CN206303844U - A kind of drum-type glass curtain wall clean robot - Google Patents

Abstract

The utility model is related to a kind of drum-type glass curtain wall clean robot, including robot body, wag the tail cleaning device and liquid storage box；Cleaning device of wagging the tail includes sweeping roll assembly, liquid supplies bellows and is installed in the stretching motor and limit shaft sleeve of the dorsal part of robot body tail end, the drive screw that a head end is connected with the output shaft of stretching motor is equipped with limit shaft sleeve, sweep and two standing screws being meshed with drive screw respectively are provided with roll assembly, the cephalic par of two standing screws is placed in limit shaft sleeve and is respectively placed in the left and right sides of drive screw, liquid supply bellows is located at the belly side of limit shaft sleeve and its head end is connected by robot body with liquid storage box, tail end is connected with roll assembly is swept.The utility model is controlled using the meshing relation between drive screw and standing screw by the rotating to stretching motor, standing screw drive can be made to sweep roll assembly and be close to or away from robot body, and thus curtain wall surface can be wiped repeatedly.

Description

A kind of drum-type glass curtain wall clean robot

Technical field

The utility model is related to robotics, especially a kind of drum-type glass curtain wall clean robot.

Background technology

Glass curtain wall is one of most important ornament materials in the world today, by widely as the family of all kinds of buildings Exterior wall is used, and its maximum feature for assigning building is by the aesthetics of architecture, building function, building energy conservation and building structure etc. Factor is organically united, building is showed different tones from different perspectives, with sunlight, moonlight, light Change gives dynamic U.S..

Due to the dust in air, in rainwater, excreta of the dust of entrained with, birds etc. can little by little deposit to building The curtain wall surface of thing, so as to influence the aesthetic property of curtain wall and the clean-up performance of building appearance；Therefore, to the cleaning of glass curtain wall Increasingly receive the concern of people and gradually form huge curtain cleaning market.

However, the cleaning of glass curtain wall is mainly still completed using manual type at present, i.e.,：By cleanup crew from After roof is suspended in midair to the side wall of building, manually curtain wall surface is cleared up by cleanup crew, this kind of mode is not only present The problems such as whole process cleaning efficiency is not high, danger coefficient is big, and cleaning cost is higher, also thus have impact on glass curtain wall Attractive in appearance, cleaning and the further space of development.

Utility model content

For the deficiency that above-mentioned prior art is present, the purpose of this utility model is to provide a kind of drum-type glass curtain wall Clean robot.

To achieve these goals, the utility model is adopted the following technical scheme that：

A kind of drum-type glass curtain wall clean robot, it is installed in robot body including a robot body and one Tail end for the cleaning device of wagging the tail that is cleaned to wall, liquid storage is equiped with the robot body Case；

The cleaning device of wagging the tail includes sweeping roll assembly, liquid supply bellows and is installed in the tail end of robot body The stretching motor and limit shaft sleeve of the dorsal part in portion, are equipped with the output shaft phase of a head end and stretching motor in the limit shaft sleeve Drive screw even, the dorsal part middle part for sweeping roll assembly is concurrently provided with two standing screws, two standing screws Cephalic par be placed in limit shaft sleeve, the cephalic par of two standing screws is respectively placed in the left and right sides of drive screw simultaneously It is meshed with drive screw respectively, the liquid supply bellows is located at the belly side of limit shaft sleeve and its head end passes through robot Body is connected with liquid storage box, tail end is connected with roll assembly is swept.

Preferably, it is described sweep roll assembly including roll shaft, the cleaning roller set that is socketed on roll shaft and is coaxially distributed with roll shaft with And cover on wherein one section circumference wall of cleaning roller set and the jacket that is connected with roll shaft of left and right two ends, a left side for the jacket Side and/or right-hand member side are equiped with a rotation drive motor, and the output shaft of the rotation drive motor is connected with roll shaft；

The tail end of two standing screws is both secured on jacket and is located at the back side of jacket, the liquid supply The tail end of bellows is fixed on the head end side wall of jacket, and liquid supply bellows tail end mouthful through after jacket just To the circumferential side wall of cleaning roller set.

Preferably, an axial direction covered along cleaning roller is also equiped between the head end side wall of the jacket and cleaning roller set The jet tray of distribution, the tail end mouthful of the liquid supply bellows is placed in jet tray after passing through jacket.

Preferably, the jet tray is the structure of the elongated tabular of a profile and inner hollow, the jet tray Tail end-side wall offers nozzle of several cross sectional shapes in taper type, and the tail end mouthful of the liquid supply bellows is placed in injection In the hollow space of plate.

Preferably, the left and right sides of the tail end of the robot body is provided with a spacing extension spring, the spacing drawing The head end of spring is connected with the tail end of robot body, tail end is connected with the left side or right side of sweeping roll assembly.

Preferably, the robot body includes trunk shell and is installed in the left and right sides of trunk shell to drive body Dry housing drives the arm pin climbing device that wag the tail cleaning device and liquid storage box are moved on wall simultaneously；The liquid storage Case is installed in the head end of trunk shell, and the liquid storage box is supplied through the liquid pipe that trunk shell is distributed by one with liquid The head end of bellows is connected, and one is equiped with the liquid pipe for the liquor of liquid storage box memory storage to be delivered into liquid supply Hydraulic pump in bellows；The stretching motor and limit shaft sleeve are assembled on the tail end back of trunk shell.

Preferably, also it is equiped with a camera on the breech face of the trunk shell.

As a result of such scheme, the utility model is led to using the meshing relation between drive screw and standing screw Cross to the rotating of stretching motor control, can drive standing screw and sweep roll assembly near or away from robot body, due to Sweep roll assembly and also can be rotated motion in itself, cleaning roller set can be made to realize the movement of radial direction and the effect of own rotation Should, it is wiped repeatedly effect to be formed to curtain wall；Meanwhile, the cooperation supplied between bellows by liquid storage box and liquid can not Discontinuously to the liquid such as the agent of roll assembly supplying clean or water are swept, to ensure to sweep cleaning cleaning performance of the roll assembly to curtain wall；Its knot Structure it is simple it is compact, directly glass curtain wall is cleaned without cleanup crew, while guarantee cleaning effect, also beneficial to raising Cleaning effect and reduction danger coefficient, with very strong practical value and market popularization value.

Brief description of the drawings

Fig. 1 is perspective structure schematic diagram of the utility model embodiment under vertical view state；

Fig. 2 is that the utility model embodiment sweeps cross section structure schematic diagram of the roll assembly under main view state；

Fig. 3 is that the utility model embodiment sweeps structural representation of the roll assembly under left view state.

Specific embodiment

Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but the utility model can be by right It is required that the multitude of different ways for limiting and covering is implemented.

As shown in Figure 1 to Figure 3, a kind of drum-type glass curtain wall clean robot that the present embodiment is provided, it includes a machine Device people's body a and is installed in the tail end of robot body a for the cleaning device b of wagging the tail cleaned to wall, A liquid storage box c is equiped with robot body a；Wherein, cleaning device b of wagging the tail includes sweeping roll assembly d, liquid supply ripple Line pipe 1 and be installed in robot body a tail end dorsal part stretching motor 2 and limit shaft sleeve 3, in limit shaft sleeve 3 The drive screw 4 that a head end is connected with the output shaft of stretching motor 2 is equipped with, in the middle part of the dorsal part for sweeping roll assembly d concurrently Two standing screws 5 are provided with, the cephalic par of two standing screws 5 is placed in limit shaft sleeve 3, and two standing screws 5 Cephalic par is respectively placed in the left and right sides of drive screw 4 and is meshed with drive screw 4 respectively, and liquid supply bellows 1 is then Be connected with liquid storage box c by robot body a positioned at the belly side of limit shaft sleeve 3 and its head end, tail end then with sweep roller group Part d is connected.With this, when robot is placed on the wall of glass curtain wall, sanitizer cartridge of wagging the tail is driven using robot body a B is put to be moved or lower shifting movement along wall work, and in the process, cleaning device b of wagging the tail is acted in itself, and curtain wall surface can be entered Row is wiped, specially：Using the meshing relation between drive screw 4 and standing screw 5, by the rotating to stretching motor 2 Control, can make the drive of standing screw 5 sweep roll assembly d and be close to or away from robot body a, and thus curtain wall surface can be carried out instead It is multiple to wipe；At the same time, supplying cooperation between bellows 1 by liquid storage box c and liquid can incessantly to sweeping roller group The liquid such as part d supplying cleans agent or water, to ensure to sweep cleaning cleaning performances of the roll assembly d to curtain wall.

The wiping properties of roll assembly d are swept to optimize to greatest extent, the roll assembly d that sweeps of the present embodiment includes roll shaft 6, socket In on roll shaft 6 and distribution coaxial with roll shaft 6 cleaning roller set 7 (its can as the case may be by the materials such as cloth or sponge bundle Shaping) and cover on wherein one section circumference wall of cleaning roller set 7 and the jacket 8 that is connected with roll shaft 6 of left and right two ends, The left end side of jacket 8 and/or right-hand member side are equiped with a rotation drive motor 9, output shaft and the phase of roll shaft 6 of rotation drive motor 9 Even；And the tail end of two standing screws 5 is both secured on jacket 8 and is located at the back side of jacket 8, liquid supply bellows 1 Tail end be fixed on the head end side wall of jacket 8, and liquid supply bellows 1 tail end mouthful through after jacket 8 just to cleaning The circumferential side wall of roller set 7.With this, upper shifting is carried out or while move down when roll assembly d is swept using the control of stretching motor 2, it is available Rotation drive motor 9 and roll shaft 6 drive cleaning roller set 7 to be rotated relative to jacket 8, so as to cleaning roller can be made to cover 7 realize The movement of radial direction and the effect of own rotation, are conducive to lifting its wiping effect to curtain wall.

To ensure that the liquid such as cleaning agent or water can be equably sprayed on cleaning roller set 7, in the head end side of jacket 8 A jet tray 10 that 7 axial directional distribution is covered along cleaning roller, liquid supply bellows are also equiped between wall and cleaning roller set 7 1 tail end mouthful is placed in jet tray 10 after passing through jacket 8, so as to be exported by liquid supply bellows 1 using jet tray 10 Liquid be equably sprayed on cleaning roller set 7 and (because cleaning roller set 7 itself has the effects for rotating, therefore can effectively ensure that spray The effect spilt).

Used as a preferred scheme, the jet tray 10 of the present embodiment is using the elongated tabular of a profile and inner hollow Structure, the nozzle 11 (hole of its head end side of several cross sectional shapes in taper type is offered in the tail end-side wall of jet tray 10 Footpath is more than the aperture of tail end-side, i.e., similar to throat structure), the tail end mouthful of liquid supply bellows 1 is then placed in jet tray 10 In hollow space.Thus, after the liquid in liquid storage box c is delivered in jet tray 10 via liquid supply bellows 1, In the presence of hydraulic pressure, may be such that liquid is final spouting by nozzle 11.

For ensure to wag the tail cleaning device b in upper shifting or during moving down can held stationary, in the tail of robot body a The left and right sides of end is provided with a spacing extension spring 12, the head end of spacing extension spring 12 is connected with the tail end of robot body a, Tail end is then connected with the left side or right side of sweeping roll assembly d (specially jacket 8)；So as to ensure using the effect of spacing extension spring 12 Sweep the left and right sides stress equalization of roll assembly d, it is to avoid it occurs swinging or offsets when being pulled by screw rod.

To optimize the structure of whole robot to greatest extent, while ensureing to be transported to the liquid tool swept in roll assembly d The robot body a for having enough pressure, the present embodiment includes trunk shell 13 and is installed in the left and right two of trunk shell 13 Cleaning device b and liquid storage box c is wagged the tail while the arm pin moved on wall climbs dress to drive trunk shell 13 to drive in side Put e；Wherein, liquid storage box c is installed in the head end of trunk shell 13, and liquid storage box c is by one through trunk shell 13 The liquid pipe 14 of distribution is connected with the head end of liquid supply bellows 1, and one is equiped with liquid pipe 14 for by liquid storage box c The liquor of storage is delivered to the hydraulic pump 15 in liquid supply bellows 1；And stretching motor 2 and limit shaft sleeve 3 are then assembled on The tail end back of trunk shell 13.With this, using trunk shell 13 as robot main motion parts and control unit branch Support structure, enables whole robot to be climbed automatically on curtain wall in the way of adsorbing using arm pin climbing device e, and sharp With liquid can be then pumped directly into and sweeps in roll assembly d (specially jet tray 10 to supply bellows 1 by hydraulic pump 15 and liquid It is interior).

To enrich the utility function of the robot of the present embodiment to greatest extent, also filled on the breech face of trunk shell 13 A camera 16 is provided with, with this, operation picture that cleanup crew can in real time be shot with video-corder using camera 16 observes job state, protects Card carries out state adjustment in itself to the cleaning effect of glass curtain wall and to robot.

The arm pin climbing device e of other the present embodiment can select the climbing dress of traditional climb type robot according to actual conditions Put, following structure and motion principle can be also used certainly, i.e.,：Arm pin climbing device e includes air cylinder driven arm 17, transmission arm 18 And axle is connected in the vacuum cup 20 at the two ends of transmission arm 18 (it can be using popular with automatic vacuum and row on the market at present The sucker of airway dysfunction, it is mainly made up of parts such as vavuum pump, switching valve and suckers), the clutch end of air cylinder driven arm 17 Axle is connected in the middle part of transmission arm 18, and then axle is connected in the left side of robot body a or the middle part on right side for the body of air cylinder driven arm 17. In an initial condition, between two vacuum cups 20 in each arm pin climbing device e relative to robot body a in straight end to end The state of line distribution is while be adsorbed on curtain wall；When robot carries out climbing motion, two arm pin climbing device e make same Step is acted, i.e., the vacuum cup 20 for being located at robot body a head ends side is firmly adsorbed on curtain wall by control, and is located at The vacuum cup 20 of the tail end-side of robot body a then discharges pressure to depart from curtain wall (more clearly visible to describe whole machine The motion process of people, by under reset condition positioned at robot body a head ends side vacuum cup 20 be defined as 20a, positioned at tail end The vacuum cup 20 of side is defined as 20b), now air cylinder driven arm 17 makees push extending action (i.e. the line shaft of cylinder is outside Release), so as to drive transmission arm 18 to drive vacuum cup 20b to be rotated centered on vacuum cup 20a, work as vacuum cup 20b is reached during apart from the extreme position of robot body a, and air cylinder driven arm 17 makees pulling retract action (the i.e. line shaft of cylinder Retract) so that vacuum cup 20b bypasses vacuum cup 20a and is eventually located at the head end side of vacuum cup 20a, then control Vacuum cup 20b is adsorbed on curtain wall；And while air cylinder driven arm 17 makees pulling retract action, it also drives and is located at simultaneously There is position movement (i.e. towards the head end lateral movement of vacuum cup 20a) in robot body a, be and so on capable of achieving robot body Body a drives cleaning device b of wagging the tail to move forward or be moved rearwards by；When two vacuum cups 20 are adsorbed on curtain wall simultaneously, pendulum Tail cleaning device b actions are cleaned with to curtain wall.

Preferred embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, Equivalent structure or equivalent flow conversion that every utilization the utility model specification and accompanying drawing content are made, or directly or indirectly fortune Used in other related technical fields, similarly it is included in scope of patent protection of the present utility model.

Claims (7)

1. a kind of drum-type glass curtain wall clean robot, it is characterised in that：It is installed in including a robot body and one The tail end of robot body is equiped with one for the cleaning device of wagging the tail cleaned to wall on the robot body Liquid storage box；

The cleaning device of wagging the tail includes the tail end swept roll assembly, liquid supply bellows and be installed in robot body The stretching motor and limit shaft sleeve of dorsal part, are equipped with what a head end was connected with the output shaft of stretching motor in the limit shaft sleeve Drive screw, the dorsal part middle part for sweeping roll assembly is concurrently provided with two standing screws, two heads of the standing screw End is placed in limit shaft sleeve, and the cephalic par of two standing screws is respectively placed in the left and right sides and the difference of drive screw It is meshed with drive screw, the liquid supply bellows is located at the belly side of limit shaft sleeve and its head end passes through robot body It is connected with liquid storage box, tail end is connected with roll assembly is swept.

2. a kind of drum-type glass curtain wall clean robot as claimed in claim 1, it is characterised in that：It is described to sweep roll assembly bag Roll shaft is included, is socketed on roll shaft and the cleaning roller set being coaxially distributed with roll shaft and wherein one section circumference for covering at cleaning roller set The jacket that on wall and left and right two ends are connected with roll shaft, the left end side of the jacket and/or right-hand member side are equiped with rotation drive Dynamic motor, the output shaft of the rotation drive motor is connected with roll shaft；

The tail end of two standing screws is both secured on jacket and is located at the back side of jacket, and the liquid supplies ripple The tail end of pipe is fixed on the head end side wall of jacket, and liquid supply bellows tail end mouthful through after jacket just to clear Sweep the circumferential side wall of roller set.

3. a kind of drum-type glass curtain wall clean robot as claimed in claim 2, it is characterised in that：The head end of the jacket The jet tray of an axial directional distribution covered along cleaning roller is also equiped between side wall and cleaning roller set, the liquid supplies ripple The tail end mouthful of pipe is placed in jet tray after passing through jacket.

4. a kind of drum-type glass curtain wall clean robot as claimed in claim 3, it is characterised in that：The jet tray is one The structure of the elongated tabular of profile and inner hollow, the tail end-side wall of the jet tray offers several cross sectional shapes and is in The nozzle of taper type, the tail end mouthful of the liquid supply bellows is placed in the hollow space of jet tray.

5. a kind of drum-type glass curtain wall clean robot as claimed in claim 1, it is characterised in that：The robot body The left and right sides of tail end be provided with a spacing extension spring, the head end of the spacing extension spring and the tail end phase of robot body Even, tail end is connected with the left side or right side of sweeping roll assembly.

6. a kind of drum-type glass curtain wall clean robot as any one of claim 1-5, it is characterised in that：It is described Robot body includes trunk shell and is installed in the left and right sides of trunk shell to drive trunk shell to drive cleaning of wagging the tail The arm pin climbing device that device and liquid storage box are moved on wall simultaneously；The liquid storage box is installed in trunk shell Head end, the liquid storage box is connected by a head end for supplying bellows with liquid through the liquid pipe that trunk shell is distributed, Be equiped with a hydraulic pump for the liquor of liquid storage box memory storage being delivered in liquid supply bellows in the liquid pipe； The stretching motor and limit shaft sleeve are assembled on the tail end back of trunk shell.

7. a kind of drum-type glass curtain wall clean robot as claimed in claim 6, it is characterised in that：The trunk shell A camera is also equiped with breech face.