system on the robot, and the climbing system includes vertical migration unit and horizontal migration unit, vertical migration unit and horizontal migration unit's control end all with total controller control connection, can order about climbing system through total controller control vertical migration unit or horizontal migration unit and drive the frame and reciprocate or horizontal migration along glass curtain wall, when the machine passes through climbing system along glass curtain wall downstream, cleaning system can wash curtain glass's surface to guaranteed that the machine is complete to wash a monoblock curtain wall glass wall.

3. The utility model provides a full self-cleaning mansion glass curtain wall's intelligent robot, people still are equipped with optoelectronic system on the robot, through optoelectronic system and total control communication connection, optoelectronic system can be according to the position of machine and the signal of telecommunication that the behavior corresponds to total controller conveying, can carry out work to each system of signal of telecommunication control after total controller received some signals, realizes full self-cleaning work.

4. The utility model provides a full self-cleaning mansion glass curtain wall's intelligent robot, be provided with mobile client, optoelectronic system can send the real-time position of machine to mobile client through total controller, mobile client can establish the route model according to the machine real-time position that optoelectronic system sent through total controller, after glass curtain wall cleaning work accomplishes, mobile client can combine the route model that mobile client established to send the recovery signal to total controller according to the machine current position, thereby can a key recovery machine, it is more convenient to operate.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the frame structure of the present invention.

Figure 3 is the utility model discloses climbing system structure schematic diagram.

Fig. 4 is a schematic structural diagram of the vertical moving unit of the present invention.

Fig. 5 is a schematic structural diagram of the horizontal moving unit of the present invention.

Fig. 6 is a schematic side view of the track suction cup a of the present invention.

Fig. 7 is a schematic side view of the track suction cup b of the present invention.

Fig. 8 is a schematic view of the structure of the three-way joint of the present invention.

Fig. 9 is a schematic view of the installation relationship between the endless track and the driving wheel set according to the present invention.

Fig. 10 is a schematic view of the structure of the trachea passage of the present invention.

Fig. 11 is a schematic structural view of the cleaning system of the present invention.

Fig. 12 is a schematic diagram of the fixing position of the distance sensor according to the present invention.

Fig. 13 is a schematic view of the horizontal position relationship between the track suction cups a and b according to the present invention.

Fig. 14 is a schematic view of the internal structure of the scraper of the present invention.

Figure 15 is a schematic view of the vertical take-off and landing movement process of the rotor system of the present invention.

Figure 16 is the pitch motion process schematic diagram of the rotor system of the present invention.

Figure 17 is a schematic view of the rolling motion process of the rotor system of the present invention.

Figure 18 is a schematic view of the yaw motion process of the rotor system of the present invention.

Fig. 19 is a schematic view of the cleaning liquid recovery process of the present invention.

Fig. 20 is a schematic view of the obstacle crossing work flow of the present invention.

Figure 21 is a schematic view of the rotor system of the present invention.

Fig. 22 is a schematic view of the working state of the track suction cup of the present invention.

Reference numbers in the figures: 1 is a frame, 11 is a frame body, 12 is a connecting structure, 121 is a fixed rod, 122 is a frame beam, 13 is a mounting port, 2 is a climbing system, 201 is a vertical moving unit, 202 is a horizontal moving unit, 21 is a crawler belt suction cup a, 211 is a front wheel, 212 is an auxiliary wheel, 213 is a rear wheel, 214 is a fixed seat a, 215 is a fixed seat b, 216 is a fixed seat c, 217 is a fixed shaft, 218 is a connecting rod a, 2181 is a driven bevel gear, 221 is a driving motor a, 222 is a vacuum pump a, 223 is a hard suction pipe, 224 is a three-way joint, 2241 is a first joint, 2242 is a second joint, 2243 is a third joint, 225 is a gas distributor, 2251 is a pipe joint, 226 is an annular crawler belt, 227 is a vacuum suction cup, 2171 is a gas pipe passage, 22 is a crawler belt suction cup b, 228 is a connecting rod b, 231 is a driving motor b, 232 is a vacuum pump b, 3 is a cleaning system, 311 is a rolling, 312 is the round brush, 313 is the dead lever, 321 is the atomizer, 322 is the liquid feed pump, 323 is the liquid storage pot, 331 is the scraper blade, 3331 is the cavity, 332 is the connecting piece, 3321 is the honeycomb duct, 41 is the flight frame, 42 is the flight rotor, 43 is the cantilever, 44 is the motor controller, 45 is the gyroscope, 5 is the glass curtain wall, 61 is the distance sensor.

Detailed Description

The present invention will be further explained with reference to the drawings and examples.

Example 1

The embodiment provides an intelligent robot for fully automatically cleaning a building glass curtain wall, as shown in fig. 1-22, the intelligent robot comprises a mobile client and a rack 1 arranged in parallel with curtain wall glass, the rack 1 comprises a rack body 11 and a connecting structure 12, the connecting structure 12 is symmetrically fixed at the front end and the rear end of the rack body 11, the connecting structure 12 comprises a rack cross beam 112, fixing rods 121 are radially welded at the left end and the right end of the rack cross beam 112, the other ends of the fixing rods 121 are respectively welded and fixed at the left end and the right end of the rack body 11, a rectangular mounting port 13 is formed between the connecting structure 12 and the rack body 11, a master controller, a climbing system, a cleaning system, a rotor system and a photoelectric system are arranged on the rack 11, a wireless transmitting and receiving module is arranged on the master controller, and the master controller is connected with the mobile client through; the mobile client can observe the working condition of the master controller and can send commands to the master controller through the mobile client.

As shown in fig. 3, 4 and 6, the climbing system comprises vertical moving units 201 fixedly arranged at the left and right sides of the frame 1 and horizontal moving units 202 fixedly arranged at the front and rear sides of the frame 1, wherein the vertical moving units 201 comprise track suckers a21 and driving structures a for driving the tracks a21 to work, the track suckers a21 are symmetrically fixed at the left and right sides of the frame body 11, the track suckers a21 comprise driving wheel groups, an annular track 226 and vacuum suckers 227, the driving wheel groups comprise front wheels 211, auxiliary wheels 212 and rear wheels 213, the diameter sizes of the front wheels 211, the auxiliary wheels 212 and the rear wheels 213 are the same, and the front wheels 211, the auxiliary wheels 212 and the rear wheels 213 are sequentially fixed on the frame body 11 at intervals from front to rear, specifically:

frame main part 11 is provided with one side up end front and back both ends and the middle part of track sucking disc a21 and is fixed with fixing base a214 through the bolt respectively, fixing base c216 and fixing base b215, the middle part of 3 fixing bases all transversely opens there is the shaft hole and the cover is equipped with fixing bearing, it is equipped with fixed axle 217 all to match the cover in the fixing bearing, the outer end of fixed axle 217 all outwards extends frame main part 11, the fixed axle in the fixing base a214 of frame main part 11 both sides passes through connecting rod a218 fixed connection together, and connecting rod a218 sets up with the axle center with fixing axle 217 in fixing base a214, when actuating mechanism a drive connecting rod a218 rotates, connecting rod a218 can drive the fixed axle 217 of both sides and rotate at corresponding fixing.

As shown in fig. 9, the front wheel 211 is fixedly sleeved on the tail end of the fixed shaft in the fixed seat a214, the auxiliary wheel 212 is fixedly sleeved on the tail end of the fixed shaft in the fixed seat b215, and the rear wheel 213 is fixedly sleeved on the tail end of the fixed shaft in the fixed seat c 216.

The annular crawler 226 is sleeved on the driving wheel set in a matching manner, the circumferential side edge of the annular crawler 226 extends out of the driving wheel set axially, the front wheel 211, the rear wheel 213 and the auxiliary wheel 212 of the driving wheel set are all meshed with the inner side of the annular crawler, when the front wheel 211 rotates, the auxiliary wheel 213 and the rear wheel 212 are driven to rotate along with the front wheel 211 through the annular crawler 226, and when the annular crawler 226 rotates, the rack 1 is driven to move back and forth in a horizontal state; as shown in fig. 10, the fixed shaft 217 in the fixed base b215 is a hollow shaft, the inner passage of the fixed shaft is a gas pipe passage 2171, a hard air exhaust pipe 223 is fixedly sleeved in the gas pipe passage 2171 through a bearing, the inner end of the hard air exhaust pipe 223 extends inwards out of the gas pipe passage 2171 and is connected with the driving structure a, the outer end of the hard air exhaust pipe 223 extends outwards out of the gas pipe passage 2171 and is sleeved with a gas distributor 225, and the gas distributor 225 is located in the annular track 226 outside the driving wheel set; 14 vacuum suckers 227 with outward openings are bonded and fixed at the middle part of the outer annular surface of the annular crawler 226 at uniform intervals along the circumference; the suction ends of the vacuum suction cups 226 penetrate through the annular caterpillar 226 and extend into the annular caterpillar 226 outside the driving wheel set, and are hermetically connected with corresponding pipe joints 2251 on the gas distributor 225 through air suction hoses, the size of each air suction tube is equal, each air suction hose is provided with a wireless pressure sensor in a matching manner, the wireless pressure sensors are in communication connection with a master controller through internal wireless sending modules thereof, when the front wheel 211 drives the auxiliary wheel 212 and the rear wheel 213 to rotate through the annular caterpillar 226, the vacuum suction cups 227 on the annular caterpillar 226 can rotate along with the annular caterpillar 226 and move around the auxiliary wheel 212, and as the hard air suction cups 223 are fixedly sleeved in the air pipe passages 2171 through bearings, when the vacuum suction cups 227 move along with the annular caterpillar 226, the vacuum suction cups 227 can drive the hard air suction cups 223 to rotate in the air pipe passages through the air suction hoses.

As shown in fig. 4 and 8, the driving structure a includes a driving motor a221 and a vacuum pump a222, the driving motor a221 and the vacuum pump a222 are both in control connection with the summary controller through electric wires, and a motor rotating shaft of the driving motor a221 is in transmission connection with the connecting rod a218, specifically: the driven bevel gear 2181 is sleeved on the circumferential side wall of the left end of the connecting rod a218, a driving bevel gear is sleeved on a motor rotating shaft of the driving motor a, the driving bevel gear is matched, meshed and fixed with the driven bevel gear 2181 together, when the driving motor a221 is controlled to rotate by the master controller, the driving motor a221 can drive the connecting rod a218 to rotate through the driving bevel gear, when the connecting rod a218 rotates, the fixing shaft 217 in the fixing seats a214 on the two sides can be driven to rotate at the same time, and because the front wheel 211 is fixedly sleeved on the driving shaft 217, when the driving shaft 217 in the fixing seat a214 rotates, the front wheel 211 can be driven to rotate.

The vacuum pump a222 is fixed on the upper end surface of the rack body 11 through bolts, a three-way joint 224 is sleeved on an air exhaust port of the vacuum pump a222 in a matching manner, a first joint 2241 of the three-way joint is connected with the air exhaust end of the vacuum pump a222 in a sealing manner, a second joint 2242 and a third joint 2243 of the three-way joint are respectively arranged towards the fixed seats b215 on the left side and the right side of the rack body 11, and joint ports of the second joint 2242 and the third joint 2243 are coaxially arranged with fixed shafts in the fixed seats b 215; the second joint 2242 and the third joint 2243 of the three-way joint are respectively connected with the hard air exhaust pipe 223 whose corresponding tail end extends out of the air pipe passage 2171 in a sealing manner, when the main controller controls the vacuum pump a222 to work, the vacuum pump a222 performs pressure extraction on the vacuum suction cups 227 on the endless track 226 through the hard air exhaust pipe 223.

As shown in fig. 22, when in use, the opening of the vacuum chuck 227 on the lower section of the endless track 226 is attached to the glass curtain wall 5 to form a seal, the master controller controls the vacuum pump a222 to start working, the vacuum pump a222 pumps the vacuum chuck 227 on the endless track 226 through the hard exhaust pipe 223, because the opening of the vacuum chuck 227 on the lower section of the endless track 226 is attached to the glass curtain wall 5, the inside of the vacuum chuck 227 attached to the glass curtain wall 5 on the endless track 226 is pumped into negative pressure during pumping, so that the vacuum chuck 227 is attached to the glass curtain wall, when the wireless pressure sensor detects that the negative pressure in the corresponding exhaust pipe reaches a preset value, the master controller sends a completion signal to the master controller, when the master controller receives the completion signals sent by the track chucks a21 on each side of the vertical moving unit 201, the number of the completion signals reaches six, the master controller can control the driving motor a221 to start working, the driving motor a221 can drive the annular tracks 226 on the left side and the right side of the rack body 11 to rotate through the connecting rod a218, when the annular tracks 226 rotate, the vacuum suckers 227 adsorbed together with the curtain wall glass 5 can follow the rotation of the annular tracks 226 to be separated from the curtain wall glass 5 one by one, and meanwhile, the vacuum suckers 226 not adsorbed together with the curtain wall glass 5 can follow the rotation of the annular tracks 226 to be attached together with the curtain wall glass 5 one by one, and the vacuum pumps a222 are used for pumping and pressing the curtain wall glass 55 together, so that the annular tracks 226 can drive the rack 1 to move up and down along the curtain wall glass 5 through the vacuum suckers 227.

As shown in fig. 3, 5 and 7, the horizontal moving unit 202 includes a horizontal track suction cup b22 and a driving structure b for driving the track b22 to work, track suction cups b22 are symmetrically fixed in the mounting openings 13 on the front and rear sides of the frame 1, the track suction cup b22 includes a driving wheel set, an endless track 226 and a vacuum suction cup 227, the driving wheel set includes a front wheel 211, an auxiliary wheel 212 and a rear wheel 213, the diameter of the front wheel 211 is the same as that of the auxiliary wheel 212 and that of the rear wheel 213, the diameter of the front wheel 211 in the track suction cup b22 is larger than that of the front wheel 211 in the track suction cup a21, and the front wheel 211, the auxiliary wheel 212 and the rear wheel 213 in the track suction cup b2 are sequentially fixed on the frame body 11 at intervals: as shown in fig. 4, both ends and middle part all are fixed with fixing base c216 respectively through the bolt about the frame main part 11 is provided with one side up end of track sucking disc b, fixing base a214 and fixing base b215, fixing base c216, the middle part of fixing base a214 and fixing base b215 all is equipped with the shaft hole and the cover is equipped with the bearing, match the cover in the bearing and be equipped with fixed axle 217, the outer end of fixed axle all outwards extends to in the installing port 13, and the fixed axle of suit in fixing base b215 is the hollow shaft, the inside trachea passageway 217 that is of hollow shaft.

As shown in fig. 13, where the vertical distance between the fixed axle in the track pad b22 and the frame 1 is a, the vertical distance between the fixed axle in the track pad a21 and the frame 1 is b, where a > b,

as shown in fig. 5, the fixing shafts 217 in the fixing seats a214 at the front and rear ends of the rack body 11 are fixedly connected together by a connecting rod b228, and the connecting rod b228 is coaxially disposed with the fixing shafts in the fixing seats a214 at the front and rear ends of the rack body 11, so that when the driving mechanism b drives the connecting rod b228 to rotate, the connecting rod b228 drives the fixing shafts at the two sides to rotate in the corresponding fixing seats a 214.

As shown in fig. 9, the front wheel 211 is fixedly sleeved on the tail end of the fixed shaft in the fixed seat a214, the auxiliary wheel 212 is fixedly sleeved on the tail end of the fixed shaft in the fixed seat b215, and the rear wheel 213 is fixedly sleeved on the tail end of the fixed shaft in the fixed seat c 216.

The annular crawler 226 is sleeved on the driving wheel set b in a matching way, and the outer annular surface of the lower end of the annular crawler 226 is on the same horizontal plane with the outer annular surface of the lower end of the annular crawler 226 on the crawler suction cup a 21; the circumferential side edge of the annular crawler 226 on the crawler suction cup b22 extends outwards and axially to form a driving wheel set, the front wheel 211, the rear wheel 213 and the auxiliary wheel 212 of the driving wheel set are all meshed with the inner side of the annular crawler 226, when the front wheel 211 rotates, the auxiliary wheel 212 and the rear wheel 213 are driven by the annular crawler 226 to rotate along with the front wheel 211, and when the annular crawler 226 of the crawler suction cup b22 rotates, the rack 1 in a horizontal state is driven to move left and right;

a hard air exhaust pipe 223 is fixedly sleeved in the air pipe channel 2171 in the fixed shafts at the front end and the rear end of the rack body 11 through a bearing, the inner end of the hard air exhaust pipe 223 extends inwards to form the air pipe channel 2171 and is connected with the driving structure b, the outer end of the hard air exhaust pipe 217 extends outwards to form the air pipe channel 2171 and is sleeved with a gas distributor 225, and the gas distributor 225 is positioned in the annular crawler belt 226 on the outer side of the driving wheel group b; 28 vacuum suction cups 227 with outward openings are bonded and fixed at the middle part of the outer ring surface of the annular crawler 226 at equal intervals along the circumference, the suction ends of the vacuum suction cups 227 penetrate through the annular crawler 226 and extend into the annular crawler 226 at the outer side of the driving wheel set b, and are hermetically connected with corresponding pipe joints 2251 on the gas distributor 225 through suction hoses, the length of each suction hose is consistent, a wireless pressure sensor is arranged on each suction hose in a matching manner, the wireless pressure sensor is in communication connection with a master controller through a wireless transmitting module inside the wireless pressure sensor, when the front wheel 211 drives the auxiliary wheel 212 and the rear wheel 213 to rotate through the annular crawler 226, the vacuum suction cups 227 on the annular crawler 226 can rotate along with the annular crawler 226 and move around the auxiliary wheel 212, and as the hard suction tube 223 is fixedly sleeved in the air tube channel 2171 through a bearing, when the vacuum suction cups 227 move along with the annular crawler 226, the vacuum cup 227 will rotate the rigid suction tube 223 in the airway through the suction hose.

As shown in fig. 5, the driving structure b includes a driving motor b231 and a vacuum pump b232, the driving motor b231 and the vacuum pump b232 are both in control connection with the summary controller through electric wires, and the motor rotating shaft of the driving motor b231 is in transmission connection with the connecting rod b218, specifically: the driven bevel gear is sleeved on the circumferential side wall of the right end of the connecting rod b218, a driving bevel gear is sleeved on a motor rotating shaft of the driving motor b231, the driving bevel gear is matched, meshed and fixed with the driven bevel gear, when the driving motor b231 is controlled by the master controller to work, the driving motor b231 can drive the connecting rod b218 to rotate through the driving bevel gear, when the connecting rod b218 rotates, the fixing shaft in the fixing seat a214 on two sides can be driven to rotate at the same time, and because the front wheel 211 is fixedly sleeved on the fixing shaft in the fixing seat a214, the driving shaft in the fixing seat a214 can drive the front wheel 211 to rotate when rotating.

Vacuum pump b232 passes through the bolt fastening at the up end of frame body 11, the matching cover is equipped with three way connection 224 on vacuum pump b 232's the port of bleeding, three way connection 224's first joint 2241 and vacuum pump b232 bleed end sealing connection together, three way connection 224's second joint 2242 and third joint 2243 link together through the stereoplasm exhaust tube 223 that the both ends inwards extended trachea passageway 2171 around frame body 11 respectively through the connecting pipe, when main control unit control vacuum pump b232 during operation, vacuum pump b232 carries out the suction pressure to vacuum chuck 227 on the ring track 226 through the stereoplasm exhaust tube.

When in use, the driving motor b231 and the vacuum pump b232 of the driving mechanism b are controlled to work by the master controller, so as to drive the track suckers b22 on the front and rear sides of the frame body 11 to drive the frame 1 to horizontally move left and right along the glass curtain wall 5, wherein the track suckers b22 on the front and rear sides of the frame body 11 are the same as the working principle of the track sucker a, and detailed description is omitted here.

As shown in fig. 11, the cleaning system includes a liquid spraying mechanism, a rolling brush mechanism and a scraper mechanism, the rolling brush mechanism includes a fork-shaped rolling brush holder 311 arranged parallel to the front end of the rack and the rack beam 122 at an interval, a rolling brush 312 is fixedly sleeved in the rolling brush holder 311 in a matching manner, a circumferential side surface of the lower end of the rolling brush 312 is tightly abutted to the glass curtain wall 5, a fixing rod 313 is welded in the middle of the rolling brush holder 311, the other end of the fixing rod 313 is welded and fixed in the middle of the outer end surface of the adjacent rack beam 122, and the rolling brush 312 is tightly abutted to the glass curtain wall 5, so when the rack 1 moves downwards along the glass curtain wall 5 through the vertical moving unit 201, the rolling brush 312 pushes pollutants and wipes downwards the dust on the surface of the glass curtain wall 5 to separate from the glass curtain wall.

The liquid spraying mechanism comprises a liquid supply pump 322, a liquid storage tank 323 and an atomizing spray head 321, the liquid storage tank 323 is fixedly arranged on the upper end face of the rack body 11, cleaning liquid is filled in the liquid storage tank 323, the liquid supply pump 322 is fixed on the rack body 322 on the right side of the liquid storage tank 322 through bolts, the liquid supply pump 322 is in control connection with the controller through electric wires, 4 nozzles are fixed on the outer end face of a rack cross beam 122 of the connecting mechanism 12 at the front end of the rack body 11 at intervals and downward to form the water mist spray heads, liquid inlets of the 4 water mist spray heads are connected in series through a liquid supply pipe, a water inlet end of the liquid supply pipe is in sealing connection with a liquid outlet of the liquid supply pump through a water pipe, a liquid pumping end of the liquid supply pump 322 is in sealing connection with the liquid outlet of the liquid storage tank 323.

As shown in fig. 12, the scraping mechanism includes scrapers 331 arranged in parallel to the frame beam 122 at the rear end of the frame body 11 at an interval, scraping ends at lower ends of the scrapers 331 are tightly abutted against the curtain wall glass 5, an inverted L-shaped connecting member 332 is fixed in the middle of an upper end of the scraper 331, and the other end of the connecting member 332 is welded and fixed to an outer end face of the frame beam 122 of the connecting mechanism at the rear end of the frame body 11, so that when the frame 1 moves downward along the glass curtain wall 5 through the vertical moving unit 201, the cleaning liquid water mist sprayed out through the water mist nozzle 321 can be directly sprayed onto the curtain wall glass 5 cleaned by the rolling brush 312, and in the process that the frame 1 moves downward, the scrapers of the frame rear-side scraping mechanism can scrape the cleaning liquid sprayed onto the curtain wall glass 5 clean, thereby making the surface of the curtain wall.

As shown in fig. 21, the rotor system includes a flight frame 41, four top corners of the flight frame 41 are fixedly welded to the frame body 11 through fixing rods, a flight motor controller 44 and a gyroscope 45 are fixedly disposed on the flight frame 4 through bolts, the gyroscope 45 is in communication connection with the motor controller 44, two cantilevers 43 distributed in a scattering manner are fixedly welded to the middle portions of the left and right sides of the flight frame 41, a flight rotor 42 is disposed at the end of each cantilever 43, the flight rotor includes a propeller motor fixed to the end of the cantilever, a propeller blade is mounted on a rotating shaft of the propeller motor, each propeller motor is in control connection with the motor controller 44 through an electric wire, and the motor controller 44 controls the rotating speed of each propeller motor, so that the rotor system drives the frame 1 to perform vertical (lifting) movement, pitching movement, rolling movement and yawing movement, specifically, the method comprises the following steps:

as shown in fig. 15, vertical (heave) motion, i.e., the rotational speed of the four flying rotors 42 is controlled by motor controller 44 to provide lift to rise, while descent primarily reduces the rotational speed of the flying rotors 42 to fall by gravity.

As shown in fig. 16, flying rotor 42 No. 1 is controlled by motor controller 44 to increase the speed, flying rotor 42 No. 3 is controlled to decrease the speed, and the rotor system drives the gantry to raise up along the X-axis. And when pitching the motion, the rotor system also can drive the frame and be seesaw, takes place the slope of certain degree as the rotor system to make rotor pulling force produce the horizontal component, consequently can realize the preceding motion that flies of rotor system.

As shown in fig. 17, the roll motion is achieved by controlling the rotation speed of the flying rotor in 2 (or 4) axes, and the control principle is the same as that of the pitch motion, except that the flying rotor is controlled differently. Through motor controller control No. 4 flight rotors 42 speed-up, No. 2 flight rotors 42 deceleration, rotor system drives the frame and rolls along Y axle direction to the rolling motion of small-amplitude can lead to rotor system to drive the frame and be lateral motion.

Yaw motion is achieved by the rotor system through counter-torque. In order to overcome the influence of the counter-torque force, four flight rotors rotate forwards and reversely, and the rotation directions of the flight rotors on the diagonal lines are the same; the magnitude of the counter-torque force is related to the rotating speed of the flying rotors, when the rotating speeds of the four flying rotors are the same, the counter-torque forces generated by the four flying rotors are mutually balanced, and the rotor system cannot drive the rack to rotate; when the four flying rotors do not rotate at the same speed, the unbalanced counter-torque will cause the rotor system to rotate the frame horizontally, thereby achieving yaw motion, as shown in fig. 18: no. 1 flight rotor and No. 3 flight rotor rotational speeds improve, and No. 2 flight rotors and No. 4 flight rotor rotational speeds reduce, and the rotor system will drive the frame horizontal rotation and get up, because the lift of totality is unchangeable, so can not lead to the rotor system to drive the frame and rise or descend.

The motor controller 44 is connected with the master controller through an electric wire, a control signal can be sent to the motor controller 44 through the master controller, and the motor controller 44 controls the rotating speed of each flying rotor wing after receiving the signal, so that various corresponding movements are implemented.

As shown in fig. 12, the optoelectronic system includes a distance sensor 61 and a position sensor, the optoelectronic distance sensor 61 is adhered to both left and right ends of the rack front end rolling brush mechanism rolling brush holder 311 and both left and right ends of the rack tail end scraping plate mechanism scraping plate 331, the position sensor is adhered to the bottom surface of the rack 1, and the distance sensor 61 and the position sensor are in communication connection with the master controller through wires.

When the robot is used, firstly, the robot is assembled, then the device is started, a slave takeoff signal is sent to the master controller through the mobile client, after the master controller receives a flight signal sent by the mobile client, the master controller sends a takeoff number to the motor controller of the rotor system, the motor controller controls the four flight rotors 42 of the rotor system to rotate rapidly to provide a lifting force for the takeoff of the robot, after the takeoff of the robot, the signal is sent to the master controller through the mobile client according to the environmental condition, after the master controller receives the signal, the corresponding signal is sent to the motor controller according to the information of the received signal, so that the rotor system on the motor controller controls the machine to drive the robot to fly to a task position, when the position sensor at the bottom of the machine monitors that the machine is in contact with the glass curtain wall 5, the position sensor sends a contact signal to the master controller, after the master controller receives the signal, the vacuum pump in the vertical mobile unit in the climbing system can be controlled to start working, when the master controller receives a completion signal sent by the vertical mobile unit and reaches the preset value, the master controller can control the driving motor in the vertical mobile unit in the climbing system to start working, and therefore the climbing system is controlled to drive the machine to move downwards along the glass curtain wall.

The main controller controls a driving motor in the vertical moving unit to start working and simultaneously controls a rotor system to stop working and a cleaning system to start working respectively, the climbing system drives the machine to move downwards along the glass curtain wall, the cleaning system cleans the glass curtain wall on the moving path of the machine, when a distance sensor on a roller frame detects that the distance between the machine and a beam of the glass curtain wall in front of the machine is less than 5cm, the distance sensor sends a warning signal to the main controller, the main controller receives the warning signal and then controls the driving motor and the cleaning unit in the vertical moving unit to stop working simultaneously to stop cleaning and moving downwards, then controls a vacuum pump in the horizontal moving unit to start working, and when the main controller receives completion signals sent by the horizontal moving unit, the main controller controls the vacuum pump a in the vertical moving unit to stop working, then the master controller can control driving motor b in the horizontal migration unit to begin work to make climbing system drive the machine and carry out the cleaning process of next round along the position that glass curtain spirit level moved one machine etc. body, ensure the complete washing of a monoblock glass wall.

As shown in fig. 20, when the master controller determines that the cleaning of the glass curtain wall at present is completed through the path signal transmitted by the position sensor, the master controller transmits a signal to the motor controller to enable the motor controller to control the rotor system to start, in the process, the master controller also controls the driving motors of the cleaning system and the climbing system to stop working, when the motor controller detects that the propeller motors reach a certain rotating speed, the motor controller transmits a signal to the master controller, the master controller receives the signal and controls the vacuum pump system of the climbing system to work, so that the machine is separated from the glass curtain wall through the rotor system, the distance sensors at the four corners of the machine and the position sensor at the bottom of the machine detect and determine the distance between the machine and the glass curtain wall and transmit a slave signal to the master controller, after the master controller receives the signal and combines the determination of the cleaning path, the rotating speed of each propeller motor in the rotor system is adjusted through the motor controller, thereby control machine carries out the level or flies to remove from top to bottom and carries out obstacle-crossing flight to next glass curtain wall on, treat that rotor system takes the aircraft flight back on the next glass curtain wall, the position sensor of machine bottom can send contact signal to master controller, can carry out glass curtain wall cleaning work according to each system of above-mentioned process repetitive operation after the master controller received the signal.

After the glass curtain wall cleaning work is finished, the mobile client side can send a recovery signal to the master controller according to the current position of the robot and the path model established by the mobile client side, the master controller can control the rotor wing system according to the received signal, and the mobile client side can recover the route according to the current position of the robot and the path model and fly back to the starting point.

Example 2

Embodiment 2 differs from embodiment 1 in that a recovery device is provided on the frame.

A recovery device is arranged on the frame, the recovery device comprises a filter bottle and a recovery vacuum pump, a filter screen is arranged in the filter bottle, the upper end of the filter bottle is provided with a water inlet and is connected with a liquid discharge end of the recovery vacuum pump through a water pipe, the lower end of the filter bottle is provided with a water outlet and is connected with a liquid inlet of a liquid storage tank 323 through a water drain pipe, as shown in figure 14, the middle part of a scraper is provided with a cavity 3311 which is a recovery cavity, the scraping end of the scraper, which is in contact with curtain wall glass, is transversely and uniformly provided with water suction holes communicated with the cavity upwards, a connecting piece 14 is internally provided with a guide pipe 3321, one end of the guide pipe 3321 is communicated with the recovery cavity in the scraper, the other end of the guide pipe 3321 is connected with the liquid suction end of the recovery vacuum pump, the recovery vacuum pump is connected with a master controller through a wire, the cleaning liquid sprayed on the curtain wall glass by the liquid spraying mechanism can be accumulated at the water suction hole at the contact part of the scraping end of the scraper and the curtain wall glass, and when the recovery vacuum pump starts to work, the recovery vacuum pump can extract air in the cavity 3311 through the guide pipe, so that the cleaning liquid accumulated at the water suction hole is pumped back into the cavity 3311 to be pinched and discharged into the filter flask through the recovery vacuum pump.

Claims (9)

1. An intelligent robot for fully automatically cleaning a mansion glass curtain wall is characterized by comprising a rectangular rack and a mobile client, wherein the rack is provided with a master controller, a climbing system, a rotor system and a photoelectric system; the master controller is connected with the mobile client in a wireless communication way; the climbing system comprises vertical moving units fixedly arranged on the left side and the right side of the rack and horizontal moving units fixedly arranged on the front side and the rear side of the rack, the control ends of the vertical moving units and the horizontal moving units are in control connection with a master controller, and the climbing system can be driven to drive the rack to move up and down or move left and right along the glass curtain wall by controlling the vertical moving units or the horizontal moving units through the master controller; the rotor wing system comprises a flight frame, the flight frame is fixedly connected with the upper end face of a rack, a flight motor controller and a gyroscope are fixedly arranged on the flight frame, the flight motor controller is in communication connection with the gyroscope, the flight motor controller is in control connection with a master controller, two cantilevers which are arranged outwards in a scattering manner are fixed in the middle of the left side and the right side of the flight frame, a flight rotor wing is arranged at the tail end of each cantilever, each flight rotor wing is in control connection with the motor controller, and the motor controller is used for controlling each flight rotor wing to rotate so that the rotary flight system drives the rack to fly and move; the electric system comprises a distance sensor and a position sensor, the left end and the right end of a rolling brush frame of the rolling brush mechanism at the front end of the rack and the left end and the right end of a scraper plate of the scraper mechanism at the tail end of the rack are fixedly provided with photoelectric distance sensors, the position sensor is adhered to the bottom surface of the rack, and the distance sensor and the position sensor are both in communication connection with the master controller through electric wires; the curtain wall glass cleaning machine is characterized in that a cleaning system for cleaning curtain wall glass is arranged on the machine frame and comprises a liquid spraying mechanism, a rolling brush mechanism and a scraper plate mechanism.

2. The intelligent robot for automatically cleaning the glass curtain wall of the building according to claim 1, wherein the rolling brush mechanism is arranged on the front side of the frame, the scraper mechanism is arranged on the rear side of the frame, the liquid spraying mechanism is arranged on the frame between the rolling brush mechanism and the scraper mechanism, a switch or a valve for controlling the liquid spraying mechanism to open and close is arranged on the liquid spraying mechanism, and the switch or the valve is in control connection with the controller.

3. The intelligent robot for automatically cleaning the glass curtain wall of the building according to claim 2, wherein the rolling brush mechanism comprises a rolling brush, a rolling brush frame and a fixing rod, the rolling brush frame is a fork-shaped fixing seat, the rolling brush frame is arranged at a distance from the rack and is parallel to the rack, the rolling brush frame is fixedly connected with the rack through the fixing rod, the rolling brush is sleeved in the rolling brush frame, and the circumferential side surface of the lower end of the rolling brush is tightly abutted against the glass curtain wall.

4. The intelligent robot for automatically cleaning the glass curtain wall of the building according to claim 1, wherein the liquid spraying mechanism comprises a liquid pumping pump, a liquid storage tank and spray heads, the frame is fixedly provided with the spray heads with a plurality of downward spray nozzles at intervals along the longitudinal direction, the liquid pumping end of the liquid pumping pump is connected with the liquid outlet of the cleaning agent liquid bottle through a water pipe, the liquid discharging end of the liquid pumping pump is connected with the spray heads through a water pipe, the liquid pumping pump is in control connection with the master controller through an electric wire, and the master controller controls the liquid pumping pump to be opened and closed.

5. The intelligent robot for automatically cleaning the glass curtain wall of the building according to claim 1, wherein the scraping mechanism comprises scrapers which are arranged in parallel with the rack at intervals, an inverted L-shaped connecting piece is fixed in the middle of the upper end of each scraper, the other end of each connecting piece is fixed with one end of the rack adjacent to the corresponding end, and the scraping ends of the lower ends of the scrapers are tightly abutted against the glass curtain wall.

6. The intelligent robot for automatically cleaning the glass curtain wall of the building according to claim 1, wherein the rack comprises a rack body and connecting structures, the connecting structures are symmetrically fixed at the front end and the rear end of the rack body, and a rectangular mounting opening is formed between the connecting structures and the rack body.

7. The intelligent robot for automatically cleaning the glass curtain wall of the building according to claim 1, wherein the vertical moving unit comprises a track sucker a and a driving structure a for driving the track sucker a to work, the track suckers a are symmetrically fixed on the left side and the right side of the rack, the master controller is in control connection with the driving structure a, and the master controller controls the driving structure a to drive the track suckers a on the left side and the right side of the rack to drive the rack to move up and down along the glass curtain wall.

8. The intelligent robot for automatically cleaning the glass curtain wall of the building according to claim 1, wherein the horizontal moving unit comprises crawler suction cups b and driving structures b for driving the crawler suction cups b to work, the crawler suction cups b are symmetrically fixed on the front side and the rear side of the frame, the master controller is in control connection with the driving structures, and the crawler suction cups b on the left side and the right side of the frame can be driven to drive the frame to move left and right along the glass curtain wall by controlling the driving structures b through the master controller.

9. The intelligent robot for automatically cleaning the glass curtain wall of the building according to claim 1, wherein the master controller is provided with a wireless transmitting and receiving module and is connected with the mobile client through the wireless transmitting and receiving module.

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