阅读说明：本技术 一种悬挂式高楼清扫机器人 (Suspension type high-rise cleaning robot ) 是由 牛志宇 王守城 孙贝贝 韩颜泽 于 2021-09-01 设计创作，主要内容包括：本发明涉及一种悬挂式高楼清扫机器人,其特征在于,包括窗框本体、横向移动机构、纵向移动机构和清扫机构,所述窗框本体的正面安装有横向移动机构,所述横向移动机构上设置有纵向移动机构,所述纵向移动机构上设置有清扫机构,所述横向移动机构包括数量为四个的轴承座,左右相对应的两个所述轴承座的内侧之间固定安装有丝杆,所述丝杆的外侧螺纹连接有螺筒,所述螺筒的外侧固定安装有移动块,所述纵向移动机构包括数量为两个的二号电动机,所述二号电动机的输出轴固定连接有传动轮。该悬挂式高楼清扫机器人,清洁覆盖面广,重合区域的清洁度高,自动清洁效率高,人力资源消耗小,清洗后的水可循环使用,环保节能程度高。(The invention relates to a suspension type high-rise cleaning robot which is characterized by comprising a window frame body, a transverse moving mechanism, a longitudinal moving mechanism and a cleaning mechanism, wherein the transverse moving mechanism is installed on the front surface of the window frame body, the longitudinal moving mechanism is arranged on the transverse moving mechanism, the longitudinal moving mechanism is provided with the cleaning mechanism, the transverse moving mechanism comprises four bearing seats, a lead screw is fixedly installed between the inner sides of the two corresponding bearing seats on the left and right, the outer side of the lead screw is in threaded connection with a screw cylinder, a moving block is fixedly installed on the outer side of the screw cylinder, the longitudinal moving mechanism comprises two motors, and output shafts of the two motors are fixedly connected with driving wheels. This suspension type high building cleans machine people, clean wide coverage, the cleanliness in coincidence area is high, and self-cleaning is efficient, and manpower resources consumes for a short time, but the water cycle after the washing is used, and environmental protection and energy saving degree is high.)

1. A suspended type high-rise cleaning robot is characterized by comprising a window frame body (1), a transverse moving mechanism (2), a longitudinal moving mechanism (3) and a cleaning mechanism (4), wherein the transverse moving mechanism (2) is installed on the front surface of the window frame body (1), the longitudinal moving mechanism (3) is arranged on the transverse moving mechanism (2), and the cleaning mechanism (4) is arranged on the longitudinal moving mechanism (3);

the transverse moving mechanism (2) comprises four bearing seats (21), a lead screw (22) is fixedly installed between the inner sides of the two bearing seats (21) corresponding to the left and the right, a screw cylinder (23) is connected to the outer side of the lead screw (22) in a threaded mode, and a moving block (24) is fixedly installed on the outer side of the screw cylinder (23);

the longitudinal moving mechanism (3) comprises two second motors (31), an output shaft of each second motor (31) is fixedly connected with a transmission wheel (32), and a transmission belt (33) is connected between the outer sides of the two transmission wheels (32) in a transmission way;

clean mechanism (4) including box (41), the interior diapire fixed mounting of box (41) has storage water tank (42), the top of storage water tank (42) is provided with filtering component (43), the top movable mounting of storage water tank (42) has No. two water pump (44), the back lateral wall fixed mounting of box (41) has water spray nozzle group (45), the back lateral wall fixed mounting of box (41) has quantity to be two mounting panel (46), mounting panel (46) back fixed mounting has protection pad (47), the inside fixed mounting of protection pad (47) has quantity to be three miniature electric putter (48), and the homonymy is three fixed mounting has sponge board (49) that absorbs water between the tailpiece of the piston rod of miniature electric putter (48).

2. A suspended type high-rise cleaning robot as claimed in claim 1, wherein: the left side fixed mounting of window frame body (1) has quantity to be two mounting bracket (25), the front fixed mounting of mounting bracket (25) has a motor (26), the output shaft of a motor (26) and the left end fixed connection of lead screw (22).

3. A suspended type high-rise cleaning robot as claimed in claim 1, wherein: the moving block (24) is in a block shape, the moving block (24) is attached to the window frame body (1), and the second motor (31) is fixedly mounted on the front face of the moving block (24).

4. A suspended type high-rise cleaning robot as claimed in claim 1, wherein: filter assembly (43) include a water pump (431) and filter (432), the drawing liquid end connection of a water pump (431) has the liquid suction pipe, the play liquid end fixedly connected with connecting pipe of a water pump (431), the connecting pipe keep away from the one end of a water pump (431) and the inlet end fixed connection of filter (432).

5. A suspended type high-rise cleaning robot as claimed in claim 1, wherein: a return pipe is fixedly connected to the liquid outlet end of the filter (432), one end, far away from the filter (432), of the return pipe penetrates through and extends into the water storage tank (42), and the water mist nozzle group (45) is located between the two mounting plates (46).

6. A suspended type high-rise cleaning robot as claimed in claim 1, wherein: the liquid pumping end fixedly connected with feed liquor pipe of No. two water pump (44), the feed liquor pipe runs through and extends to the inside of storage water tank (42), the liquid outlet end fixedly connected with drain pipe of No. two water pump (44), the one end that No. two water pump (44) were kept away from to the drain pipe and the feed liquor end fixedly connected of water smoke shower nozzle group (45).

7. A suspended type high-rise cleaning robot as claimed in claim 4, wherein: the inside fixed mounting of box (41) has installation pipe (410) that runs through storage water tank (42) and extend to box (41) bottom, the bottom outside fixed mounting of installation pipe (410) has the bucket of scraping (411), and the liquid suction pipe is kept away from a water pump (431) and is run through box (41) and extend to in the bucket of scraping (411).

8. A suspended type high-rise cleaning robot as claimed in claim 7, wherein: the inside fixed mounting of box (41) has the inlet tube (412) that runs through and extend to in storage water tank (42), installation pipe (410) and inlet tube (412) are stainless steel, drive belt (33) fixed connection is in the inboard of installation pipe (410).

9. A suspended type high-rise cleaning robot as claimed in claim 1, wherein: the top movable mounting of box (41) has apron (413), the top fixed mounting of apron (413) has ultrasonic ranging sensor (414) and infrared detection sensor (415), infrared detection sensor (415) are located the right side of ultrasonic ranging sensor (414), box (41) are made by organic synthetic resin board.

Technical Field

The invention relates to the technical field of automation equipment, in particular to a suspension type high-rise cleaning robot.

Background

In recent years, with the encouragement of independent entrepreneurship by the state, the number of large and small enterprises is gradually increased, in order to increase the appearance image of the enterprises and increase the lighting of the whole enterprises, most of the office buildings of the enterprises adopt glass curtain walls, and under the condition, in order to maintain the visual image of the company, the cleaning of the appearance of the office building becomes important.

The invention discloses a high-rise glass cleaning machine with publication number CN109077654B granted by Chinese patent and publication date 2021, 01 and 22.A pneumatic cylinder drives an air exhaust telescopic pipe and a foot plate to move in a telescopic way by an air exhaust fan, and a servo motor works to drive a cleaning roller to rotate and contact with glass to clean by matching with the use of a second electromagnetic valve, wherein the air exhaust work is carried out by an exhaust fan, the foot plate and a suction hole at the bottom of a middle plate suck the glass, and the robot can be fixed on the high-rise glass and move up and down, and the servo motor works to drive the cleaning roller to rotate and contact with the glass to clean, but the following problems still exist:

firstly, the coverage is low, the efficiency is low, the human resource consumption is large, the common cleaning method for the glass curtain wall in the market at present adopts manual cleaning, people are pulled by a rope to move up and down for cleaning, and the method has the advantages of large human resource consumption, low flexibility, low safety and low cleaning efficiency;

and secondly, the environment-friendly degree is low, the cleaned water cannot be recycled, and the environment-friendly and energy-saving degree is low.

Disclosure of Invention

The invention aims to solve the technical problem of providing a suspended type high-rise cleaning robot which is moderate in coverage range, automatic, efficient and free of manpower, and has the characteristic of high environmental protection degree.

In order to solve the above technical problems, the present invention provides the following technical solutions:

a suspension type high-rise cleaning robot is characterized by comprising a window frame body, a transverse moving mechanism, a longitudinal moving mechanism and a cleaning mechanism, wherein the transverse moving mechanism is installed on the front surface of the window frame body, the longitudinal moving mechanism is arranged on the transverse moving mechanism, and the cleaning mechanism is arranged on the longitudinal moving mechanism;

the transverse moving mechanism comprises four bearing seats, a lead screw is fixedly arranged between the inner sides of the left and right corresponding bearing seats, the outer side of the lead screw is in threaded connection with a screw barrel, and a moving block is fixedly arranged on the outer side of the screw barrel;

the longitudinal moving mechanism comprises two motors II, the output shafts of the motors II are fixedly connected with driving wheels, and a driving belt is connected between the outer sides of the two driving wheels in a driving way;

cleaning the mechanism and including the box, the interior diapire fixed mounting of box has the storage water tank, the top of storage water tank is provided with filtering component, the top movable mounting of storage water tank has No. two water pumps, the back lateral wall fixed mounting of box has water spray nozzle group, the back lateral wall fixed mounting of box has the mounting panel that quantity is two, mounting panel back fixed mounting has the protection pad, the inside fixed mounting of protection pad has quantity to be three miniature electric putter, and the homonymy is three fixed mounting has the sponge board that absorbs water between miniature electric putter's the tailpiece of the piston rod.

Further, the left side fixed mounting of window frame body has the quantity to be two the mounting bracket, the front fixed mounting of mounting bracket has a motor, the output shaft of a motor and the left end fixed connection of lead screw.

Furthermore, the moving block is in a block shape, the moving block is attached to the window frame body, and the second motor is fixedly mounted on the front face of the moving block.

Further, the filtering component comprises a water pump and a filter, the liquid pumping end of the water pump is connected with a liquid pumping pipe, the liquid outlet end of the water pump is fixedly connected with a connecting pipe, and one end of the connecting pipe, far away from the water pump, is fixedly connected with the liquid inlet end of the filter.

Furthermore, a return pipe is fixedly connected to the liquid outlet end of the filter, one end, far away from the filter, of the return pipe penetrates through and extends into the water storage tank, and the water mist spray head group is located between the two mounting plates.

Further, the drawing liquid end fixedly connected with feed liquor pipe of No. two water pumps, the feed liquor pipe runs through and extends to the inside of storage water tank, the liquid outlet end fixedly connected with drain pipe of No. two water pumps, the one end that No. two water pumps were kept away from to the drain pipe and the feed liquor end fixedly connected of water smoke shower nozzle group.

Further, the inside fixed mounting of box has the installation pipe that runs through the storage water tank and extend to the bottom half, the bottom outside fixed mounting of installation pipe has the bucket of scraping, and the liquid suction pipe is kept away from a water pump and runs through the box and extend to in the bucket of scraping.

Further, the inside fixed mounting of box has the inlet tube that runs through and extend to in the storage water tank, installation pipe and inlet tube are stainless steel, drive belt fixed connection is in the inboard of installation pipe.

Further, the top movable mounting of box has the apron, the top fixed mounting of apron has ultrasonic ranging sensor and infrared detection sensor, infrared detection sensor is located ultrasonic ranging sensor's right side, the box is made by organic synthetic resin board.

The invention has the following beneficial effects:

1. according to the suspension type high-rise cleaning robot, the first water pump, the second water pump and the miniature electric push rod are started through the controller, the second water pump pumps cleaning liquid in the water storage tank out and conveys the cleaning liquid to the water spray nozzle group to spray the glass surface, meanwhile, the miniature electric push rod pushes the water absorption sponge plate to be attached to the glass surface, the controller is used for simultaneously and respectively controlling and starting the two second motors to enable the cleaning mechanism to move in the vertical direction, and the two first motors are controlled and started to enable the longitudinal moving mechanism to move in the horizontal direction, so that the cleaning mechanism can be completely cleaned, the cleaning coverage is wide, the cleanliness of a superposition area is high, the automatic cleaning efficiency is high, and the consumption of human resources is low.

2. The suspended type high-rise cleaning robot can measure the distance between glass and a window frame through the arranged ultrasonic ranging sensor, when the detected distance is larger than a limit value, the controller controls the miniature electric push rod to enable the water-absorbing sponge plate to retract to avoid, the cleanliness of the glass can be detected through the infrared detection sensor to detect whether the glass needs to be cleaned, when the glass is moved, the water scraping bucket can remove the sprayed redundant cleaning liquid, the redundant cleaning liquid is extracted and filtered through the first water pump and the filter, the filtered cleaning liquid flows back to the water storage tank to be reused, the cleaned water can be recycled and reused, and the environment-friendly energy-saving degree is high.

Drawings

FIG. 1 is a schematic structural view of a suspension type high-rise cleaning robot according to the present invention;

FIG. 2 is a top view of the structure of a transverse moving mechanism of a suspension type high-rise cleaning robot according to the present invention;

FIG. 3 is a cross sectional view of the structure of a cleaning mechanism of a suspension type high-rise cleaning robot of the present invention;

FIG. 4 is a top view of the structure of a cleaning mechanism of a suspension type high-rise cleaning robot according to the present invention;

FIG. 5 is a rear view of the structure of the cleaning mechanism of the suspension type high-rise cleaning robot of the present invention;

fig. 6 is a perspective view of the structure of a water scraping bucket of a suspended type high-rise cleaning robot of the invention.

In the figure: 1 window frame body, 2 transverse moving mechanism, 3 longitudinal moving mechanism, 4 cleaning mechanism, 21 bearing seat, 22 lead screw, 23 screw cylinder, 24 moving block, 25 mounting rack, 26 motor, 31 motor, 32 driving wheel, 33 driving belt, 41 box, 42 water storage tank, 43 filter component, 431 water pump, 432 filter, 44 water pump, 45 water spray nozzle group, 46 mounting plate, 47 protection pad, 48 micro electric push rod, 49 water absorption sponge plate, 410 mounting tube, 411 water scraping bucket, 412 water inlet tube, 413 cover plate, 414 ultrasonic ranging sensor and 415 infrared detection sensor.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention clearer, the following detailed description is made with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1-6, the suspension type high-rise cleaning robot in the embodiment is characterized by comprising a window frame body 1, a transverse moving mechanism 2, a longitudinal moving mechanism 3 and a cleaning mechanism 4, wherein the transverse moving mechanism 2 is installed on the front surface of the window frame body 1, the longitudinal moving mechanism 3 is arranged on the transverse moving mechanism 2, the cleaning mechanism 4 is arranged on the longitudinal moving mechanism 3, the transverse moving mechanism 2 is used for enabling the cleaning mechanism 4 to move left and right, the longitudinal moving mechanism 3 is used for enabling the cleaning mechanism 4 to move up and down, the cleaning mechanism 4 is used for cleaning glass, the cleaning mechanism 4 can clean glass through the cooperation of the transverse moving mechanism 2 and the longitudinal moving mechanism 3, the cleaning coverage is wide, the cleanliness of a superposition area is high, and the automatic cleaning efficiency is high, manpower resource consumption is little to the filtering component 43 who sets up can retrieve the water after the washing, recycles once more, and environmental protection and energy saving degree is high.

The traverse mechanism 2 in this embodiment is configured to move the cleaning mechanism 4 laterally.

Referring to fig. 1 and 2, the lateral movement mechanism 2 in the present embodiment includes four bearing seats 21, a screw rod 22 is fixedly installed between the inner sides of the two bearing seats 21 corresponding to each other, a screw cylinder 23 is connected to the outer side of the screw rod 22 through a screw thread, and a moving block 24 is fixedly installed on the outer side of the screw cylinder 23.

In addition, two mounting brackets 25 are fixedly mounted on the left side of the window frame body 1, a first motor 26 is fixedly mounted on the front surface of each mounting bracket 25, and an output shaft of each first motor 26 is fixedly connected with the left end of the screw rod 22.

The moving block 24 is shaped like a block, and the moving block 24 is attached to the window frame body 1.

The vertical movement mechanism 3 in the present embodiment is configured to move the cleaning mechanism 4 up and down.

Referring to fig. 1 and 2, the longitudinal moving mechanism 3 in the present embodiment includes two second motors 31, wherein output shafts of the second motors 31 are fixedly connected with transmission wheels 32, and a transmission belt 33 is connected between outer sides of the two transmission wheels 32.

In addition, a second motor 31 is fixedly mounted on the front surface of the moving block 24.

Moreover, both ends of the transmission belt 33 are wound on the outer side of the transmission wheel 32, and the transmission belt 33 can be rotated upwards by driving the upper second motor 31 to drive the connected transmission wheel 32 to rotate, whereas the transmission belt 33 can be moved downwards by driving the lower second motor 31.

It should be noted that the lead screw 22 and the transmission belt 33 thereof in the present embodiment are designed according to the length and height of the glass curtain wall.

The cleaning mechanism 4 in the present embodiment is configured to clean the glass.

Referring to fig. 1, 3, 4, 5 and 6, the cleaning mechanism 4 in this embodiment includes a box 41, a water storage tank 42 is fixedly installed on an inner bottom wall of the box 41, a filter assembly 43 is installed on a top portion of the water storage tank 42, a second water pump 44 is movably installed on the top portion of the water storage tank 42, a water spray nozzle set 45 is fixedly installed on a rear side wall of the box 41, two installation plates 46 are fixedly installed on the rear side wall of the box 41, a protection pad 47 is fixedly installed on a back surface of the installation plate 46, three micro electric push rods 48 are fixedly installed inside the protection pad 47, a water absorption sponge plate 49 is fixedly installed between piston rod ends of the three micro electric push rods 48 on the same side, an installation pipe 410 penetrating through the water storage tank 42 and extending to a bottom of the box 41 is fixedly installed inside the box 41, a water scraping bucket 411 is fixedly installed on an outer side of a bottom of the installation pipe 410, a water inlet pipe 412 penetrating and extending into the water storage tank 42 is fixedly installed inside the box 41, a cover 413 is movably mounted on the top of the box 41, and an ultrasonic distance measuring sensor 414 and an infrared detection sensor 415 are fixedly mounted on the top of the cover 413.

Wherein, filtering component 43 includes a water pump 431 and filter 432, the drawing liquid end of a water pump 431 is connected with the liquid suction pipe, the liquid suction pipe is kept away from a water pump 431 and is run through in box 41 and extend to scraping water bucket 411, the play liquid end fixedly connected with connecting pipe of a water pump 431, the one end that a water pump 431 was kept away from to the connecting pipe is fixed connection with the feed liquid of filter 432, the play liquid end fixedly connected with back flow of filter 432, the one end that filter 432 was kept away from to the back flow runs through and extends to the inside of storage water tank 42.

In addition, the liquid pumping end of the second water pump 44 is fixedly connected with a liquid inlet pipe, the liquid inlet pipe penetrates through and extends to the inside of the water storage tank 42, the liquid outlet end of the second water pump 44 is fixedly connected with a liquid outlet pipe, and one end of the liquid outlet pipe, which is far away from the second water pump 44, is fixedly connected with the liquid inlet end of the water mist spray head group 45.

The group of mist heads 45 is positioned between the two mounting plates 46, and the belt 33 is fixedly connected to the inner side of the mounting pipe 410.

It should be noted that, in this embodiment, the mounting pipe 410 and the water inlet pipe 412 are made of stainless steel, two openings are formed at the top of the cover 413, the positions of the two openings correspond to the positions of the mounting pipe 410 and the water inlet pipe 412, respectively, and the box 41 is made of an organic synthetic resin plate, because the organic synthetic resin has excellent weather resistance, the box is suitable for outdoor use, has good surface hardness and gloss, and is firm in structure, and can cope with outdoor severe weather conditions, so that the service life of the product is greatly prolonged, and a single chip microcomputer controller is further arranged in the box 41, wherein the first water pump 431, the second water pump 44, the first motor 26, the second motor 31, the micro electric push rod 48, the ultrasonic ranging sensor 414, and the infrared detection sensor 415 are electrically connected to the single chip microcomputer controller.

The working principle of the above embodiment is as follows:

(1) the cleanness of the glass can be detected by the infrared detection sensor 415 to determine whether the glass needs to be cleaned, when the detection result does not reach a preset value, the singlechip controller respectively controls and drives the upper motor 31 and the lower motor 31, the motor 31 drives the transmission belt 33 on the outer side of the transmission wheel 32 to move, the cleaning mechanism 4 can move up and down, and simultaneously controls and drives the motor 26 to drive the lead screw 22 to rotate, the lead screw 22 can move the moving block 23 in the left-right direction, and the cleaning mechanism 4 can be driven to perform comprehensive cleaning.

(2) In the cleaning process, the distance between the glass and the window frame can be measured through the ultrasonic ranging sensor 414, when the distance is detected to be larger than a limit value, the singlechip controller controls the micro electric push rod 48 to enable the water absorption sponge plate 49 to retract to avoid, unnecessary part damage is reduced, when the distance is detected to be smaller than the limit value, the singlechip controller simultaneously starts the first water pump 431, the second water pump 44 and the micro electric push rod 48, the micro electric push rod 48 pushes the water absorption sponge plate 49 to be attached to the glass surface, the second water pump 44 extracts cleaning liquid in the water storage tank 42 and conveys the cleaning liquid to the water spray nozzle group 45 to spray the glass surface, and then the cleaning liquid is matched with the transverse moving mechanism 2 and the longitudinal moving mechanism 3 to clean the glass.

(3) After the final cleaning, the glass is detected by the infrared detection sensor 415, and when the detection does not meet the preset requirement, the glass is cleaned again under the control of the single chip microcomputer controller, and when the detection meets the preset requirement, the cleaning mechanism 4 is controlled to return to the initial position and stop again under the control of the single chip microcomputer controller. ,

(4) during the movement, the wiper 411 can remove the excessive cleaning liquid sprayed out, and the collected cleaning liquid in the wiper 411 can be pumped by the water pump 431 and is conveyed to the filter 432 for filtering, and the filtered cleaning liquid flows back to the water storage tank 42 for reuse.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.