CN208677247U - It is a kind of can the cleaning of anti-skidding and non-blind area curtain wall robot - Google Patents

Abstract

The utility model discloses it is a kind of can the cleaning of anti-skidding and non-blind area curtain wall robot, including fixed frame, several suckers, several synchronizing wheels, several elevating mechanisms and several driving motors；The fixed frame includes fixed bracket, two driving arms and two groups of slide guide brackets；The fixed bracket is set to above the driving arm and is arranged in parallel with the driving arm；The idler wheel and the sucker are uniformly fixedly installed on the driving arm；Slide guide support vertical described in every group is set on the driving arm；It is flexibly connected between the slide guide bracket and the fixed bracket by guide mechanism；The elevating mechanism includes pneumatic cylinder and the driving plate that is mutually fixedly connected with the push rod of the pneumatic cylinder；The synchronizing wheel includes two roller units and the skid track that is coated on the outside of the roller unit；The utility model effectively realizes steady obstacle detouring of the curtain wall robot on adsorbing plane in combination with lifting structure and synchronizing wheel while realizing the function of non-blind area cleaning.

Description

It is a kind of can the cleaning of anti-skidding and non-blind area curtain wall robot

Technical field

The utility model relates to intelligent robot technology field, more particularly to it is a kind of can the cleaning of anti-skidding and non-blind area curtain wall Robot.

Background technique

Curtain wall robot is a kind of automation equipment that can be moved on vertical curtain wall with mobile and adsorption function, can To replace worker to complete work under nuclear engineering, fire-fighting and the dangerous and extreme environment such as the manufacture of large-scale non-structural equipment and maintenance Make.The work of glass curtain wall clean robot is to wash the dust on glass, keeps whole building brighter and beautiful, has wide General application prospect.

The clean robot for having there are many companies to be made that glass curtain wall now, but most of curtain wall robot can only Under the conditions of very smooth curtain wall, big protrusion or groove are had in the junction of some glass and glass, it is existing Robot is can not be more past.Therefore the robot is fairly cumbersome in clean sliding window, needs manually on every block of glass It places robot to be cleaned, it is also very inconvenient to place robot in high-altitude.And curtain cleaning robot cleans glass in glass surface, The not dry clean water scraped of glass surface in water-washing process, will make robot in walking " skidding " until " tumble ", especially machine In obstacle detouring, the upper part of the body or the lower part of the body increase people, and generation " tumble " probability is bigger, and having high-strength skid resistance just can ensure that machine Device people's works continuously, while robot clearing apparatus is mounted on rear and front end, exists from inside corner line under barrier to robot There is blind area between clearing apparatus, during obstacle detouring, how to realize and cleaned in obstacle detouring, it is ensured that blind area is not stayed to guarantee entire curtain wall face Clean and bright be also a big problem.

Utility model content

The technical issues of structure is complicated to solve above-mentioned wall robot, cannot achieve stable barrier-jump, the utility model mentions Supply that a kind of structure is simple, effectively realizes and clean in obstacle detouring and barrier-jump process smoothly can the curtain wall that cleans of anti-skidding and non-blind area Robot:

It is a kind of can the cleaning of anti-skidding and non-blind area curtain wall robot, including fixed frame, several wiper mechanisms, several Sucker, several synchronizing wheels, several elevating mechanisms and several driving motors；The fixed frame includes fixed bracket, two A driving arm and two groups of slide guide brackets；The fixed bracket is set to above the driving arm and puts down with the driving arm Row setting；The synchronizing wheel and the sucker are uniformly fixedly installed on the driving arm；Slide guide support vertical described in every group It is set on the driving arm；Pass through guide mechanism carry out activity company between the slide guide bracket and the fixed bracket It connects；The elevating mechanism includes pneumatic cylinder and the driving plate that is mutually fixedly connected with the push rod of the pneumatic cylinder；The pneumatic cylinder is solid Surely it is set on the fixed bracket；The driving plate is fixedly installed on the driving arm；The synchronizing wheel includes two Roller unit and the skid track being coated on the outside of the roller unit；Fixation is equipped with shaft on the roller unit；Arbitrarily A piece shaft and the driving motor are coaxially connected.

As a further improvement, the fixed bracket include rectangular outer frame, be fixedly installed in the rectangular outer frame and with Two parallel guide mechanism fixed links of curtain wall robot ambulation direction and two are fixedly installed on two guide mechanisms Pneumatic cylinder fixed link between fixed link；The guide mechanism is fixed in the guide mechanism fixed link.

As a further improvement, the slide guide bracket includes two slide guides being vertically fixedly installed on the driving arm The connecting rod of two slide guide bars of bar and connection；A guide mechanism is provided on each slide guide bar.

As a further improvement, the guide mechanism includes the fixed block and slider guide being mutually fixedly connected；The slider guide On offer guide runner to realize sliding of the slide guide bar on the slider guide；With two fixed blocks on slide guide bracket Between can be further provided with securing plate.

As a further improvement, the driving arm includes two drivings perpendicular to the setting of curtain wall robot ambulation direction Crossbeam and several are parallel to the idler wheel fixed link of curtain wall robot ambulation direction setting.

As a further improvement, the driving plate includes the recessed portion of opening upwards and is set to the recessed portion both ends Fixed part；The push rod of the pneumatic cylinder is fixed on the recessed portion；Two fixed parts are fixedly installed on two institutes respectively It states on driving crossbeam.

As a further improvement, the quantity of the synchronizing wheel is four；There are two being respectively provided on each driving arm The synchronizing wheel；The driving motor is mutually fixed by motor fixing plate in the driving crossbeam；The quantity of the sucker is many In 16, the surrounding of each synchronizing wheel increases the absorption to absorption wall surface at least provided with a sucker Power.

As a further improvement, the roller unit includes roller portion and limiting section；The roller portion is cylindrical with reality Its existing side fits with the skid track inner wall；The quantity of the limiting section is two, and two limiting sections are in disk It shape and is respectively arranged in the upper and lower surface in the roller portion；Two limiting sections are same with roller portion upper and lower surface respectively The radius value that axis setting and its radius value are greater than roller portion upper and lower surface has realized the fixation to skid track；It is described anti-skidding Crawler belt coats the limiting section for increasing and adsorbing the contact area of wall surface with effective increasing friction force；On direction of travel, The outermost that the outermost of the skid track is located at the limiting section outer is affixed with realizing with curtain wall robot adsorbing plane It closes, defining the skid track outermost and being higher by the outermost distance of the limiting section is q, and wherein the range of q is 2mm~5mm.

As a further improvement, the curtain wall robot further comprises front end obstacle detecting sensor, rear end obstacle detection Sensor and completely disengage obstacle detecting sensor；The quantity of the front end obstacle detecting sensor is four and is respectively arranged at Close to two driving crossbeam both ends of the driving arm of curtain wall robot front end；The quantity of the rear end obstacle detecting sensor is Four and be respectively arranged at close to curtain wall robot rear end driving arm two driving crossbeam both ends；It is described to completely disengage barrier The quantity for hindering detection sensor be two and two driving crossbeams being respectively arranged on the inside of the robot on.

As a further improvement, the wiper mechanism includes pneumatic cylinder, fixed plate and the cleaning being set in fixed plate Sponge, sparge pipe and cleaning blade；Rear and front end on the curtain wall robot ambulation direction is provided with arranged side by side two The wiper mechanism；Two wiper mechanisms of the same end can realize front and back by the adjustable plate being set in the fixed plate It is interspersed to realize the range for adjusting overlap length of two wiper mechanisms on direction of travel to control scouring, definition It is r that it, which cleans range, and wherein the range of r is 70cm~130cm；The cleaning sponge can cooperate pneumatic cylinder to realize in barrier-jump pair Cleaning blind area internal corner part is cleaned in advance to guarantee that plane to be adsorbed reaches effective absorption of clean posterior sucker.

Compared with prior art, the utility model has the advantage that

1, the utility model one kind can the curtain wall robot of anti-skidding and non-blind area cleaning use driving arm, fixed bracket Half body and lower body before curtain wall robot can be effectively realized with the structure combination pneumatic cylinder of slide guide bracket and the effect of driving plate It lifts, branch's barrier-jump of half body and lower body before curtain wall robot is realized in combination with sensor, structure is simple, and function is easy.

2, the utility model one kind can the driving plate in the curtain wall robot of anti-skidding and non-blind area cleaning use opening upwards Warp architecture can effectively be applicable in the pneumatic cylinder of bigger stroke, to have the function that across large volume barrier.

3, the utility model one kind can the idler wheel of curtain wall robot of anti-skidding and non-blind area cleaning use the knot of synchronizing wheel Structure considerably increases frictional force of the curtain wall robot in cleaning with wall surface to be adsorbed, and curtain wall robot has been effectively ensured and has divided Portion's barrier-jump is steady movement of the sucker suction of only half when on wall surface.

4, the utility model one kind can the cleaning of anti-skidding and non-blind area curtain wall robot joined wiper mechanism not only can be with To the clear of wall surface blind area when realizing the cleaning function to absorption wall surface, while can realize barrier-jump by the release of control pressure cylinder Reason effectively avoids secondary pollution when curtain wall robot is adsorbed on again on wall surface cleaning blind area after barrier-jump.

Detailed description of the invention

Attached drawing 1 be the utility model one kind can the cleaning of anti-skidding and non-blind area curtain wall robot structural schematic diagram；

Attached drawing 2 be the utility model one kind can in the curtain wall robot of anti-skidding and non-blind area cleaning synchronizing wheel structural representation Figure；

Attached drawing 3 is that the utility model one kind the structure of roller unit can be shown in the curtain wall robot of anti-skidding and non-blind area cleaning It is intended to；

Attached drawing 4 be the utility model one kind can the cleaning of anti-skidding and non-blind area curtain wall robot barrier-jump when work signal Figure.

Main element symbol description

Fixed frame 10, fixed bracket 11, rectangular outer frame 111, guide mechanism fixed link 112, pneumatic cylinder fixed link 113,

Driving arm 12, driving crossbeam 121, idler wheel fixed link 122,

Slide guide bracket 13, slide guide bar 131, connecting rod 132,

Sucker 20,

Synchronizing wheel 30, roller unit 31, roller portion 311, limiting section 312, skid track 32, shaft 33, fixing seat 34

Elevating mechanism 40, reduction pneumatic cylinder 41, driving plate 42, recessed portion 421, fixed part 422,

Driving motor 50,

Guide mechanism 60, fixed block 61, slider guide 62,

Wiper mechanism 70, pneumatic cylinder 71, fixed plate 72, cleaning sponge 73, sparge pipe 74, cleaning blade 75,

Specific embodiment

In the description of the present invention, it should be noted that term " first ", " second " are used for description purposes only, and It cannot be understood as indicating or implying relative importance." being connected ", " connection " shall be understood in a broad sense, for example, it may be fixed connect It connects, may be a detachable connection, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be direct phase Even, the connection inside two elements can also be can be indirectly connected through an intermediary.For the ordinary skill people of this field For member, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.In addition, retouching in the utility model In stating, unless otherwise indicated, the meaning of " plurality " is two or more.

It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is a part of the embodiment of the utility model, instead of all the embodiments.Based on the reality in the utility model Apply example, those of ordinary skill in the art's every other embodiment obtained without making creative work, all Belong to the range of the utility model protection.The utility model work is further retouched in detail with specific embodiment with reference to the accompanying drawing It states.

Please refer to figs. 1 to 4, in embodiment, it is a kind of can the cleaning of anti-skidding and non-blind area curtain wall robot, including fixed frame Frame 10, several suckers 20, several synchronizing wheels 30, several elevating mechanisms 40 and several driving motors 50；The fixation Frame 10 includes fixed 11, two driving arms 12 of bracket and two groups of slide guide brackets 13；The fixed bracket 11 is set to described It is arranged in parallel above driving arm 12 and with the driving arm 12；The synchronizing wheel 30 and the sucker 20 are uniformly fixedly installed In on the driving arm 12；Slide guide bracket 13 described in every group is vertically installed on the driving arm 12；The slide guide It is flexibly connected between bracket 13 and the fixed bracket 11 by guide mechanism 60；The elevating mechanism 40 includes reduction gas Cylinder pressure 41 and the driving plate 42 being mutually fixedly connected with the push rod of the reduction pneumatic cylinder 41；The reduction pneumatic cylinder 41 is fixedly installed In on the fixed bracket 11；The driving plate 42 is fixedly installed on the driving arm 12；The synchronizing wheel 30 includes two A roller unit 31 and the skid track 32 for being coated on 31 outside of roller unit；Fixation is equipped on the roller unit 31 Shaft 33；Any one shaft 33 and the driving motor 50 are coaxially connected.It is whole to use driving arm 12, fixed branch Before the effect of the structure combination reduction pneumatic cylinder 41 and driving plate 42 of frame 11 and slide guide bracket 13 can effectively realize curtain wall robot Half body and lower body lift, and branch's barrier-jump of half body and lower body before curtain wall robot, structure are realized in combination with sensor Simply, function is easy.

Referring to FIG. 1, the fixed bracket 11 includes rectangular outer frame 111, is fixedly installed on outside the rectangle in embodiment In frame 111 and the two piece guide mechanism fixed links 112 parallel with curtain wall robot ambulation direction and two are fixedly installed on two Pneumatic cylinder fixed link 113 between guide mechanism fixed link 112 described in root；The guide mechanism 60 is fixed on the guide mechanism In fixed link 112.Reduction pneumatic cylinder 41 is fixed on the pneumatic cylinder fixed link 113 as fixed point through this structure On, while driving plate 42 being fixed on driving arm 12 drive can be driven in reduction with the push rod for realizing reduction pneumatic cylinder 41 Dynamic bracket 12 is to realize the raising and lowering of idler wheel and sucker 20.

Further, the driving plate 42 includes the recessed portion 421 of opening upwards and is set to 421 both ends of recessed portion Fixed part 422, the recessed portion 421 can be arc-shaped or isosceles trapezoid shape；The push rod of the reduction pneumatic cylinder 41 is solid Due on the recessed portion 421；Two fixed parts 422 are fixedly installed on respectively on two driving crossbeams 121；Definition The tensile stroke of 41 push rod of reduction pneumatic cylinder is d, and wherein the range of d is 0cm~32cm, using the reduction gas of the trip Cylinder pressure 41 can meet barrier most on curtain wall and cross over.It is whole using such structure setting compared to using planar drive Movable plate 42 can effectively be applicable in the reduction pneumatic cylinder 41 of bigger stroke, to reach the biggish large volume barrier of spanning height Effect, while the driving velocity of compressed gas cylinder pressure 41 is fast, can effectively accelerate barrier-jump speed.

Referring to FIG. 1, the slide guide bracket 13 includes two and is vertically fixedly installed on the driving arm 12 in embodiment On slide guide bar 131 and connection two slide guide bars 131 connecting rod 132；One is provided on each slide guide bar 131 Guide mechanism 60.

Further, the guide mechanism 60 includes the fixed block 61 and slider guide 62 being mutually fixedly connected；The slider guide Guide runner is offered on 62 to realize sliding of the slide guide bar 131 on the slider guide 62；With on slide guide bracket 13 It can be further provided with securing plate between two fixed blocks 61, it first can be to fixed bracket 11 using the effect of slide guide bracket 13 Play the role of being relatively fixed, secondly can guarantee that fixed bracket 11 is moved along the direction of slide guide bar 131, so that curtain wall The more firm safety of the structure of robot entirety.

Referring to FIG. 1, the driving arm 12 includes two and is arranged perpendicular to curtain wall robot ambulation direction in embodiment Driving crossbeam 121 and several be parallel to curtain wall robot ambulation direction setting idler wheel fixed link 122.

Further, the sucker 20 and synchronizing wheel 30 are all set in 122 lower section of idler wheel fixed link, the number of the sucker 20 Amount no less than 16, the four corners of each synchronizing wheel 30 are fixedly installed a sucker 20 at least to increase to absorption wall surface Adsorption capacity, it is preferred that the quantity of sucker 20 be 16, the four corners of each synchronizing wheel 30 are fixedly installed a sucker 20, the sucker 20 is connected with vacuum generator.

Fig. 1 to Fig. 3 is please referred to, the quantity of the synchronizing wheel 30 is four；It is provided on each driving arm 12 Two synchronizing wheels 30；The driving motor 50 is fixed by motor fixing plate in 121 phase of driving crossbeam.

Further, the roller unit 31 includes roller portion 311 and limiting section 312；The roller portion 311 is cylindrical To realize that its side fits with 32 inner wall of skid track；The quantity of the limiting section 312 is two, two limits Portion 312 is in disc-shaped and is respectively arranged in the upper and lower surface in the roller portion 311；Two limiting sections 312 respectively with institute It states the coaxial arrangement of 311 upper and lower surface of roller portion and its radius value has been realized greater than the radius value of 311 upper and lower surface of roller portion Fixation to skid track 32；The skid track 32 coats the limiting section 312；On direction of travel, the skid track 32 outermost be located at the limiting section 312 outermost it is outer fitted with realizing with curtain wall robot adsorbing plane, definition It is q that 32 outermost of skid track, which is higher by the outermost distance of the limiting section 312, and wherein the range of q is 2mm~5mm, is adopted Skid track 32 can be effectively ensured with the setting of such distance and adsorbing plane fits to realize that walking demand, distance are too small It is not just available after being worn soon using the time, distance is too big to be easy to influence complete machine installation.

Specifically, being further provided with fixing seat 34 on the shaft 33 of the roller unit 31；Outside the shaft 33 Further it is arranged with bearing；The fixing seat 34 is fixed by bolts in the idler wheel fixed link 122.

Referring to FIG. 1, the curtain wall robot further comprises front end obstacle detecting sensor, rear end obstacle in embodiment Detection sensor and completely disengage obstacle detecting sensor；The quantity of the front end obstacle detecting sensor is four and sets respectively It is disposed adjacent to two 121 both ends of driving crossbeam of the driving arm 12 of curtain wall robot front end；The rear end obstacle detection sensing The quantity of device is four and is respectively arranged at 121 liang of crossbeam of two drivings of the driving arm 12 close to curtain wall robot rear end End.The quantity for completely disengaging obstacle detecting sensor is two and is respectively arranged at two on the inside of robot drivings On crossbeam 121.

Further, the front end obstacle detecting sensor and the rear end obstacle detecting sensor are contact-sensing Device；The obstacle detecting sensor that completely disengages is remote pickup, described to completely disengage setting in obstacle detecting sensor Have a distance parameter, when barrier at a distance from the sensor be more than the distance parameter when then determine curtain wall robot barrier-jump at Function；Above-mentioned vacuum generator, driving motor 50, the reduction pneumatic cylinder in pneumatic cylinder 71 and elevating mechanism 40 in wiper mechanism 70 41 and sensor pass through electric wire and be connected with the circuit board being set in curtain wall robot；Circuit board is by being set to roof Intelligent electric-controlled case provides power supply.

Please refer to Fig. 1 and Fig. 4, in embodiment, the wiper mechanism 70 includes pneumatic cylinder 71, fixed plate 72 and is set to Cleaning sponge 73, sparge pipe 74 and cleaning blade 75 in fixed plate；The cleaning blade 75 is compared to the cleaning sponge 73 It is arranged far from the curtain wall robot；Rear and front end on the curtain wall robot ambulation direction is provided with two institutes arranged side by side Wiper mechanism 70 is stated, it is not only beautiful and generous using such structure, while while may be implemented in barrier-jump, makes sponge cleaning more blind Area's area；Two wiper mechanisms of the same end can realize that front and back is handed over by the adjustable plate 721 being set in the fixed plate Mistake distribution is to realize the range for adjusting overlap length of two wiper mechanisms on direction of travel to control scouring, the tune Be provided with several bolts hole on section plate and can be used for adjusting position, defining it and cleaning range is r, wherein the range of r be 70cm~ 130cm；Specifically, the length range of each wiper mechanism is 35cm~65cm, it can effective needle using such structure setting Suitable clean range is adjusted to the region that needs clean, maximumlly improves its cleaning effect.The push rod of the pneumatic cylinder 71 It is fixed in the fixed plate 72；The pneumatic cylinder 71 is fixedly installed on the fixation profile at the curtain wall robot both ends；It is described Pneumatic cylinder 71 can realize the shifting of the cleaning sponge 73, sparge pipe 74 and cleaning blade 75 on the direction perpendicular to cleaning wall surface It is dynamic；It is to be adsorbed to guarantee to the cleaning in advance of cleaning blind area inner corner trim that the cleaning sponge 73 can cooperate pneumatic cylinder to realize in barrier-jump Plane reaches effective absorption of clean posterior sucker.

Fig. 1 to 4 is please referred to, specific control process is as follows: when obstacle is encountered in the front end on curtain wall robot ambulation direction When, the front end obstacle detecting sensor close to curtain wall robot front end encounters barrier, and anti-to circuit board sending signal Feedback control synchronizing wheel 30 does not move, the vacuum generator of sucker 20 at front-wheel does not work and the reduction pneumatic cylinder 41 at front-wheel is received Contracting is to realize lifting for curtain wall robot first half；Then synchronizing wheel 30 works, and curtain is realized in the movement of synchronizing wheel 30 at rear-wheel The barrier-jump of wall robot first half is until the front end obstacle detecting sensor close to curtain wall robot rear end meets the barrier Hinder object；The reduction pneumatic cylinder 41 at front-wheel, which is released, at this time starts to work with the vacuum generator of the sucker 20 at front-wheel to realize curtain The absorption of wall robot first half and absorption wall surface；The vacuum generator of sucker 20 at last rear-wheel do not work at rear-wheel Reduction pneumatic cylinder 41 shrink to realize lifting for curtain wall robot latter half, synchronizing wheel 30 works on until close to curtain wall Robot front end completely disengage obstacle detecting sensor detect at a distance from the barrier be more than setting distance parameter after, The success of curtain wall robot latter half barrier-jump is determined at this time, is controlled the reduction pneumatic cylinder 41 at rear-wheel and is released and the sucker at rear-wheel 20 vacuum generator work, completes the barrier-jump of entire curtain wall robot.

When obstacle is encountered in the rear end on curtain wall robot ambulation direction, it is identical that obstacle is encountered in working principle and front end, At this time with the obstacle detecting sensor of rear end close to curtain wall robot rear end completely disengage obstacle detecting sensor complete it is whole The barrier-jump of a curtain wall robot.

Further, when barrier is encountered in curtain wall robot front end, the stop motion of curtain wall robot is located at curtain wall machine The synchronizing wheel and pneumatic cylinder 71 of people front end receive signal while raising, and then curtain wall robot continuation moves forward to realize front end Barrier-jump；Air pressure when curtain wall robot judges that the front end of first half clears the jumps, positioned at curtain wall robot front end Absorption after cleaning sponge 73 and the contact barrier of cleaning blade 75 that cylinder 71 receives signal control push rod release to realize front end Wall surface and as barrier-jump process is cleaned, after curtain wall robot judges first half entirely across barrier, front end it is same Step wheel, which is released, returns to normal position to realize front-wheel and absorption wall surface and contact, when the synchronizing wheel of curtain wall robot rear end encounters barrier When hindering object, rear-wheel receives signal and shrinks barrier-jump to realize rear-wheel upwards, when the cleaning structure when rear end encounters barrier, curtain wall The pneumatic cylinder control cleaning structure of robot rear end shrinks the barrier-jump to realize rear end wiper mechanism；Finally after curtain wall robot After half part fully achieves barrier-jump, the cleaning structure and synchronizing wheel of curtain wall robot rear end are released simultaneously to realize and adsorb wall surface Contact；Using such cleaning way can effectively to first half barrier-jump when immediately below wall surface blind area inner corner trim carry out it is clear It washes, the sucker of latter half directly contacts dirty glass wall when curtain wall robot latter half being avoided to fall；Similarly work as curtain wall When the rearmost end of robot latter half first encounters barrier, when barrier-jump process, is identical as above process principle.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Within the spirit and principle of utility model, any modification, equivalent substitution, improvement and etc. done should be included in the utility model Within the scope of protection.

Claims (10)

1. one kind can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: including fixed frame, several cleaning machines Structure, several suckers, several synchronizing wheels, several elevating mechanisms and several driving motors；The fixed frame includes solid Fixed rack, two driving arms and two groups of slide guide brackets；The fixed bracket be set to above the driving arm and with it is described Driving arm is arranged in parallel；The synchronizing wheel and the sucker are uniformly fixedly installed on the driving arm；It is led described in every group Sliding support vertical is set on the driving arm；Pass through guide mechanism between the slide guide bracket and the fixed bracket It is flexibly connected；The elevating mechanism includes pneumatic cylinder and the driving plate that is mutually fixedly connected with the push rod of the pneumatic cylinder；Institute Pneumatic cylinder is stated to be fixedly installed on the fixed bracket；The driving plate is fixedly installed on the driving arm；The synchronization Wheel includes two roller units and the skid track being coated on the outside of the roller unit；Fixation is equipped on the roller unit Shaft；Any one shaft and the driving motor are coaxially connected.

2. it is according to claim 1 can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: the fixed branch Frame includes rectangular outer frame, is fixedly installed in the rectangular outer frame and the two piece slide guides parallel with curtain wall robot ambulation direction Mechanism fixed link and two pneumatic cylinder fixed links being fixedly installed between two guide mechanism fixed links；The slide guide machine Structure is fixed in the guide mechanism fixed link.

3. it is according to claim 2 can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: the slide guide branch Frame includes the connecting rod of two slide guide bars of two slide guide bars being vertically fixedly installed on the driving arm and connection；Often A guide mechanism is provided on a slide guide bar.

4. it is according to claim 3 can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: the slide guide machine Structure includes the fixed block and slider guide being mutually fixedly connected；Guide runner is offered on the slider guide to realize the slide guide bar in institute State the sliding on slider guide；Securing plate is further provided with between two fixed blocks on slide guide bracket.

5. it is according to claim 1 can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: the driving is propped up Frame includes two and is parallel to curtain wall robot ambulation perpendicular to the driving crossbeam of curtain wall robot ambulation direction setting and several The idler wheel fixed link of direction setting.

6. it is according to claim 5 can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: the driving plate Recessed portion including opening upwards and the fixed part for being set to the recessed portion both ends；The push rod of the pneumatic cylinder is fixed on described On recessed portion；Two fixed parts are fixedly installed on respectively on two driving crossbeams.

7. it is according to claim 5 can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: the synchronizing wheel Quantity be four；The synchronizing wheel there are two being respectively provided on each driving arm；The driving motor is solid by motor Fixed board is mutually fixed in the driving crossbeam；The quantity of the sucker is no less than 16, and the surrounding of each synchronizing wheel is extremely It is provided with the sucker less to increase the adsorption capacity to absorption wall surface.

8. it is according to claim 1 can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: the idler wheel list Member includes roller portion and limiting section；The roller portion is cylindrical to realize that its side fits with the skid track inner wall； The quantity of the limiting section is two, and two limiting sections are in disc-shaped and the upper and lower surface for being respectively arranged at the roller portion On；Two limiting sections are coaxially disposed respectively with roller portion upper and lower surface and its radius value is greater than the roller portion or more The radius value on surface has realized the fixation to skid track；The skid track coats the limiting section for increasing and adsorbing wall The contact area in face is with effective increasing friction force；On direction of travel, the outermost of the skid track is located at the limiting section Outermost it is outer fitted with realizing with curtain wall robot adsorbing plane, define the skid track outermost and be higher by the limit The outermost distance in position portion is q, and wherein the range of q is 2mm~5mm.

9. it is according to claim 5 can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: the curtain wall machine People further comprises front end obstacle detecting sensor, rear end obstacle detecting sensor and completely disengages obstacle detecting sensor；Institute The quantity for stating front end obstacle detecting sensor is four and is respectively arranged at two of the driving arm close to curtain wall robot front end A driving crossbeam both ends；The quantity of the rear end obstacle detecting sensor is four and is respectively arranged at after curtain wall robot Two driving crossbeam both ends of the driving arm at end；The quantity for completely disengaging obstacle detecting sensor is two and sets respectively It is disposed adjacent on two driving crossbeams on the inside of robot.

10. it is according to claim 1 can the cleaning of anti-skidding and non-blind area curtain wall robot, it is characterised in that: the cleaning Mechanism includes pneumatic cylinder, fixed plate and the cleaning sponge being set in fixed plate, sparge pipe and cleaning blade；The curtain wall machine Rear and front end on people's direction of travel is provided with two wiper mechanisms arranged side by side；Two cleanings of the same end Mechanism can be staggered front to back distribution by the adjustable plate realization being set in the fixed plate and adjust two cleaning machines to realize Overlap length of the structure on direction of travel is to control the range of scouring, and defining it and cleaning range is r, and wherein the range of r is 70cm ~130cm；The cleaning sponge can cooperate pneumatic cylinder to realize the cleaning in advance to cleaning blind area internal corner part to protect in barrier-jump Demonstrate,prove effective absorption that plane to be adsorbed reaches clean posterior sucker.