CN107997702B - High-altitude cleaning robot with human-like operation mode - Google Patents

Abstract

The invention discloses a high-altitude cleaning robot with a similar manual operation mode, which includes two cleaning arms, a box assembly, two moving support mechanisms, a first cleaning actuator, a second cleaning actuator and a Vision sensing system assembly, the two cleaning arms are respectively fixed on the second cleaning arm connecting base and the first On the connection base of the cleaning arm, the first cleaning actuator and the second cleaning actuator are respectively installed on the cleaning actuator connectors of the corresponding cleaning arms of the first cleaning arm connection base and the second cleaning arm connection base; two The mobile support mechanism is respectively installed at the two ends of the connection base of the mobile support mechanism of the box assembly shell in the box assembly; the visual sensing system assembly is fixed on the top of the box assembly shell in the box assembly. The robot has strong adaptability, flexible movement, safety and reliability, and compact structure.

Description

High-altitude cleaning robot with human-like operation mode

technical field

The invention relates to a robot technology, in particular to a high-altitude cleaning robot with a human-like working mode for high-altitude cleaning.

Background technique

With the rapid development of my country's economic construction, high-rise buildings have sprung up everywhere. However, due to the irregularities in architectural design and supporting facilities, at present, the cleaning of most high-rise buildings in China is done manually. Whether it is hanging plate cleaning, hanging basket cleaning or lifting table cleaning, there are disadvantages such as high labor cost, high labor intensity and high risk. Therefore, from the consideration of economy and safety, a kind of robot that can replace manpower and can automatically complete the cleaning work is needed.

Chinese patent application 201510824734.6 discloses a cleaning robot, including a robot body and a roof safety lift cable car, wherein the robot body includes an adsorption device, a cleaning system, a power supply system, and a recovery system; the robot body controls the lifting height through the roof safety lift cable car, When it reaches the cleaning position, the adsorption device fixes the robot body on the glass curtain wall, the cleaning system cleans the glass, the recovery system recovers the dirt after glass cleaning, and the power supply system is used for power supply of the adsorption device, cleaning system and recovery system. However, by reading the entire patent document, the patent application only provides a general technical idea, without specific technical feature descriptions, and there are no corresponding technical drawings. For those skilled in the art, according to the technical The solution cannot be implemented directly, and it must be realized through technical creation again. That is to say, this patent application is a conceptual idea and lacks a technical solution for specific implementation.

Chinese patent application 201510258869.0 discloses a climbing fire extinguishing and cleaning robot, whose body structure is composed of a swing mechanism, a traveling mechanism, a transmission system, an adsorption device, a fire extinguishing device, a cleaning device and a camera unit. The swing rod mechanism is composed of a crank, a connecting rod and a swing rod. The spherical pair connection method is used to make the swing rod swing at any angle, so as to realize the cleaning of the glass curtain wall and the fire extinguishing function of high-rise buildings. The walking mechanism adopts the way of crawler walking. The transmission system adopts the gear meshing method to realize the power transmission. The adsorption device is composed of a fan, a wind bowl and an exhaust hole, and the robot is attached to the wall by the principle of adsorption. The fire extinguishing device uses the way of injecting carbon dioxide to the fire source to extinguish the fire. The cleaning unit is cleaned with freely rotating cleaning brushes. The principle of adsorption is used to make the robot stick to the wall. The camera unit feeds back the working conditions of the robot in real time on the ground, which is convenient for remote control by ground personnel. The technical scheme of this patent application is complicated, the mobility of the cleaning arm and the walking mechanism is relatively poor, and there is no rotating joint, which is not conducive to the adjustment of movements, and it is difficult to complete the implementation of small movements.

Chinese patent application 201510578552.5 discloses a high-altitude cleaning robot. The robot crawler is equipped with a suction cup group. Through the adsorption function of the suction cup, the high-altitude cleaning robot can vertically climb on the outer wall of a high-rise building. The technical scheme of this robot is complicated. , adopts the crawler structure, it is difficult to complete the human-like operation method, which is not conducive to the implementation of small movements.

Chinese patent application 201610048950.0 discloses an automatic high-altitude wiping glass robot, including a base, a control system, a small air pump, a circular suction cup, a trapezoidal suction cup, a water storage device, a sprinkler, a wiper, and a sponge cleaning block. A control system, a small air pump, a water storage and a sprinkler are installed on the base; the control system is electrically connected to the small air pump, the water storage, and the sprinkler respectively; the bottom of the base is provided with a first cylinder, the first A first spring is embedded in the cylinder, and one end of the first spring is connected to the wiper; a second cylinder is provided on the side of the tail of the base, and a second spring is embedded in the second cylinder, and the second spring is connected with the arc rod connected; the bottom of the arc rod is connected with the sponge cleaning block. When working, start the small air pump, and the robot will automatically adsorb on the glass wall under the action of the circular suction cup and the trapezoidal suction cup. This patent is a miniature aerial work robot, the degree of freedom of the cleaning part is poor, the flexibility is not enough, it is difficult to realize the imitation and implementation of human-like actions, and it is not suitable for scrubbing complex areas of the environment.

Chinese patent application 201611194695.7 discloses a high-altitude exterior wall cleaning robot, including a crawling device and a cleaning device. The cleaning device is located on one side of the crawling device. The crawling device includes a robot body with four hips Each hip joint is connected with a mechanical leg, and the bottom of each mechanical leg is connected with a vacuum suction cup for absorbing glass. The cleaning device includes a cleaning arm, a cleaning base, a first rotating seat and a second rotating seat. One end of the cleaning arm passes through the The first rotating seat is movably connected with the cleaning base, and the other end of the cleaning arm is movably arranged on the robot body through the second rotating seat. The patent application adopts the mechanical leg method of vacuum adsorption, which is convenient for crossing obstacles. However, since the air compressor is placed on the ground, the energy loss of compressed air for long-distance transmission is large, and the working range of the robot is limited. This patent adopts a four-legged static gait or a dynamic gait crawling method. When the robot walks, it wipes through the relative movement between the cleaning base and the glass. The dirt collection and cleaning effect are not well considered, and it is difficult to achieve human-like homework effect.

Chinese patent application 201710109588.8 discloses a glass curtain wall cleaning robot with double suction cups, including a traction mechanism, a lifting mechanism, a reversing mechanism, a power mechanism, a cleaning device, an adsorption device and a safety device. The traction mechanism is composed of a double wire rope winding and a linear guide rail mechanism The lifting mechanism is composed of a small worm wheel and a small worm, the reversing mechanism is composed of a large worm wheel and a large worm, the power is provided by a DC motor, the cleaning device is composed of a rotating brush and a spring telescopic mechanism, and the adsorption device is composed of a suction cup and a blower. The safety device consists of a safety ring and a safety rope. The robot is adsorbed on the surface of the glass curtain wall through the adsorption device, and uses the traction mechanism to move forward, while the cleaning device keeps rotating and wiping. This patent application cannot realize multi-free rotation, and it is difficult to complete the implementation of subtle movements.

Chinese patent application 201611264150.9 discloses a glass cleaning robot, including a detergent circulator, an external cleaner placed on the outside of the glass, and a built-in driver placed on the inside of the glass. The external cleaner includes an inner skeleton and is installed on the inner skeleton The cleaning tray assembly attached to the glass wall and the external magnetic block inlaid on the inner frame, the built-in driver is provided with a built-in magnetic block for alignment and magnetic attraction with the external magnetic block, and the detergent circulator passes through The detergent hose is connected with the cleaning pan assembly. Using the magnetic force and effect between the external magnetic block and the built-in magnetic block to form an internal and external clamping effect on the glass, the cleaning staff drives the external cleaner to perform mobile cleaning along the glass by moving the built-in driver in the house. This patent application technology is not suitable for cleaning the glass outside of high-rise buildings, especially the outer glass of many high-rise curtain walls cannot be opened and closed at present, and it is difficult to adapt.

Chinese patent document 201510246660.2 discloses a crawler robot for cleaning high-altitude curtain walls, including two fixed frames, a first chain, a horizontal moving device, a second chain, a robot body, a power supply and a controller; the two ends of the first chain They are respectively fixedly connected with two fixed frames. The horizontal moving device includes a first flywheel motor, a first driven gear and a second driven gear arranged inside the device. The first chain is sequentially connected with the first flywheel motor and the first driven gear. 1. The second driven gear is meshed; one end of the second chain is fixedly connected to the side of the horizontal moving device; the robot body includes a flight control device, a vertical moving device, a crawler trolley and at least two wipers. When working, the pressure of the propeller makes the car move close to the glass. The structure of this patent is complicated, and the cleaning effect is not particularly good, especially the crawler is used to move, the degree of freedom is less, and the fine-tuning of the action is not ideal.

Chinese patent application 201511029515.5 discloses a high-altitude exterior wall multifunctional robot, which includes a frame and a controller. At least one thrust mechanism is provided in the frame, and a walking mechanism is provided on both sides of the frame. Induction device, the controller is connected with the thrust mechanism and the traveling mechanism. The thrust mechanism is used to attach the high-altitude exterior wall multifunctional robot to the surface of the exterior wall through reaction force. This patented technology is relatively simple, and the cleaning effect is not particularly good, especially the adjustment of small movements is difficult.

From the perspective of mechanism design, the above-mentioned high-altitude cleaning robot adopts different adsorption methods to fix the robot on the working surface, mainly including adsorption (including vacuum adsorption and magnetic adsorption), or the pressure of the propeller, or the action of the thrust mechanism. However, magnetic adsorption requires that the working surface can be attracted by a magnet or can form an internal and external clamping effect on the working surface through the magnetic force and effect between the inner and outer magnetic blocks; vacuum adsorption, the pressure of the propeller, or the use of the thrust mechanism to fix the robot The energy consumption of the method on the working surface is relatively large, which is not conducive to large-scale promotion. It is of theoretical and practical significance to develop a high-altitude cleaning robot with simple structure, strong adaptability, flexible movement, safety and reliability.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the above-mentioned existing high-altitude cleaning robot technology, and provide a high-altitude cleaning robot with strong adaptability, flexible movement, safety and reliability. The robot has a compact structure and flexible movement. high-altitude cleaning robot.

To achieve the above object, the present invention adopts the following technical solutions:

A high-altitude cleaning robot with a similar manual operation mode, including two cleaning arms, a box assembly, two mobile support mechanisms, a first cleaning actuator, a second cleaning actuator and a visual sensing system Assembly, the two cleaning arms are respectively fixed on the second cleaning arm connection base and the first cleaning arm connection base of the box assembly shell in the box assembly through the flanges of the first driving motor of the cleaning arm On the seat, the first cleaning actuator and the second cleaning actuator are respectively installed on the cleaning actuator connectors of the cleaning arms corresponding to the first cleaning arm connection base and the second cleaning arm connection base; the two mobile support mechanisms are respectively The mobile support mechanism installed in the box assembly shell is connected to both ends of the base, and the end of the mobile support mechanism is provided with an arc-shaped foot-end anti-skid rubber pad; the visual sensor system assembly is fixed on the box assembly The top of the casing of the Chengzhong box assembly, and the electrical components in the above-mentioned components are all controlled by the system controller.

The cleaning arm has a first rotation pair with the _Z0 direction as the rotation axis, a third rotation pair with the _X0 direction as the rotation axis, and two active degrees of freedom with the _Y0 direction as the rotation axis. The second rotating pair and the fourth rotating pair, wherein X ₀ , Y ₀ , and Z ₀ are three axes in the Cartesian three-dimensional coordinate system.

The structure of the cleaning arm includes a first driving motor of the cleaning arm, a first connecting rod of the cleaning arm, a second driving motor seat of the cleaning arm, a second driving motor of the cleaning arm, a second connecting rod joint of the cleaning arm, A cleaning arm second connecting rod, a cleaning arm third driving motor seat, a cleaning arm third driving motor, a cleaning arm third connecting rod, a cleaning arm fourth driving motor seat, a cleaning arm fourth driving motor, a cleaning actuator connection;

The cleaning arm equipped with the first cleaning actuator is fixed on the connection base of the first cleaning arm through the flange of the first driving motor of the cleaning arm; the cleaning arm equipped with the second cleaning actuator is fixed through the first driving motor of the cleaning arm. The flange is fixed on the connection base of the second cleaning arm;

The output shaft of the first driving motor of the cleaning arm is fixedly connected with the first connecting rod of the cleaning arm to form a first rotating pair; the other end of the first connecting rod of the cleaning arm is connected with the second driving motor base of the cleaning arm by threads;

The second driving motor of the cleaning arm is fixed on the second driving motor seat of the cleaning arm, and its output shaft is fixedly connected with the second connecting rod joint of the cleaning arm to form a second rotating pair; one end of the second connecting rod of the cleaning arm is connected with the second connecting rod of the cleaning arm. The rod joint is connected through threads, and the other end is connected with the third drive motor seat of the cleaning arm through threads;

The third driving motor of the cleaning arm is fixed on the third driving motor seat of the cleaning arm, and its output shaft is fixedly connected with the third connecting rod of the cleaning arm to form a third rotating pair; the other end of the third connecting rod of the cleaning arm is connected with the fourth driving motor of the cleaning arm. The motor base is connected by thread;

The fourth driving motor of the cleaning arm is fixed on the fourth driving motor seat of the cleaning arm, and its output shaft is fixedly connected with the connecting part of the cleaning actuator to form a fourth rotating pair.

The first cleaning actuator structure includes two actuator cleaning liquid injection joints, a first cleaning actuator connecting bracket, a first cleaning arm connecting piece, a wiper rubber strip bracket, a rubber strip, and a first cleaning actuator. A cleaning arm cleans the towel, and a first cleaning arm cleans the towel bracket; one end of the connecting bracket of the first cleaning actuator is provided with a wiper rubber strip bracket, and the other end is provided with the first cleaning arm cleaning towel bracket, and the upper surface thereof is The first cleaning arm connector is provided at the center; the rubber strip is installed on the rubber strip bracket of the wiper; the cleaning towel of the first cleaning arm is fixed on the lower surface of the cleaning towel bracket of the first cleaning arm, and the actuator cleaning liquid injection joint is set at the A cleaning arm cleans the towel holder, and the cleaning liquid wets the cleaning towel of the first cleaning arm through the actuator cleaning liquid injection joint.

The second cleaning actuator structure includes an actuator dirty liquid output joint, a second cleaning arm connecting piece, a second cleaning actuator connecting bracket, a scraper bracket, a scraper, a second cleaning arm cleaning towel, A second cleaning arm cleaning towel bracket; one end of the second cleaning actuator connection bracket is provided with a scraper bracket, and the other end is provided with a second cleaning arm cleaning towel bracket, and a second cleaning arm connector is provided at the center of the upper surface; The scraper is installed on the scraper bracket; the cleaning towel of the second cleaning arm is fixed on the outer surface of the cleaning towel bracket of the second cleaning arm; The remaining dirty liquid from wiping the frame of the glass curtain wall is recovered through the dirty liquid output joint of the actuator.

The structure of the box assembly includes a box assembly end cover, a box assembly shell, a heat shield, a system controller, a cleaning liquid storage and recovery system assembly, and a battery pack; The end cover of the body assembly and the shell of the box assembly are fixed by bolts, and there are six through holes on the edge of the end cover of the box assembly to match the six threaded holes of the shell of the box assembly; the heat shield, the system Both the controller and the battery pack are placed above the assembly of the cleaning liquid storage and recovery system, and the upper end of the heat shield is stuck in the fixing slot of the heat shield, and is located between the system controller and the battery pack; the guide of the system controller and the battery pack The edges are respectively fixed in the fixing card slot of the system controller and the fixing card slot of the battery pack.

The structure of the box assembly shell includes a second cleaning arm connecting base, a lifting joint, a heat shield fixing slot, a first cleaning arm connecting base, a system controller fixing slot, One first fixed card slot for cleaning liquid storage and recovery system, one housing cleaning liquid output hole, six threaded holes, one battery pack fixed card slot, one second fixed card slot for cleaning liquid storage and recovery system, one housing dirty liquid recovery Holes, a mobile support mechanism connection base, a first power cord jack, a second power cord jack, a set of heat sinks, a first safety rope connection connector, a second safety rope connection connector, a controller Input bus jack, one controller output bus jack.

The back of the box assembly shell is provided with a group of cooling fins, a first safety rope connection joint and a second safety rope connection joint, a hoisting joint is provided on the outer side of the upper surface, and a heat insulation board fixing slot is provided on the inner side of the upper surface. The outer surface of the lower surface is provided with a mobile supporting mechanism connection base, and its front edge is provided with six threaded holes, and the outer surfaces of both sides are respectively provided with a first cleaning arm connection base and a second cleaning arm connection base.

The fixed card slot of the system controller and the first fixed card slot of the cleaning liquid storage and recovery system are all provided on the inner surface of the side where the first cleaning arm is connected to the base. The shell cleaning liquid output hole, the controller input bus jack and the controller output bus jack run through the side where the first cleaning arm is connected to the base, and the shell cleaning liquid output hole is connected with the cleaning liquid output of the cleaning liquid storage and recovery system assembly The holes are concentric, and the controller input bus jack and the controller output bus jack are arranged behind the connection base of the first cleaning arm.

The fixing slot for the battery pack and the second fixing slot for the cleaning solution storage and recovery system are all provided on the inner surface of the side where the second cleaning arm is connected to the base. The dirt recovery hole of the housing, the first power cord jack and the second power cord jack run through the side where the second cleaning arm is connected to the base, and the center of the dirt recovery hole of the housing is connected with the dirt liquid of the cleaning fluid storage and recovery system assembly. The centers of the recovery holes coincide, and the first power cord jack and the second power cord jack are arranged behind the connection base of the second cleaning arm.

The structure of the cleaning liquid storage and recovery system assembly includes a dirty liquid recovery hole, a cleaning liquid storage tank, a dirty liquid recovery tank, a cleaning liquid output hole, a dirty liquid recovery tank sealing cover, and a cleaning liquid storage recovery tank. The first guide edge of the system, a dirty liquid filter device, a micro water pump, a second guide edge of the cleaning liquid storage and recovery system, and a cleaning liquid sealing cover.

The cleaning liquid storage tank and the dirty liquid recovery tank are connected through a dirty liquid filtering device. The cleaning liquid storage tank and the dirty liquid recovery tank are respectively provided with a cleaning liquid output hole and a dirty liquid recovery hole, and in the cleaning liquid storage tank Equipped with micro water pump. The dirty liquid formed during the cleaning process flows into the dirty liquid recovery tank through the dirty liquid recovery hole, and the settled dirty liquid enters the cleaning liquid storage tank through the dirty liquid filter device. Under the action of the micro water pump, the cleaning liquid passes through the first cleaning actuator. The actuator cleaning fluid injection joint soaks the first cleaning arm cleaning towel.

The top of the outer side of the cleaning liquid storage tank and the dirty liquid recovery tank are respectively equipped with the second guide edge of the cleaning liquid storage and recovery system and the first guide edge of the cleaning liquid storage and recovery system, which are used to fix the cleaning liquid storage and recovery system assembly in the box assembly The position in the housing, the top of which is respectively provided with a cleaning liquid sealing cover and a dirty liquid recovery box sealing cover, which is used to prevent the leakage of cleaning liquid and dirty liquid during the working process.

The mobile support mechanism has a first rotation pair of the mobile support mechanism with the _X0 direction as the rotation axis, and two active degrees of freedom with the _Y0 direction as the rotation axis, which are respectively the second rotation pair of the mobile support mechanism and the mobile support mechanism The structure of the third revolving pair includes a first drive motor of a mobile support mechanism, a first connecting rod of a mobile support mechanism, a second drive motor seat of a mobile support mechanism, a second drive motor of a mobile support mechanism, and a mobile support mechanism The second link joint, the second link of a mobile support mechanism, the third drive motor seat of a mobile support mechanism, the third drive motor of a mobile support mechanism, the third link joint of a mobile support mechanism, and the third drive motor seat of a mobile support mechanism A connecting rod, an arc-shaped mobile support mechanism foot end, and an arc-shaped foot end anti-slip rubber pad.

The first drive motor of the mobile support mechanism is fixed on one side of the connection base of the mobile support mechanism in the casing of the box assembly, and its output shaft is fixedly connected with the first connecting rod of the mobile support mechanism to form the first rotating pair of the mobile support mechanism. The other end of the first connecting rod of the mobile support mechanism is threadedly connected with the second drive motor seat of the mobile support mechanism.

The second drive motor of the mobile support mechanism is fixed on the second drive motor seat of the mobile support mechanism, and its output shaft is fixedly connected with the second link joint of the mobile support mechanism to form the second rotating pair of the mobile support mechanism. One end of the second connecting rod of the mobile supporting mechanism is threadedly connected with the second connecting rod joint of the mobile supporting mechanism, and the other end is threadedly connected with the third driving motor seat of the mobile supporting mechanism.

The third drive motor of the mobile support mechanism is fixed on the third drive motor seat of the mobile support mechanism, and its output shaft is fixedly connected with the third link joint of the mobile support mechanism to form the third rotating pair of the mobile support mechanism. One end of the third connecting rod of the mobile supporting mechanism is threadedly connected with the joint of the third connecting rod of the mobile supporting mechanism, and the other end is threadedly connected with the foot end of the arc-shaped mobile supporting mechanism. The structure of the visual sensing system assembly includes a camera, a first bracket for the camera, a first connection joint for the camera, a second support for the camera, a first drive motor, a second connection joint for the camera, a base for the visual sensing system, and a second motor. The base of the visual sensing system is fixed on the upper surface of the casing of the box assembly. The second driving motor is fixed on the base of the visual sensor system, and its output shaft is fixedly connected with the second connecting joint of the camera. The flange plate of the second connecting joint of the camera is threadedly connected with the lower surface of the second bracket of the camera, and the second drive motor drives the second bracket of the camera to realize the rotation with the _Z0 direction as the rotation axis. The first driving motor is fixed on the side of the second support of the camera, and its output shaft is fixedly connected with the first connecting joint of the camera. The flange plate of the first connecting joint of the camera is threadedly connected with the first bracket of the camera, and the first drive motor drives the first bracket of the camera to realize the rotation with the _Y0 direction as the rotation axis. The camera is fixed on the camera first bracket.

During the work of the present invention, it is necessary to configure the roof winch system and two safety ropes. The main rope protruding from the winch system is fixedly connected with the hoisting joint on the top surface of the box assembly shell of the present invention, and the two safety ropes are respectively connected to the first safety rope joint and the second safety rope on the back of the box assembly shell. The connection joints are fixed, and the two safety ropes are equipped with self-locking devices. When the winch fails, the robot will not slide down rapidly. Designing the foot end of the mobile support mechanism and the anti-slip rubber pad at the foot end into an arc shape increases the frictional resistance in the Y ₀ direction, but does not affect the movement in the X ₀ and Z ₀ directions. When working, the arc-shaped foot-end anti-slip rubber pad of the mobile support mechanism is closely attached to the working surface to prevent the robot from swinging left and right.

In the first step of the cleaning task, the second drive motor and the first drive motor of the visual sensor system assembly respectively drive the camera to swing with the Z ₀ and Y ₀ directions as the rotation axis, check the status of the working surface, and send the information to the system control device;

In the second step, under the control of the system controller, the micro-pump draws the cleaning liquid from the cleaning liquid storage tank, and wets the first cleaning arm through the cleaning liquid output hole, the shell cleaning liquid output hole, and the actuator cleaning liquid injection joint. cleaning towels;

In the third step, the cleaning towel of the first cleaning arm in the first cleaning actuator initially wipes the obviously dirty working surface detected by the visual sensing system assembly;

The fourth step is to use the scraper in the second cleaning actuator to remove the dirt;

The fifth step is to use the cleaning towel of the first cleaning arm in the first cleaning actuator to wipe the cleaning surface in a large area;

The sixth step is to use the rubber strip in the first cleaning actuator to scrape the cleaning surface;

The seventh step is to use the cleaning towel of the second cleaning arm in the second cleaning actuator to wipe and collect the dirty liquid. The dirty liquid passes through the dirty liquid output joint of the actuator, the dirty liquid recovery hole of the box assembly shell, and the dirty liquid in the cleaning liquid storage and recovery system. The recovery hole flows into the sewage recovery tank;

In the eighth step, the hoisting system moves, enters the next working surface, and repeats the above cleaning process until the robot lands;

In the ninth step, the micro water pump is turned on to the maximum, the cleaning towel of the first cleaning arm of the first cleaning actuator and the cleaning towel of the second cleaning arm of the second cleaning actuator wipe and squeeze each other, and the dirty liquid is passed through the dirty liquid output joint of the actuator Drain into the waste liquid recovery tank.

In the tenth step, the winch system lifts the robot to the roof, and the translation winch system enters the next vertical working surface to start cleaning work.

The power of the high-altitude cleaning robot with a similar manual operation mode is provided by a battery pack, and the power of the hoisting system is provided by an external power supply. The receiving, processing and sending of control information are all completed by the system controller.

Compared with the prior art, the present invention has the following characteristics:

(1) It has a cleaning mode similar to manual operation, with less energy consumption, simple structure, flexible movement, safety and reliability;

(2) With visual feedback system, strong adaptability and high degree of automation;

(3) It has a dirty liquid recovery system, which does not pollute the environment, and the two cleaning actuators have the function of mutual cleaning.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is a schematic structural view of the cleaning arm in the present invention;

Fig. 3 is a schematic structural view of the first cleaning actuator of the cleaning arm in the present invention;

Fig. 4 is a schematic structural view of the second cleaning actuator of the cleaning arm in the present invention;

Fig. 5 is the structural representation of box assembly among the present invention;

Fig. 6 is a schematic diagram of the three-dimensional structure of the casing of the box assembly in the present invention;

Fig. 7 is a schematic view of the right view of the casing of the box assembly in the present invention;

Fig. 8 is a schematic diagram of the front view of the casing of the box assembly in the present invention;

Fig. 9 is a schematic diagram of the left view of the casing of the box assembly in the present invention;

Fig. 10 is a schematic view of the right view of the cleaning liquid storage and recovery system assembly in the present invention;

Fig. 11 is a schematic structural diagram of the front view of the cleaning liquid storage and recovery system assembly in the present invention;

Fig. 12 is a left view structural schematic diagram of the cleaning liquid storage and recovery system assembly in the present invention;

Fig. 13 is a schematic diagram of a cross-sectional structure along A-A in Fig. 11;

Fig. 14 is a structural schematic diagram of a mobile support mechanism in the present invention;

Fig. 15 is a schematic structural view of the visual sensing system assembly in the present invention;

Among them, 11. Cleaning arm, 12. Box assembly, 13. Mobile support mechanism, 14. First cleaning actuator, 15. Second cleaning actuator, 16. Vision sensing system assembly;

21. The first driving motor of the cleaning arm, 22. The first connecting rod of the cleaning arm, 23. The second driving motor seat of the cleaning arm, 24. The second driving motor of the cleaning arm, 25. The second connecting rod joint of the cleaning arm, 26. Cleaning The second connecting rod of the arm, 27. The third driving motor seat of the cleaning arm, 28. The third driving motor of the cleaning arm, 29. The third connecting rod of the cleaning arm, 210. The fourth driving motor seat of the cleaning arm, 211. The fourth driving motor of the cleaning arm Drive motor, 212. cleaning actuator connector, 213. fourth revolving pair, 214. third revolving pair, 215. second revolving pair, 216. first revolving pair;

31. Actuator cleaning fluid injection joint, 32. First cleaning actuator connection bracket, 33. First cleaning arm connection piece, 34. Wiper rubber strip bracket, 35. Rubber strip, 36. First cleaning arm cleaning towel , 37. The first cleaning arm cleans the towel holder.

41. Actuator dirty liquid output joint, 42. Second cleaning arm connection piece, 43. Second cleaning actuator connection bracket, 44. Scraper bracket, 45. Scraper, 46. Second cleaning arm cleaning towel, 47. Second cleaning arm cleaning towel holder;

51. Box assembly end cover, 52. Box assembly shell, 53. Heat shield, 54. System controller, 55. Cleaning liquid storage and recovery system assembly, 56. Battery pack;

61. Second cleaning arm connection base, 62. Hoisting joint, 63. Heat shield plate fixing slot, 64. First cleaning arm connection base, 65. System controller fixing slot, 66. Cleaning liquid storage and recovery system The first fixed slot, 67. The cleaning liquid output hole of the shell, 68. The threaded hole, 69. The battery pack fixed slot, 610. The second fixed slot of the cleaning liquid storage and recovery system, 611. The dirty liquid recovery hole of the shell, 612. Mobile support mechanism connection base, 613. First power cord jack, 614. Second power cord jack, 615. Heat sink, 616. First safety rope connection joint, 617. Second safety rope connection joint, 618. Controller input bus jack, 619. Controller output bus jack;

71. Dirty liquid recovery hole, 72. Cleaning liquid storage tank, 73. Dirty liquid recovery tank, 74. Cleaning liquid output hole, 75. Dirty liquid recovery tank sealing cover, 76. The first guide edge of the cleaning liquid storage and recovery system, 77 . Dirty liquid filtering device, 78. Micro water pump, 79. The second guide edge of the cleaning liquid storage and recovery system, 710. Cleaning liquid sealing cover;

81. The first driving motor of the mobile supporting mechanism, 82. The first connecting rod of the mobile supporting mechanism, 83. The second driving motor base of the mobile supporting mechanism, 84. The second driving motor of the mobile supporting mechanism, 85. The second connecting rod of the mobile supporting mechanism Joint, 86. the second connecting rod of the mobile support mechanism, 87. the third drive motor base of the mobile support mechanism, 88. the third drive motor of the mobile support mechanism, 89. the third connecting rod joint of the mobile support mechanism, 810. the third drive motor seat of the mobile support mechanism Three connecting rods, 811. Arc-shaped mobile support mechanism foot end, 812. Arc-shaped foot-end anti-slip rubber pad, 813. The third rotating pair of mobile supporting mechanism, 814. The second rotating pair of mobile supporting mechanism, 815. The first rotating pair of mobile supporting mechanism a revolving pair;

91. Camera, 92. The first bracket of the camera, 93. The first connection joint of the camera, 94. The second support of the camera, 95. The first drive motor, 96. The second connection joint of the camera, 97. The base of the visual sensing system, 98. Second drive motor.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification for the understanding and reading of those who are familiar with this technology, and are not used to limit the conditions for the implementation of the present invention , so it has no technical substantive meaning, and any modification of structure, change of proportional relationship or adjustment of size shall still fall within the scope of the disclosure of the present invention without affecting the functions and objectives of the present invention. The technical content must be within the scope covered. At the same time, terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit this specification. The practicable scope of the invention and the change or adjustment of its relative relationship shall also be regarded as the practicable scope of the present invention without any substantial change in the technical content.

As shown in Figure 1, a high-altitude cleaning robot with a similar manual operation mode of the present invention includes two cleaning arms 11, a box assembly 12, two mobile support mechanisms 13, and a first cleaning actuator 14 , a second cleaning actuator 15, and a visual sensing system assembly 16. The two cleaning arms 11 are respectively fixed on the second cleaning arm connection base 61 and the first cleaning arm of the box assembly shell 52 in the box assembly 12 through the flanges of the first driving motor 21 of the cleaning arm. On the connection base 64, the first cleaning actuator 14 and the second cleaning actuator 15 are respectively installed on the cleaning actuator connectors of the cleaning arm 11 corresponding to the first cleaning arm connection base 64 and the second cleaning arm connection base 61 212 on. The two mobile support mechanisms are respectively installed at both ends of the mobile support mechanism connection base 612 of the box assembly shell 52 in the box assembly 12 . The visual sensor system assembly 16 is fixed on the top of the box assembly housing 52 in the box assembly 12 .

The cleaning arm 11 has a first rotation pair 216 with the _Z0 direction as the rotation axis, a third rotation pair 214 with the _X0 direction as the rotation axis, and two active degrees of freedom with the _Y0 direction as the rotation axis, respectively The second rotary pair 215 and the fourth rotary pair 213 . Wherein, X ₀ , Y ₀ , and Z ₀ are three axes in the Cartesian three-dimensional coordinate system, respectively.

The structure of the cleaning arm 11 is as shown in Figure 2, comprising a first driving motor 21 of the cleaning arm, a first connecting rod 22 of the cleaning arm, a second driving motor seat 23 of the cleaning arm, a second driving motor 24 of the cleaning arm, a The second link joint 25 of the cleaning arm, the second link 26 of a cleaning arm, the third driving motor seat 27 of a cleaning arm, the third driving motor 28 of a cleaning arm, the third connecting rod 29 of a cleaning arm, the first cleaning arm Four driving motor bases 210 , a fourth driving motor 211 of a cleaning arm, and a connecting piece 212 of a cleaning actuator.

The cleaning arm 11 equipped with the first cleaning actuator 14 is fixed on the connecting base 64 of the first cleaning arm through the flange of the first driving motor 21 of the cleaning arm;

The cleaning arm 11 equipped with the second cleaning actuator 15 is fixed on the connection base 61 of the second cleaning arm through the flange of the first driving motor 21 of the cleaning arm.

The output shaft of the first driving motor 21 of the cleaning arm is fixedly connected with the first connecting rod 22 of the cleaning arm to form a first rotating pair 216 . The other end of the first connecting rod 22 of the cleaning arm is threadedly connected with the second driving motor seat 23 of the cleaning arm.

The second driving motor 24 of the cleaning arm is fixed on the second driving motor seat 23 of the cleaning arm, and its output shaft is fixedly connected with the second link joint 25 of the cleaning arm to form a second rotating pair 215 . One end of the second connecting rod 26 of the cleaning arm is threadedly connected to the second connecting rod joint 25 of the cleaning arm, and the other end is threadedly connected to the third driving motor seat 27 of the cleaning arm.

The third driving motor 28 of the cleaning arm is fixed on the third driving motor seat 27 of the cleaning arm, and its output shaft is fixedly connected with the third connecting rod 29 of the cleaning arm to form a third rotating pair 214 . The other end of the third connecting rod 29 of the cleaning arm is threadedly connected with the fourth driving motor seat 210 of the cleaning arm.

The fourth driving motor 211 of the cleaning arm is fixed on the fourth driving motor seat 210 of the cleaning arm, and its output shaft is fixedly connected with the connecting part 212 of the cleaning actuator to form a fourth rotating pair 213 .

The structure of the first cleaning actuator 14 is shown in Figure 3, including two actuator cleaning fluid injection joints 31, a first cleaning actuator connecting bracket 32, a first cleaning arm connecting piece 33, and a wiper rubber strip bracket 34, a rubber strip 35, a first cleaning arm cleaning towel 36, a first cleaning arm cleaning towel holder 37. One end of the first cleaning actuator connecting bracket 32 is provided with a wiper rubber strip bracket 34 , the other end is provided with a first cleaning arm cleaning towel bracket 37 , and a first cleaning arm connector 33 is provided at the center of the upper surface. The rubber strip 35 is installed on the wiper rubber strip bracket 34 . The first cleaning arm cleaning towel 36 is fixed on the lower surface of the first cleaning arm cleaning towel support 37, the actuator cleaning liquid injection joint 31 is arranged on the first cleaning arm cleaning towel support 37, and the cleaning liquid is soaked through the actuator cleaning liquid injection joint 31. Wet the first cleaning arm cleaning towel 36.

The structure of the second cleaning actuator 15 is shown in Figure 4, including an actuator dirty liquid output joint 41, a second cleaning arm connector 42, a second cleaning actuator connecting bracket 43, a scraper bracket 44, and a scraper 45 , a second cleaning arm cleaning towel 46, a second cleaning arm cleaning towel holder 47. The second cleaning actuator connecting bracket 43 is provided with a scraper bracket 44 at one end, and a second cleaning arm cleaning towel bracket 47 at the other end, and a second cleaning arm connecting member 42 is provided at the center of the upper surface. The scraper 45 is installed on the scraper holder 44 . The second cleaning arm cleaning towel 46 is fixed on the outer surface of the second cleaning arm cleaning towel support 47 . The bottom of the second cleaning arm cleaning towel bracket 47 is provided with an actuator dirty liquid output joint 41 , and the second cleaning arm cleaning towel 46 wipes the remaining dirty liquid on the frame of the glass curtain wall through the actuator dirty liquid output joint 41 to recover.

The structure of the box assembly 12 is shown in Figure 5, including a box assembly end cover 51, a box assembly shell 52, a heat shield 53, a system controller 54, and a cleaning liquid storage and recovery system Assembly 55, a battery pack 56. The box assembly end cover 51 and the box assembly shell 52 are fixed by bolts, and the edge of the box assembly end cover 51 is provided with six through holes to match the six threaded holes 68 of the box assembly shell 52 . The heat shield 53, the system controller 54 and the battery pack 56 are all placed above the cleaning liquid storage and recovery system assembly 55, and the upper end of the heat shield 53 is stuck in the heat shield fixing slot 63, and is located between the system controller 54 and the battery pack. Middle of group 56. The guide edges of the system controller 54 and the battery pack 56 are respectively fixed in the system controller fixing slot 65 and the battery pack fixing slot 69 .

The structure of the box assembly shell 52 is shown in Figures 6-9, including a second cleaning arm connection base 61, a lifting joint 62, a heat shield fixing slot 63, and a first cleaning arm connection base Seat 64, a system controller fixed card slot 65, a first fixed card slot 66 for cleaning liquid storage and recovery system, a housing cleaning liquid output hole 67, six threaded holes 68, a battery pack fixed card slot 69, a cleaning The second fixed card slot 610 of the liquid storage and recovery system, a housing sewage recovery hole 611, a mobile support mechanism connection base 612, a first power line jack 613, a second power line jack 614, a set of cooling piece 615, a first safety rope connection joint 616, a second safety rope connection joint 617, a controller input bus jack 618, and a controller output bus jack 619.

The back side of the box assembly shell 52 is provided with a group of cooling fins 615, a first safety rope connection joint 616 and a second safety rope connection joint 617, a hoisting joint 62 is provided on the outside of its upper surface, and a heat insulating joint 62 is provided on the inside of its upper surface. Plate fixing slot 63, the outer side of its lower surface is provided with a mobile support mechanism connecting base 612, its front edge is provided with six threaded holes 68, and the outer surfaces of its two sides are respectively provided with a first cleaning arm connecting base 64 and a second cleaning arm. The cleaning arm is connected to the base 61 .

The fixing slot 65 of the system controller and the first fixing slot 66 of the cleaning liquid storage and recovery system are both arranged on the inner surface of the side where the first cleaning arm is connected to the base 64 . The shell cleaning liquid output hole 67, the controller input bus jack 618 and the controller output bus jack 619 run through the side where the first cleaning arm is connected to the base 64, and the shell cleaning liquid output hole 67 is connected with the cleaning liquid storage and recovery system. The cleaning liquid output hole 74 with a 55° angle is concentric, and the controller input bus jack 618 and the controller output bus jack 619 are arranged behind the first cleaning arm connection base 64 .

The fixing slot 69 of the battery pack and the second fixing slot 610 of the cleaning solution storage and recovery system are all provided on the inner surface of the side where the second cleaning arm is connected to the base 61 . The housing dirt recovery hole 611, the first power cord jack 613 and the second power cord jack 614 run through the side where the second cleaning arm is connected to the base 61, and the center of the housing dirt recovery hole 611 is in contact with the cleaning liquid storage and recovery The center of the dirty liquid recovery hole 71 of the system assembly 55 coincides, and the first power cord jack 613 and the second power cord jack 614 are arranged behind the second cleaning arm connection base 61 .

The structure of the cleaning liquid storage recovery system assembly 55 is shown in Figure 10-Figure 13, including a dirty liquid recovery hole 71, a cleaning liquid storage tank 72, a dirty liquid recovery tank 73, a cleaning liquid output hole 74, a dirty liquid Liquid recovery tank sealing cover 75, a first guide edge 76 of a cleaning liquid storage and recovery system, a dirty liquid filter device 77, a micro-water pump 78, a second guide edge 79 of a cleaning liquid storage and recovery system, and a cleaning liquid sealing cover 710.

The cleaning liquid storage tank 72 and the dirty liquid recovery tank 73 are connected through the dirty liquid filter device 77, and the cleaning liquid output hole 74 and the dirty liquid recovery hole 71 are respectively arranged on both sides, and a micro water pump is arranged in the cleaning liquid storage tank 72 78. The dirty liquid formed in the cleaning process flows into the dirty liquid recovery tank 73 through the dirty liquid recovery hole 71, and the settled dirty liquid enters the cleaning liquid storage tank 72 through the dirty liquid filter device 77, and under the action of the micro water pump 78, the cleaning liquid passes through the first An actuator cleaning liquid injection joint 31 in a cleaning actuator 14 soaks the cleaning towel of the first cleaning arm. The top of the outer side of the cleaning liquid storage tank 72 and the dirty liquid recovery tank 73 are respectively provided with a second guide edge 79 of the cleaning liquid storage and recovery system and a first guide edge 76 of the cleaning liquid storage and recovery system, which are used to fix the cleaning liquid storage and recovery system assembly 55 At the position in the box assembly shell 52, a cleaning liquid sealing cover 710 and a dirty liquid recovery box sealing cover 75 are respectively provided on the top thereof to prevent leakage of cleaning liquid and dirty liquid during operation.

The mobile support mechanism 13 has a first rotation pair 815 of the mobile support mechanism with the _X0 direction as the rotation axis, and two active degrees of freedom with the _Y0 direction as the rotation axis, which are respectively the second rotation pair 814 of the mobile support mechanism and the mobile support mechanism. The third revolving pair 813 of the mechanism, its structure as shown in Figure 14, includes a first drive motor 81 of a mobile support mechanism, a first connecting rod 82 of a mobile support mechanism, a second drive motor seat 83 of a mobile support mechanism, a mobile support mechanism The second driving motor 84 of the mechanism, the second link joint 85 of a mobile supporting mechanism, the second connecting rod 86 of a mobile supporting mechanism, the third driving motor seat 87 of a mobile supporting mechanism, the third driving motor 88 of a mobile supporting mechanism, a The third link joint 89 of the mobile support mechanism, the third link 810 of the mobile support mechanism, the foot end 811 of the arc-shaped mobile support mechanism, and the non-slip rubber pad 812 of the arc-shaped foot end.

The first drive motor 81 of the mobile support mechanism is fixed on one side of the connection base 612 of the mobile support mechanism in the box assembly shell 52, and its output shaft is fixedly connected with the first connecting rod 82 of the mobile support mechanism to form the first motor of the mobile support mechanism. Revolving pair 815. The other end of the first connecting rod 82 of the mobile support mechanism is screwed to the second drive motor seat 83 of the mobile support mechanism.

The second drive motor 84 of the mobile support mechanism is fixed on the second drive motor seat 83 of the mobile support mechanism, and its output shaft is fixedly connected with the second link joint 85 of the mobile support mechanism to form the second rotary pair 814 of the mobile support mechanism. One end of the second connecting rod 86 of the mobile support mechanism is threadedly connected with the second link joint 85 of the mobile support mechanism, and the other end is threadedly connected with the third drive motor seat 87 of the mobile support mechanism.

The third drive motor 88 of the mobile support mechanism is fixed on the third drive motor base 87 of the mobile support mechanism, and its output shaft is fixedly connected with the third link joint 89 of the mobile support mechanism to form the third rotating pair 813 of the mobile support mechanism. One end of the third link 810 of the mobile support mechanism is screwed to the third link joint 89 of the mobile support mechanism, and the other end is threaded to the foot end 811 of the arc-shaped mobile support mechanism. The anti-slip rubber pad 812 at the arc-shaped foot end is fixed on the end of the arc-shaped mobile support mechanism foot end 811 .

The structure of the visual sensing system assembly 16 is as shown in Figure 15, including a camera 91, a first bracket 92 of the camera, a first connection joint 93 of the camera, a second support 94 of the camera, a first drive motor 95, and a second connection joint 96 of the camera , the visual sensor system base 97, the second drive motor 98. The base 97 of the visual sensing system is fixed on the upper surface of the box assembly shell 52 . The second drive motor 98 is fixed on the base 97 of the visual sensing system, and its output shaft is fixedly connected with the second connecting joint 96 of the camera. The flange plate of the second connecting joint 96 of the camera is threadedly connected with the lower surface of the second bracket 94 of the camera, and the second driving motor 98 drives the second bracket 94 of the camera to realize the rotation with the _Z0 direction as the rotation axis. The first driving motor 95 is fixed on the side of the second support 94 of the camera, and its output shaft is fixedly connected with the first connecting joint 93 of the camera. The flange plate of the first connecting joint 93 of the camera is threadedly connected with the first bracket 92 of the camera, and the first driving motor 95 drives the first bracket 92 of the camera to realize the rotation with the _Y0 direction as the rotation axis. The camera 91 is fixed on the first bracket 92 of the camera.

During the work of the present invention, it is necessary to configure the roof winch system and two safety ropes. The main rope protruding from the winch system is fixedly connected with the hoisting joint 52 on the top surface of the box assembly shell 52 of the present invention, and the two safety ropes are connected with the first safety rope connection joint 616 and the first safety rope on the back side of the box assembly shell 52 respectively. The second safety rope connection joint 617 is fixedly connected, and self-locking devices are all provided on the two safety ropes, and when the winch fails, the robot will not slide down rapidly.

Designing the foot end 811 of the mobile support mechanism and the anti-slip rubber pad 812 at the foot end in an arc shape increases the frictional resistance in the Y ₀ direction, but does not affect the movement in the X ₀ and Z ₀ directions. When the robot is working, the arc-shaped foot-end anti-slip rubber pad 812 of the mobile support mechanism 13 is close to the working surface to avoid the robot from swinging left and right.

In the first step of the cleaning task, the second drive motor 98 and the first drive motor 95 of the visual sensing system assembly 16 respectively drive the camera 91 to swing with the Z ₀ and Y ₀ directions as the rotation axis, check the status of the work surface, and send information sent to the system controller 54;

In the second step, under the control of the system controller 54, the micro-pump 78 extracts the cleaning liquid from the cleaning liquid storage tank 72, and passes through the cleaning liquid output hole 74, the housing cleaning liquid output hole 67, and the actuator cleaning liquid injection joint 31, Wetting the first cleaning arm cleaning towel 36;

In the third step, the first cleaning arm cleaning towel 36 in the first cleaning actuator 14 initially wipes the obviously dirty working surface detected by the visual sensor system assembly 16;

The fourth step is to use the scraper 45 in the second cleaning actuator 15 to remove dirt;

The fifth step is to use the first cleaning arm cleaning towel 36 in the first cleaning actuator 14 to wipe the cleaning surface on a large scale;

The sixth step is to use the rubber strip 35 in the first cleaning actuator 14 to scrape the cleaning surface;

The seventh step is to use the second cleaning arm cleaning towel in the second cleaning actuator 15 to wipe and collect the dirty liquid, and the dirty liquid passes through the actuator dirty liquid output joint 41, the box assembly shell 52 shell dirty liquid recovery hole 611, cleaning The dirty liquid recovery hole 71 of the liquid storage recovery system flows into the dirty liquid recovery tank 73;

In the eighth step, the hoisting system moves, enters the next working surface, and repeats the above cleaning process until the robot lands;

In the ninth step, the micro water pump 78 is turned on to the maximum, and the first cleaning actuator 14, the first cleaning arm cleaning towel 36 and the second cleaning actuator 15, the second cleaning arm cleaning towel 46 wipe and squeeze each other, and the dirty liquid is passed through the The dirty liquid output joint 41 of the device is discharged into the dirty liquid recovery tank 73.

In the tenth step, the winch system lifts the robot to the roof, and the translation winch system enters the next vertical working surface to start cleaning work.

The power of the high-altitude cleaning robot with a similar manual operation mode in the present invention is provided by the battery pack 56, and the power of the hoisting system is provided by an external power supply. The system controller 54 completes the receiving, processing and sending of the control information.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (7)

1. A high-altitude cleaning robot with a similar manual operation mode, which is characterized in that it includes two cleaning arms, a box assembly, two mobile support mechanisms, a first cleaning actuator, and a second cleaning actuator and a visual sensing system assembly, the two cleaning arms are respectively fixed on the second cleaning arm connecting base and On the first cleaning arm connection base, the first cleaning actuator and the second cleaning actuator are installed on the cleaning actuator connectors of the cleaning arms corresponding to the first cleaning arm connection base and the second cleaning arm connection base; The two mobile supporting mechanisms are respectively installed on the two ends of the connecting base of the mobile supporting mechanism of the casing of the box assembly in the box assembly, and the end of the mobile supporting mechanism is fixed with an arc-shaped anti-slip rubber pad at the end of the foot; It is fixed on the top of the box assembly shell in the box assembly, and the electrical components in the above components are controlled by the system controller; The cleaning arm has a first rotation pair with the Z0 direction as the rotation axis, a third rotation pair with _the X0 direction as the rotation axis, and two active degrees of _freedom with _the Y0 direction as the rotation axis. The second rotating pair and the fourth rotating pair, wherein X ₀ , Y ₀ , and Z ₀ are the three axes in the Cartesian three-dimensional coordinate system; The cleaning arm includes a cleaning arm first driving motor, a cleaning arm first connecting rod, a cleaning arm second driving motor seat, a cleaning arm second driving motor, a cleaning arm second connecting rod joint, a cleaning arm The second connecting rod, one cleaning arm third driving motor seat, one cleaning arm third driving motor, one cleaning arm third connecting rod, one cleaning arm fourth driving motor seat, one cleaning arm fourth driving motor, one cleaning execution connectors; The cleaning arm equipped with the first cleaning actuator is fixed on the connection base of the first cleaning arm through the flange of the first driving motor of the cleaning arm; the cleaning arm equipped with the second cleaning actuator is fixed through the first driving motor of the cleaning arm. The flange is fixed on the connection base of the second cleaning arm; The output shaft of the first driving motor of the cleaning arm is fixedly connected with the first connecting rod of the cleaning arm to form a first rotating pair; the other end of the first connecting rod of the cleaning arm is connected with the second driving motor base of the cleaning arm by threads; The second driving motor of the cleaning arm is fixed on the second driving motor seat of the cleaning arm, and the output shaft of the second driving motor of the cleaning arm is fixedly connected with the second connecting rod joint of the cleaning arm to form a second rotating pair; one end of the second connecting rod of the cleaning arm It is threadedly connected with the second connecting rod joint of the cleaning arm, and the other end is threaded with the third driving motor seat of the cleaning arm; The third driving motor of the cleaning arm is fixed on the third driving motor seat of the cleaning arm, and the output shaft of the third driving motor of the cleaning arm is fixedly connected with the third connecting rod of the cleaning arm to form a third rotating pair; the other end of the third connecting rod of the cleaning arm It is threadedly connected with the fourth drive motor base of the cleaning arm; The fourth driving motor of the cleaning arm is fixed on the fourth driving motor seat of the cleaning arm, and the output shaft of the fourth driving motor of the cleaning arm is fixedly connected with the connecting piece of the cleaning actuator to form a fourth rotating pair; The first cleaning actuator includes two actuator cleaning fluid injection joints, a first cleaning actuator connection bracket, a first cleaning arm connection piece, a wiper rubber strip bracket, a rubber strip, and a first cleaning actuator arm cleaning towel, a first cleaning arm cleaning towel bracket; one end of the first cleaning actuator connection bracket is provided with a wiper rubber strip bracket, and the other end is provided with a first cleaning arm cleaning towel bracket, and the first cleaning arm cleans The first cleaning arm connector is provided at the center of the upper surface of the towel bracket; the rubber strip is installed on the rubber strip bracket of the wiper; the cleaning towel of the first cleaning arm is fixed on the lower surface of the cleaning towel bracket of the first cleaning arm, and the actuator cleaning liquid is injected The joint is arranged on the cleaning towel support of the first cleaning arm, and the cleaning liquid is injected into the joint through the actuator cleaning liquid to wet the cleaning towel of the first cleaning arm. 2. The high-altitude cleaning robot with a manual operation mode as claimed in claim 1, wherein the second cleaning actuator comprises an actuator dirt output joint, a second cleaning arm connector, and a first cleaning actuator. Two cleaning actuator connection brackets, a scraper bracket, a scraper, a second cleaning arm cleaning towel, a second cleaning arm cleaning towel bracket; the second cleaning actuator connection bracket has a scraper bracket at one end and a second cleaning arm at the other end. The cleaning arm cleans the towel support, and the center position of the upper surface of the second cleaning arm cleaning towel support is provided with a second cleaning arm connector; the scraper is installed on the scraper support; the second cleaning arm cleaning towel is fixed on the outside Surface; the bottom of the cleaning towel bracket of the second cleaning arm is provided with an actuator dirty liquid output joint, and the dirty liquid left by the second cleaning arm cleaning towel to wipe the frame of the glass curtain wall is recovered through the actuator dirty liquid output joint. 3. The high-altitude cleaning robot with a similar manual operation mode as claimed in claim 1, wherein the box assembly includes a box assembly end cover, a box assembly shell, and a heat insulation board, a system controller, a cleaning liquid storage and recovery system assembly, and a battery pack; the end cover of the box assembly and the shell of the box assembly are fixed by bolts, and there are six through holes on the edge of the end cover of the box assembly It matches the six threaded holes of the shell of the box assembly; the heat shield, system controller and battery pack are all placed above the cleaning liquid storage and recovery system assembly, and the upper end of the heat shield is clamped on the heat shield fixing card The slot is located between the system controller and the battery pack; the guide edges of the system controller and the battery pack are respectively fixed in the system controller fixing slot and the battery pack fixing slot. 4. The high-altitude cleaning robot with a similar manual operation mode as claimed in claim 3, wherein the housing of the box assembly includes a second cleaning arm connection base, a lifting joint, and a heat shield A fixed card slot, a first cleaning arm connection base, a system controller fixed card slot, a cleaning liquid storage and recovery system first fixed card slot, a shell cleaning liquid output hole, six threaded holes, a battery pack fixed Card slot, a cleaning liquid storage and recovery system second fixed card slot, a housing dirt liquid recovery hole, a mobile support mechanism connection base, a first power cord jack, a second power cord jack, a set of cooling piece, a controller input bus jack, a controller output bus jack, a first safety rope connection joint, a second safety rope connection joint; The back of the box assembly shell is provided with a group of cooling fins, a first safety rope connection joint and a second safety rope connection joint, a hoisting joint is provided on the outer side of the upper surface, and a heat insulation board fixing slot is provided on the inner side of the upper surface. The outer side of the lower surface is provided with a mobile support mechanism connection base, and the front edge is provided with six threaded holes, and the outer surfaces of both sides are respectively provided with a first cleaning arm connection base and a second cleaning arm connection base; The fixed card slot of the system controller and the first fixed card slot of the cleaning liquid storage and recovery system are all arranged on the inner surface of the side where the first cleaning arm is connected to the base; the cleaning liquid output hole of the housing, the controller input bus jack and the control The output bus jack of the controller runs through the side where the first cleaning arm is connected to the base, and the cleaning liquid output hole of the shell is concentric with the cleaning liquid output hole of the cleaning liquid storage and recovery system assembly, and the controller input bus jack and the controller output bus plug The hole is arranged at the rear of the connection base of the first cleaning arm; The fixed card slot of the battery pack and the second fixed card slot of the cleaning liquid storage and recovery system are all arranged on the inner surface of the side where the second cleaning arm is connected to the base; the housing dirt recovery hole, the first power line jack and the second The power cord jack runs through the side where the second cleaning arm is connected to the base, and the center of the dirt recovery hole of the shell coincides with the center of the dirt recovery hole of the cleaning liquid storage and recovery system assembly. The first power cord jack and the second power supply The line socket is arranged at the rear of the connection base of the second cleaning arm. 5. The high-altitude cleaning robot with artificial operation mode as claimed in claim 3, characterized in that, the cleaning liquid storage and recovery system assembly includes a dirty liquid recovery hole, a cleaning liquid storage tank, and a dirty liquid recovery box, a cleaning liquid output hole, a sealing cover of the dirty liquid recovery tank, a first guide edge of the cleaning liquid storage and recovery system, a dirty liquid filter device, a micro water pump, a second guide edge of the cleaning liquid storage and recovery system, a cleaning Liquid-tight cover; The cleaning liquid storage tank and the dirty liquid recovery tank are connected through a dirty liquid filtering device. The cleaning liquid storage tank and the dirty liquid recovery tank are respectively provided with a cleaning liquid output hole and a dirty liquid recovery hole, and in the cleaning liquid storage tank There is a micro pump; the dirty liquid formed during the cleaning process flows into the dirty liquid recovery tank through the dirty liquid recovery hole, and the settled dirty liquid enters the cleaning liquid storage tank through the dirty liquid filter device. Under the action of the micro water pump, the cleaning liquid passes through the first The actuator cleaning fluid injection joint in the cleaning actuator soaks the cleaning towel of the first cleaning arm; The top of the outer side of the cleaning liquid storage tank and the dirty liquid recovery tank are respectively equipped with the second guide edge of the cleaning liquid storage and recovery system and the first guide edge of the cleaning liquid storage and recovery system, which are used to fix the cleaning liquid storage and recovery system assembly in the box assembly The position in the housing, the top of which is respectively provided with a cleaning liquid sealing cover and a dirty liquid recovery box sealing cover, which is used to prevent the leakage of cleaning liquid and dirty liquid during the working process. 6. the high-altitude cleaning robot with similar manual operation mode as claimed in claim 1, is characterized in that, described mobile support mechanism has a first rotating pair of mobile support mechanism with X ₀ direction as axis of rotation, two with The Y ₀ direction is the active degree of freedom of the rotation axis, which are respectively the second revolving pair of the mobile support mechanism and the third revolving pair of the mobile support mechanism; where X ₀ and Y ₀ are the two axes in the Cartesian three-dimensional coordinate system; The mobile support mechanism includes a first drive motor of the mobile support mechanism, a first connecting rod of the mobile support mechanism, a second drive motor seat of the mobile support mechanism, a second drive motor of the mobile support mechanism, and a second link joint of the mobile support mechanism , a second link of a mobile support mechanism, a third drive motor seat of a mobile support mechanism, a third drive motor of a mobile support mechanism, a third link joint of a mobile support mechanism, a third link of a mobile support mechanism, an arc Shaped mobile support mechanism foot end, a curved foot end non-slip rubber pad; The first drive motor of the mobile support mechanism is fixed on one side of the connection base of the mobile support mechanism in the case of the box assembly, and the output shaft of the first drive motor of the mobile support mechanism is fixedly connected with the first connecting rod of the mobile support mechanism to form a mobile support mechanism The first rotary pair; the other end of the first connecting rod of the mobile support mechanism is threadedly connected with the second drive motor base of the mobile support mechanism; The second drive motor of the mobile support mechanism is fixed on the second drive motor seat of the mobile support mechanism, and the output shaft of the second drive motor of the mobile support mechanism is fixedly connected with the second link joint of the mobile support mechanism to form the second rotating pair of the mobile support mechanism; One end of the second connecting rod of the mechanism is threadedly connected to the second connecting rod joint of the mobile support mechanism, and the other end is threadedly connected to the third drive motor base of the mobile support mechanism; The third drive motor of the mobile support mechanism is fixed on the third drive motor base of the mobile support mechanism, and the output shaft of the third drive motor of the mobile support mechanism is fixedly connected with the third link joint of the mobile support mechanism to form the third rotating pair of the mobile support mechanism; One end of the third connecting rod of the mechanism is threadedly connected with the joint of the third connecting rod of the mobile supporting mechanism, and the other end is threadedly connected with the foot end of the arc-shaped mobile supporting mechanism. 7. The high-altitude cleaning robot with a similar manual operation mode as claimed in claim 1, wherein the structure of the visual sensing system assembly includes a camera, a first bracket for the camera, a first connecting joint for the camera, and a camera The second bracket, the first driving motor, the second connecting joint of the camera, the base of the visual sensing system, and the second driving motor; The base of the visual sensing system is fixed on the upper surface of the box assembly shell; the second driving motor is fixed on the base of the visual sensing system, and the output shaft of the second driving motor is fixedly connected with the second connecting joint of the camera; The flange plate of the second connection joint is threadedly connected with the lower surface of the second camera support, and the second driving motor drives the second support of the camera to realize the rotation of the axis of rotation in _the Z direction; The first driving motor is fixed on the side of the second support of the camera, and the output shaft of the first driving motor is fixedly connected with the first connecting joint of the camera; the flange of the first connecting joint of the camera is screwed with the first support of the camera, and the first driving motor drives The first bracket of the camera realizes rotation with the Y ₀ direction as the rotation axis; the camera is fixed on the first bracket of the camera; wherein Y ₀ and Z ₀ are two axes in the Cartesian three-dimensional coordinate system.

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