CN109744930B - Many sucking discs formula high altitude glass curtain wall cleaning robot - Google Patents

Abstract

The invention relates to a multi-sucker type high-altitude glass curtain wall cleaning robot which comprises an adsorption-moving system, a control-communication system, a sensing system, a five-degree-of-freedom cleaning manipulator and a sewage recycling mechanism. The control-communication system is respectively connected with the adsorption-moving system, the sensing system and the five-degree-of-freedom cleaning manipulator; the five-degree-of-freedom cleaning manipulator is connected with the sewage recovery mechanism; the adsorption-movement system comprises a frame body provided with a sliding table; a stepping motor, a cylinder group and a platform are arranged on the frame body; a sliding rod is arranged at the bottom of the frame body; the sliding table is provided with a vacuum chuck; the vacuum suckers are connected with the cylinder groups in a one-to-one correspondence manner; synchronous belts are arranged on two sides of the sliding table; the synchronous belt is meshed with the synchronous wheel; the synchronous wheel is nested in the slide bar; the platform is provided with a micro vacuum pump and a micro inflator pump which are connected with the air pipe group; the air tube group is connected with the air cylinder group; the middle part of the frame body and the upper part of the sliding table are provided with a water tank; the water tank is connected with a five-degree-of-freedom cleaning manipulator. The invention has high safety, good wall adaptability and flexibility and high operation efficiency.

Description

Many sucking discs formula high altitude glass curtain wall cleaning robot

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a multi-sucker type high-altitude glass curtain wall cleaning robot.

Background

With the development of cities, glass curtain walls are gradually adopted as building outer walls, and large-area glass curtain walls are adopted as building bodies such as airports, stations, museums, libraries, gymnasiums, office buildings and the like. According to statistics, the total quantity of the glass curtain wall in China is 5 hundred million square meters, and the glass curtain wall accounts for 85% of the total quantity of the world. The total amount of the glass curtain wall is rapidly increased, and the shape is more and more complex, so that the cleaning of the glass curtain wall becomes an important subject.

At present, curtain wall cleaning of urban buildings mainly comprises two modes: one is to carry the cleaner to wash the glass curtain wall by lifting the platform or hanging basket, although easy and feasible, the labor intensity is great, there is a great danger; another is to automatically scrub the window wiper against the window with a roof mounted track and sling system. This approach is costly to first invest and requires that the window wiping system be considered at the beginning of the building design, thus limiting its use. There is thus an urgent need for an automatic machine that can replace people with a certain degree of flexibility and applicability to accomplish this task.

The high-altitude glass curtain wall cleaning robot is equipment capable of performing cleaning operation on a vertical plane, and has three basic functions: adsorption function, movement function and cleaning function. There are generally three ways of adsorbing the function: vacuum adsorption, magnetic adsorption and thrust adsorption. There are generally three ways of moving the function: foot-type movement, wheel-type movement, and crawler-type movement. The cleaning function is typically performed by a cleaning mechanism fixed to the cleaning robot body.

In terms of the adsorption function, the adsorption force of the vacuum adsorption curtain wall cleaning robot is provided by the sucker, so that the vacuum adsorption curtain wall cleaning robot is stable, reliable and high in adaptability, and has high requirements on the flatness of the wall surface; the curtain wall cleaning robot with magnetic adsorption can only be used for metal wall surfaces, and has poor applicability; the curtain wall cleaning robot with thrust adsorption depends on negative pressure of air flow generated by a fan, and has poor reliability.

In terms of the moving function, the wheel type and the crawler type have the characteristics of high moving speed, stable movement and the like, but have poor obstacle crossing capability. Foot type movement is slower, but has strong obstacle crossing capability and good adaptability. The curtain wall cleaning robot works slowly in high altitude, and needs to span the window frame when cleaning the frame type glass curtain wall, so the foot type mobile glass curtain wall cleaning robot is generally adopted.

In terms of cleaning function, the cleaning mechanism fixed on the robot cleaning body is not adjustable relative to the robot, is difficult to adapt to complex wall environments, and has poor flexibility.

The application date is 2010, 9 and 21, and the technical scheme of the multi-cavity negative pressure adsorption type wall climbing robot related to the patent document with the application number 201020537859.3 is as follows: the device comprises a negative pressure generating device and a driving part, wherein the negative pressure generating device comprises a main negative pressure generating device and a plurality of detachable auxiliary negative pressure generating devices, the cavity of the negative pressure generating device is adjustable in height and is internally provided with an alternating current motor with a fan, the bottom of the negative pressure generating device is provided with an elastic sealing gasket, and balls are additionally arranged on the elastic sealing gasket. The design has the advantages that the adsorption force is less influenced by the surface of the wall, and the adsorption action can be completed on the surfaces of various walls. However, the weight is large, the structure is complex, the reliability is poor, and the wall surface is easy to fall off.

The patent literature with the application number 201410204990.0 relates to a crawler sucker type wall climbing robot, which has the technical proposal that: the robot has 16 groups of suckers, the suckers are uniformly fixed on the track, the suckers move along with the track in the working process of the wall climbing robot, the vacuum adsorption mode of the suckers and the crawler type moving mode are combined, and the track is respectively engaged with the driving wheel and the driven wheel through racks, so that the robot can stably and rapidly move on the wall surface. The robot has high running stability and working efficiency, but cannot span a window frame, and turns difficultly.

Summarizing, the current glass curtain wall cleaning robot mainly faces the following technical difficulties:

1. Adsorption and sealing technology: in the face of complex wall environments, it is required that the suction mechanism must generate a certain suction force and be capable of maintaining the suction force so that the robot is safely and reliably sucked on the working wall.

2. The moving technology comprises the following steps: the moving mechanism is small and efficient, so that the robot can move on the wall surface, can flexibly and freely adjust the walking speed and direction, and has stronger obstacle crossing capability.

3. The control technology comprises the following steps: the real-time performance and reliability of the signal communication must be ensured. The whole work of the robot is controlled, fault diagnosis and comprehensive management are carried out, and coordination work and cooperation of all parts of the robot are realized.

4. Design of a cleaning mechanism: the cleaning mechanism is designed safely and effectively, the cleaning quality is identified, and a satisfactory cleaning effect is achieved.

Disclosure of Invention

The invention aims to solve the technical problem of providing a multi-sucker type high-altitude glass curtain wall cleaning robot with high safety, good wall adaptability and flexibility and high operation efficiency.

In order to solve the problems, the multi-sucker type high-altitude glass curtain wall cleaning robot provided by the invention comprises an adsorption-moving system, a control-communication system, a sensing system, a five-degree-of-freedom cleaning manipulator and a sewage recycling mechanism, and is characterized in that: the control-communication system is respectively connected with the adsorption-movement system, the sensing system and the five-degree-of-freedom cleaning manipulator; the five-degree-of-freedom cleaning manipulator is connected with the sewage recycling mechanism; the adsorption-movement system comprises a frame body, wherein the bottom of the frame body is provided with a transverse sliding table and a longitudinal sliding table; the frame body is provided with a transverse stepping motor, a longitudinal stepping motor, a transverse cylinder group, a longitudinal cylinder group and a platform; the bottoms of all the side surfaces of the frame body are respectively provided with a transverse slide bar I, a transverse slide bar II, a longitudinal slide bar I and a longitudinal slide bar II; 6 transverse vacuum suckers are symmetrically arranged on the transverse sliding table, and the transverse sliding table is nested with the longitudinal sliding rod I and the longitudinal sliding rod II through a cylinder I at the tail end; each transverse vacuum chuck is connected with the transverse cylinder groups in a one-to-one correspondence manner; the two sides of the transverse sliding table are respectively provided with a longitudinal synchronous belt I and a longitudinal synchronous belt II; the two ends of the longitudinal synchronous belt I are respectively meshed with a longitudinal synchronous wheel I and a longitudinal synchronous wheel III; two ends of the longitudinal synchronous belt II are respectively meshed with a longitudinal synchronous wheel II and a longitudinal synchronous wheel IV; the longitudinal synchronous wheel I and the longitudinal synchronous wheel II are fixedly nested on the transverse sliding rod I; the longitudinal synchronizing wheel III and the longitudinal synchronizing wheel IV are fixedly nested on the transverse sliding rod II; 6 longitudinal vacuum suckers are symmetrically arranged on the longitudinal sliding table, and the longitudinal sliding table is nested with the transverse sliding rod I and the transverse sliding rod II through a cylinder II at the tail end; each longitudinal vacuum chuck is connected with the longitudinal cylinder group in a one-to-one correspondence manner; two sides of the longitudinal sliding table are respectively provided with a transverse synchronous belt I and a transverse synchronous belt II; two ends of the transverse synchronous belt I are respectively meshed with a transverse synchronous wheel I and a transverse synchronous wheel III; two ends of the transverse synchronous belt II are respectively meshed with a transverse synchronous wheel II and a transverse synchronous wheel IV; the transverse synchronizing wheel I and the transverse synchronizing wheel II are fixedly nested on the longitudinal sliding rod I; the transverse synchronizing wheel III and the transverse synchronizing wheel IV are fixedly nested on the longitudinal sliding rod II; the platform is provided with a micro vacuum pump I, a micro air pump II and a micro vacuum pump II respectively; the miniature vacuum pump I is connected with the air pipe group I through the electromagnetic valve I and the miniature air pump I through the electromagnetic valve II respectively; the air pipe group I is connected with the longitudinal air cylinder group; the micro inflator pump II is respectively connected with the air pipe group II through the electromagnetic valve III and the micro vacuum pump II through the electromagnetic valve IV; the air pipe group II is connected with the transverse air cylinder group; the output shaft I of the transverse stepping motor is provided with a driving gear I which is meshed with the large gear I of the reduction gear I; the pinion I of the reduction gear I is meshed with the large gear II of the reduction gear II, and the pinion II of the reduction gear II is meshed with the driven gear I; the reduction gear I and the reduction gear II are arranged on the gear fixing frame I; the driven gear I is fixedly nested on the transverse sliding rod II and is provided with the longitudinal synchronizing wheel IV; the output shaft II of the longitudinal stepping motor is provided with a driving gear II which is meshed with the large gear III of the reduction gear III; the pinion III of the reduction gear III is meshed with the large gear IV of the reduction gear IV, and the pinion IV of the reduction gear IV is meshed with the driven gear II; the reduction gear III and the reduction gear IV are arranged on a gear fixing clamping frame II; the driven gear II is fixedly nested on the longitudinal sliding rod I and is provided with the transverse synchronous wheel II; the middle part of the frame body and the upper parts of the transverse sliding table and the longitudinal sliding table are provided with water tanks; an upper cover with a round shell is arranged on the water tank; the round shell is connected with the five-degree-of-freedom cleaning manipulator.

The transverse sliding table is symmetrically provided with a transverse vacuum chuck I, a transverse vacuum chuck II, a transverse vacuum chuck III, a transverse vacuum chuck IV, a transverse vacuum chuck V and a transverse vacuum chuck VI, and two ends of the transverse sliding table are respectively connected with the longitudinal sliding rod I and the longitudinal sliding rod II.

The longitudinal sliding table is symmetrically provided with a longitudinal vacuum chuck I, a longitudinal vacuum chuck II, a longitudinal vacuum chuck III, a longitudinal vacuum chuck IV, a longitudinal vacuum chuck V and a longitudinal vacuum chuck VI, and two ends of the longitudinal sliding table are respectively connected with the transverse sliding rod I and the transverse sliding rod II.

The electromagnetic valve I is connected with an air inlet I of the miniature vacuum pump I.

The electromagnetic valve II is connected with the air outlet hole I of the miniature inflator pump I.

The electromagnetic valve III is connected with an air outlet hole II of the miniature inflator pump II.

The electromagnetic valve IV is connected with an air inlet hole II of the miniature vacuum pump II.

The longitudinal cylinder group consists of a longitudinal cylinder I, a longitudinal cylinder II, a longitudinal cylinder III, a longitudinal cylinder IV, a longitudinal cylinder V and a longitudinal cylinder VI, and the longitudinal cylinder I, the longitudinal cylinder II, the longitudinal cylinder III, the longitudinal cylinder IV, the longitudinal cylinder V and the longitudinal cylinder VI are correspondingly connected with 6 longitudinal vacuum suction cups one by one.

The transverse cylinder group is formed by connecting a transverse cylinder I, a transverse cylinder II, a transverse cylinder III, a transverse cylinder IV, a transverse cylinder V and a transverse cylinder VI with 6 transverse vacuum suction cups in a one-to-one correspondence manner.

The five-degree-of-freedom cleaning manipulator comprises a rotating shaft stepping motor and a worm bracket which are connected with the water tank, a rotating platform provided with a driving arm seat, a large arm, a small arm and a cleaning head shell; the rotating shaft stepping motor is connected with a flange plate through a worm, and the flange plate is fixed on the worm bracket; the worm is meshed with the worm wheel, and the worm wheel is nested on the rotating shaft; a rotary shaft lower bearing and a rotary shaft lower flange are sleeved between the rotary shaft and the water tank; a locking flange is nested on the rotating shaft and fixedly connected with the worm wheel; the top end of the rotating shaft is fixedly connected with the rotating platform through a locking screw, and is nested with a rotating shaft upper bearing arranged in the center of the upper surface of the round shell, and the rotating shaft upper bearing is fixedly connected with a rotating shaft upper flange; one side of the driving arm seat is provided with a small arm connecting rod steering engine, and the other side of the driving arm seat is provided with a large arm connecting rod steering engine; the top of the driving arm seat is symmetrically provided with a large arm bearing I and a large arm bearing II which are respectively connected with a large arm bearing flange I and a large arm bearing flange II; the large arm bearing flange I and the large arm bearing flange II are connected with the large arm; the small arm connecting rod steering engine is connected with the small arm through a small arm transmission rocker arm, a connecting rod bearing cover III and a small arm connecting rod; the large arm connecting rod steering engine is connected with a large arm connecting rod through a large arm transmission rocker arm and a crank, and the large arm connecting rod is fixed on the large arm; the crank is respectively provided with a connecting rod bearing cover I and a connecting rod bearing cover II; the tail end of the large arm is symmetrically provided with a small arm bearing I and a small arm bearing II, and the small arm bearing I and the small arm bearing II are respectively connected with a small arm bearing flange I and a small arm bearing flange II; the small arm bearing flange I and the small arm bearing flange II are connected with a small arm seat, and the small arm is fixed on the small arm seat; a short U-shaped bracket is arranged at the tail end of the small arm, and a cleaning head rotating steering engine is fixedly arranged on the short U-shaped bracket; the cleaning head rotating steering engine is connected with a long U bracket through a steering wheel I and a steering wheel II, and a lifting rope motor and the cleaning head shell are respectively fixed on the long U bracket; the left lower part and the right lower part of the cleaning head shell are respectively fixed with a supporting shaft, and the bottom center of the cleaning head shell is provided with a fixing frame connecting shaft; a pull rope shaft is arranged on the pull rope motor and is hinged with a pull rope; the other end of the lifting rope is fixed on the connecting shaft of the fixing frame; the cleaning head shell is characterized in that cleaning collodion fixing frames are symmetrically arranged at the bottom of the cleaning head shell and are connected together through the fixing frame connecting shaft; the cleaning collodion fixing frame is provided with cleaning collodion; a support crank is arranged on the support shaft, and one end of the support crank is connected with the cleaning collodion cotton fixing frame; an elastic rope penetrates through a gap between the cleaning collodion cotton fixing frame and the cleaning collodion cotton, and two ends of the elastic rope are fixed in the cleaning head shell; the top of the cleaning head shell is provided with a water guide column which is connected with the sewage recovery mechanism.

The sewage recovery mechanism comprises a silicone tube I, a silicone tube II, a filter and the water tank; one end of the silica gel pipe I is connected with the water guide column, the other end of the silica gel pipe I is connected with a water pumping port of a miniature water pump, and a water outlet of the miniature water pump is connected with the water tank through the filter; the silica gel pipe II is connected between the miniature flushing pump and the cleaning collodion cotton.

The control-communication system comprises a remote controller, a microprocessor and a wireless router which are arranged in the upper cover, a wireless video transmission system and an image acquisition module which is arranged in the middle of the arm of the five-degree-of-freedom cleaning manipulator; the microprocessor is respectively connected with the sensing system, the image acquisition module and the wireless router; the wireless video transmission system is connected with the wireless router, and the wireless router is connected with the remote controller in a wireless mode.

The sensing system comprises an infrared ranging sensor and an ultrasonic sensor which are arranged at the bottom of the frame body, a gyroscope and a digital three-axis gravity acceleration sensor which are arranged in the upper cover, an air pressure sensor which is arranged in the air pipe group I and the air pipe group II, a pressure sensor which is arranged on the surface of the cleaning collodion cotton, and an infrared photoelectric sensor which is arranged in the water tank; the infrared distance measuring sensor, the ultrasonic sensor, the gyroscope, the digital triaxial gravity acceleration sensor, the air pressure sensor, the pressure sensor and the infrared photoelectric sensor are respectively connected with the control-communication system.

Compared with the prior art, the invention has the following advantages:

1. The invention adopts a multi-sucker alternative adsorption mode, and has reliable adsorption and high safety coefficient.

2. According to the invention, the sliding table is indirectly driven to move up and down and left and right by utilizing the forward and reverse rotation of the two stepping motors, so that the positioning precision is high, and the robot can move in all directions.

3. The sucker can move up and down relative to the sliding table through the expansion and contraction of the air cylinder, so that the difficulty that the sucker cannot move up and down relative to the sliding table and can only cling to the wall surface to cause too large friction resistance, and the sucker cannot move parallel to the wall surface is overcome, and the sucker can span the barrier with a certain height such as a window frame.

4. The cleaning arm has five degrees of freedom, can adjust the working posture relative to the robot body, and has high flexibility and high working efficiency.

5. The invention has the advantages of removing the sewage on the wall surface, preventing the wall surface from secondary pollution, improving the utilization rate of water and prolonging the operation time of the curtain wall cleaning robot.

Drawings

The following describes the embodiments of the present invention in further detail with reference to the drawings.

Fig. 1 is a front view of the present invention.

Figure 2 is a schematic diagram I of an isometric view of the present invention.

Fig. 3 is a partial view of the arm socket mechanism of the present invention.

Fig. 4 is a schematic diagram ii of an isometric view of the present invention.

Fig. 5 is a schematic view of the invention operating on a glass curtain wall.

Fig. 6 is a schematic view of a rotary mechanism of the present invention.

Fig. 7 is a partial view of the rotary mechanism of the present invention.

FIG. 8 is a schematic view of a rotary platform according to the present invention.

Fig. 9 is an isometric view of a suction and displacement mechanism according to the present invention.

Fig. 10 is a schematic isometric view of the adsorption and displacement mechanism of the present invention with the frame removed.

Fig. 11 is a top view of the adsorption and displacement mechanism of the present invention.

FIG. 12 is a cross-sectional view A-A of the adsorption and displacement mechanism of the present invention.

Figure 13 is a bottom view of the bottom suction cup set of the present invention.

Fig. 14 is a left side view of the cleaning tip of the present invention.

FIG. 15 is a cross-sectional B-B view of the cleaning tip of the present invention.

Fig. 16 is a front view of the cleaning tip of the present invention.

FIG. 17 is a cross-sectional C-C view of the cleaning tip of the present invention.

In the figure: 1. a frame; 201. a transverse vacuum chuck I; 202. a transverse vacuum chuck II; 203. a transverse vacuum chuck III; 204. a transverse vacuum chuck IV; 205. a transverse vacuum chuck V; 206. a transverse vacuum chuck VI; 301. a longitudinal vacuum chuck I; 302. a longitudinal vacuum chuck II; 303. a longitudinal vacuum chuck III; 304. a longitudinal vacuum chuck IV; 305. a longitudinal vacuum chuck V; 306. a longitudinal vacuum chuck VI; 401. a longitudinal synchronizing wheel I; 402. a longitudinal synchronizing wheel II; 403. a longitudinal synchronizing wheel III; 404. a longitudinal synchronizing wheel IV; 501. a transverse synchronizing wheel I; 502. a transverse synchronizing wheel II; 503. a transverse synchronizing wheel III; 504. a transverse synchronizing wheel IV; 601. a transverse synchronous belt I; 602. a transverse synchronous belt II; 701. a longitudinal synchronous belt I; 702. a longitudinal synchronous belt II; 801. a transverse slide bar I; 802. a transverse slide bar II; 901. a longitudinal slide bar I; 902. a longitudinal slide bar II; 10. a transverse sliding table; 11. a longitudinal sliding table; 1201. a transverse cylinder I; 1202. a transverse cylinder II; 1203. a transverse cylinder III; 1204. a transverse cylinder IV; 1205. a transverse cylinder V; 1206. a transverse cylinder VI; 1301. a longitudinal cylinder I; 1302. a longitudinal cylinder II; 1303. a longitudinal cylinder III; 1304. a longitudinal cylinder IV; 14. a lateral stepper motor; 15. a longitudinal stepper motor; 16. a miniature vacuum pump I; 17. a solenoid valve I; 18. a solenoid valve II; 19. a miniature inflator pump I; 20. a miniature inflator II; 21. a solenoid valve III; 22. a solenoid valve IV; 23. a micro vacuum pump II; 24. a gas tube group I; 25. a gas tube group II; 2601. a driving gear I; 2602. a reduction gear I; 2603. a reduction gear II; 2604. a driven gear I; 2701. a driving gear II; 2702. a reduction gear III; 2703. a reduction gear IV; 2704. a driven gear II; 28. a gear fixing frame I; 29. a gear fixing clamping frame II; 30. a platform; 31. a water tank; 32. an upper cover; 33. a round shell; 34. a worm support; 35. a rotation shaft; 36. a rotating shaft lower bearing; 37. a rotating shaft lower flange; 38. a worm wheel; 39. a worm; 40. a flange plate; 41. a rotating shaft stepping motor; 42. a locking flange; 43. a flange on the rotating shaft; 44. a bearing on the rotating shaft; 45. a locking screw; 46. rotating the platform; 47. a driving arm seat; 48. large arm connecting rod steering engine; 49. small arm connecting rod steering engine; 50. a large arm transmission rocker arm; 51. the small arm drives the rocker arm; 52. a crank; 53. a connecting rod bearing cover I; 54. a connecting rod bearing cover II; 55. a connecting rod bearing cover III; 56. a large arm connecting rod; 57. a forearm link; 58. a large arm bearing I; 59. a large arm bearing II; 60. a large arm bearing flange I; 61. a large arm bearing flange II; 62. a large arm; 63. a forearm base; 64. a small arm bearing I; 65. a small arm bearing II; 66. the small arm supports the flange I; 67. a small arm bearing flange II; 68. a forearm; 69. a short U-shaped bracket; 70. the cleaning head rotates the steering engine; 71. steering wheel I; 72. steering wheel II; 73. a long U-shaped bracket; 74. a pull rope motor is lifted; 75. a pull rope shaft; 76. lifting a rope; 77. a cleaning head housing; 78. cleaning collodion cotton; 79. cleaning a collodion fixing frame; 80. the fixed frame is connected with the shaft; 81. a support crank; 82. a support shaft; 83. an elastic rope.

Detailed Description

As shown in fig. 1 to 17, a multi-sucker type high-altitude glass curtain wall cleaning robot comprises an adsorption-moving system, a control-communication system, a sensing system, a five-degree-of-freedom cleaning manipulator and a sewage recycling mechanism. The control-communication system is respectively connected with the adsorption-moving system, the sensing system and the five-degree-of-freedom cleaning manipulator; the five-degree-of-freedom cleaning manipulator is connected with the sewage recovery mechanism.

The adsorption-movement system comprises a frame body 1, wherein the bottom of the frame body is provided with a transverse sliding table 10 and a longitudinal sliding table 11; the frame body 1 is provided with a transverse stepping motor 14, a longitudinal stepping motor 15, a transverse cylinder group, a longitudinal cylinder group and a platform 30; the bottoms of all the side surfaces of the frame body 1 are respectively provided with a transverse slide bar I801, a transverse slide bar II 802, a longitudinal slide bar I901 and a longitudinal slide bar II 902; 6 transverse vacuum suckers are symmetrically arranged on the transverse sliding table 10, and the transverse sliding table 10 is nested with the longitudinal sliding rod I901 and the longitudinal sliding rod II 902 through a cylinder I at the tail end; each transverse vacuum chuck is connected with the transverse cylinder group in a one-to-one correspondence manner; longitudinal synchronous belts I701 and II 702 are respectively arranged on two sides of the transverse sliding table 10; the two ends of the longitudinal synchronous belt I701 are respectively meshed with a longitudinal synchronous wheel I401 and a longitudinal synchronous wheel III 403; the two ends of the longitudinal synchronous belt II 702 are respectively meshed with a longitudinal synchronous wheel II 402 and a longitudinal synchronous wheel IV 404; the longitudinal synchronizing wheel I401 and the longitudinal synchronizing wheel II 402 are fixedly nested on the transverse sliding rod I801; the longitudinal synchronizing wheel III 403 and the longitudinal synchronizing wheel IV 404 are fixedly nested on the transverse slide bar II 802; 6 longitudinal vacuum suckers are symmetrically arranged on the longitudinal sliding table 11, and the longitudinal sliding table 11 is nested with the transverse sliding rod I801 and the transverse sliding rod II 802 through a cylinder II at the tail end; each longitudinal vacuum chuck is connected with the longitudinal cylinder group in a one-to-one correspondence manner; two sides of the longitudinal sliding table 11 are respectively provided with a transverse synchronous belt I601 and a transverse synchronous belt II 602; two ends of the transverse synchronous belt I601 are respectively meshed with a transverse synchronous wheel I501 and a transverse synchronous wheel III 503; two ends of the transverse synchronous belt II 602 are respectively meshed with a transverse synchronous wheel II 502 and a transverse synchronous wheel IV 504; the transverse synchronizing wheel I501 and the transverse synchronizing wheel II 502 are fixedly nested on the longitudinal slide bar I901; the transverse synchronizing wheel III 503 and the transverse synchronizing wheel IV 504 are fixedly nested on the longitudinal slide bar II 902; the platform 30 is respectively provided with a micro vacuum pump I16, a micro air pump I19, a micro air pump II 20 and a micro vacuum pump II 23; the miniature vacuum pump I16 is respectively connected with the air pipe group I24 through the electromagnetic valve I17 and the miniature air pump I19 through the electromagnetic valve II 18; the air pipe group I24 is connected with the longitudinal air cylinder group; the micro inflator pump II 20 is connected with the air pipe group II 25 through the electromagnetic valve III 21 and the micro vacuum pump II 23 through the electromagnetic valve IV 22 respectively; the air tube group II 25 is connected with the transverse air cylinder group; the output shaft I of the transverse stepping motor 14 is provided with a driving gear I2601, and the driving gear I2601 is meshed with a large gear I of a reduction gear I2602; pinion I of reduction gear I2602 meshes with gear II of reduction gear II 2603, pinion II of reduction gear II 2603 meshes with driven gear I2604; the reduction gear I2602 and the reduction gear II 2603 are arranged on the gear fixing frame I28; the driven gear I2604 is fixedly nested on the transverse slide bar II 802 and is provided with a longitudinal synchronous wheel IV 404; a driving gear II 2701 is arranged on an output shaft II of the longitudinal stepping motor 15, and the driving gear II 2701 is meshed with a large gear III of a reduction gear III 2702; pinion III of reduction gear III 2702 meshes with bull gear IV of reduction gear IV 2703, pinion IV of reduction gear IV 2703 meshes with driven gear II 2704; reduction gear III 2702 and reduction gear IV 2703 are mounted on gear mounting bracket II 29; the driven gear II 2704 is fixedly nested on the longitudinal slide bar I901 and is provided with a transverse synchronous wheel II 502; the middle part of the frame body 1 and the upper parts of the transverse sliding table 10 and the longitudinal sliding table 11 are provided with a water tank 31; the water tank 31 is provided with an upper cover 32 with a round shell 33; the round shell 33 is connected with a five-degree-of-freedom cleaning manipulator.

The transverse sliding table 10 is symmetrically provided with a transverse vacuum chuck I201, a transverse vacuum chuck II 202, a transverse vacuum chuck III 203, a transverse vacuum chuck IV 204, a transverse vacuum chuck V205 and a transverse vacuum chuck VI 206, and two ends of the transverse sliding table 10 are respectively connected with a longitudinal sliding rod I901 and a longitudinal sliding rod II 902.

The longitudinal sliding table 11 is symmetrically provided with a longitudinal vacuum chuck I301, a longitudinal vacuum chuck II 302, a longitudinal vacuum chuck III 303, a longitudinal vacuum chuck IV 304, a longitudinal vacuum chuck V305 and a longitudinal vacuum chuck VI 306, and two ends of the longitudinal sliding table 11 are respectively connected with a transverse sliding rod I801 and a transverse sliding rod II 802.

The electromagnetic valve I17 is connected with an air inlet I of the micro vacuum pump I16.

The electromagnetic valve II 18 is connected with the air outlet hole I of the miniature inflator pump I19.

The electromagnetic valve III 21 is connected with an air outlet hole II of the micro inflator pump II 20.

The electromagnetic valve IV 22 is connected with an air inlet hole II of the micro vacuum pump II 23.

The longitudinal cylinder group consists of a longitudinal cylinder I1301, a longitudinal cylinder II 1302, a longitudinal cylinder III 1303, a longitudinal cylinder IV 1304, a longitudinal cylinder V and a longitudinal cylinder VI, and the longitudinal cylinder I1301, the longitudinal cylinder II 1302, the longitudinal cylinder III 1303, the longitudinal cylinder IV 1304, the longitudinal cylinder V and the longitudinal cylinder VI are correspondingly connected with 6 longitudinal vacuum suction cups one by one.

The transverse cylinder group is formed by connecting a transverse cylinder I1201, a transverse cylinder II 1202, a transverse cylinder III 1203, a transverse cylinder IV 1204, a transverse cylinder V1205 and a transverse cylinder VI 1206, wherein the transverse cylinder I1201, the transverse cylinder II 1202, the transverse cylinder III 1203, the transverse cylinder IV 1204, the transverse cylinder V1205 and the transverse cylinder VI 1206 are in one-to-one correspondence with 6 transverse vacuum suction cups.

The five-degree-of-freedom cleaning manipulator comprises a rotating shaft stepping motor 41 and a worm bracket 34 which are connected with a water tank 31, a rotating platform 46 provided with a driving arm seat 47, a large arm 62, a small arm 68 and a cleaning head shell 77; the rotating shaft stepping motor 41 is connected with a flange piece 40 through a worm 39, and the flange piece 40 is fixed on the worm bracket 34; the worm 39 is meshed with the worm wheel 38, and the worm wheel 38 is nested on the rotating shaft 35; a lower rotary shaft bearing 36 and a lower rotary shaft flange 37 are sleeved between the rotary shaft 35 and the water tank 31; a locking flange 42 is nested on the rotating shaft 35, and the locking flange 42 is fixedly connected with the worm wheel 38; the top end of the rotary shaft 35 is fixedly connected with a rotary platform 46 through a locking screw 45, and is nested with a rotary shaft upper bearing 44 arranged in the center of the upper surface of the round shell 33, and the rotary shaft upper bearing 44 is fixedly connected with a rotary shaft upper flange 43; one side of the driving arm seat 47 is provided with a small arm connecting rod steering engine 49, and the other side is provided with a large arm connecting rod steering engine 48; the top of the driving arm seat 47 is symmetrically provided with a large arm bearing I58 and a large arm bearing II 59, and the large arm bearing I58 and the large arm bearing II 59 are respectively connected with a large arm bearing flange I60 and a large arm bearing flange II 61; the large arm bearing flange I60 and the large arm bearing flange II 61 are connected with the large arm 62; the small arm connecting rod steering engine 49 is connected with a small arm 68 through a small arm transmission rocker arm 51, a connecting rod bearing cover III 55 and a small arm connecting rod 57; the large arm connecting rod steering engine 48 is connected with a large arm connecting rod 56 through a large arm transmission rocker arm 50 and a crank 52, and the large arm connecting rod 56 is fixed on a large arm 62; the crank 52 is respectively provided with a connecting rod bearing cover I53 and a connecting rod bearing cover II 54; the tail end of the large arm 62 is symmetrically provided with a small arm bearing I64 and a small arm bearing II 65, and the small arm bearing I64 and the small arm bearing II 65 are respectively connected with a small arm bearing flange I66 and a small arm bearing flange II 67; the small arm bearing flange I66 and the small arm bearing flange II 67 are connected with a small arm seat 63, and a small arm 68 is fixed on the small arm seat 30; the tail end of the small arm 68 is provided with a short U bracket 69, and a cleaning head rotating steering engine 70 is fixedly arranged on the short U bracket 69; the cleaning head rotating steering engine 70 is connected with a long U bracket 73 through a steering wheel I71 and a steering wheel II 72, and a lifting rope motor 74 and a cleaning head shell 77 are respectively fixed on the long U bracket 73; the left lower part and the right lower part of the cleaning head shell 77 are respectively fixed with a support shaft 82, and the bottom center of the cleaning head shell is provided with a fixing frame connecting shaft 80; a pull rope shaft 75 is arranged on the pull rope motor 74, and the pull rope shaft 75 is hinged with a pull rope 76; the other end of the lifting rope 76 is fixed on the fixed frame connecting shaft 80; the cleaning head shell 77 is symmetrically provided with cleaning collodion fixing frames 79 at the bottom, and the cleaning collodion fixing frames 79 are connected together through a fixing frame connecting shaft 80; the cleaning collodion cotton fixing frame 79 is provided with a cleaning collodion cotton 78; the support shaft 82 is provided with a support crank 81, and one end of the support crank 81 is connected with the cleaning collodion fixing frame 79; an elastic rope 83 penetrates through a gap between the cleaning collodion cotton fixing frame 79 and the cleaning collodion cotton 78, and two ends of the elastic rope 83 are fixed inside the cleaning head shell 77; the top of the cleaning head housing 77 is provided with a water guide column which is connected to a waste water recovery mechanism.

The sewage recovery mechanism comprises a silicone tube I, a silicone tube II, a filter and a water tank 31. One end of the silicone tube I is connected with a water guide column, the other end is connected with a water pumping port of a miniature water pump, and a water outlet of the miniature water pump is connected with the water tank 31 through a filter; the silicone tube II is connected between the micro-pump and the cleaning collodion 78.

The control-communication system comprises a remote controller, a microprocessor and a wireless router which are arranged in the upper cover 32, a wireless video transmission system and an image acquisition module which is arranged in the middle of the arm of the five-degree-of-freedom cleaning manipulator; the microprocessor is respectively connected with the sensing system, the image acquisition module and the wireless router; the wireless video transmission system is connected with a wireless router, and the wireless router is connected with a remote controller in a wireless way.

The sensing system comprises an infrared ranging sensor and an ultrasonic sensor which are arranged at the bottom of the frame body 1, a gyroscope and a digital triaxial gravity acceleration sensor which are arranged in the upper cover 32, an air pressure sensor which is arranged in the air pipe group I24 and the air pipe group II 25, a pressure sensor which is arranged on the surface of the cleaning collodion cotton 78 and an infrared photoelectric sensor which is arranged in the water tank 31; the infrared distance measuring sensor, the ultrasonic sensor, the gyroscope, the digital triaxial gravity acceleration sensor, the air pressure sensor, the pressure sensor and the infrared photoelectric sensor are respectively connected with the control-communication system.

When the vacuum pump is in operation, in an initial state, the micro vacuum pump I16 and the micro vacuum pump II 23 are all opened, the micro air pump I19 and the micro air pump II 20 are all closed, the electromagnetic valve I17 and the electromagnetic valve IV 22 are all communicated, the electromagnetic valve II 18 and the electromagnetic valve III 21 are all closed, the pneumatic circuit of the transverse vacuum sucker and the pneumatic circuit of the longitudinal vacuum sucker are in an air extraction state, and the transverse vacuum sucker and the longitudinal vacuum sucker are all adsorbed on the wall surface.

The first step, the micro vacuum pump II 23 and the electromagnetic valve IV 22 are closed, the micro air pump II 20 and the electromagnetic valve III 21 are opened, at the moment, the pneumatic circuit of the transverse vacuum chuck is in an air charging state, the pneumatic circuit of the longitudinal vacuum chuck is in an air exhausting state, the transverse vacuum chuck is lifted by the piston of the air cylinder to separate from the wall surface, and the longitudinal vacuum chuck is adsorbed on the wall surface.

In the second step, the transverse stepping motor 14 rotates clockwise, the driven gear I2604 is driven to rotate through the reduction gear I2602 and the reduction gear II 2603, the driven gear I2604 drives the transverse sliding rod II 802 to rotate, the transverse sliding rod II 802 drives the longitudinal synchronizing wheel III 403 and the longitudinal synchronizing wheel IV 404 fixed on the transverse sliding rod II to rotate, the longitudinal synchronizing wheel III 403 and the longitudinal synchronizing wheel IV 404 respectively drive the longitudinal synchronous belt I701 and the longitudinal synchronous belt II 702 which are meshed with the longitudinal synchronizing wheel III 403 and the longitudinal synchronizing wheel IV to rotate anticlockwise, and the longitudinal synchronous belt I701 and the longitudinal synchronous belt II 702 drive the transverse sliding table 10 to slide relative to the longitudinal sliding rod I901 and the longitudinal sliding rod II 902, so that the transverse sliding table moves upwards relative to the robot frame body.

And thirdly, opening the micro vacuum pump II 23 and the electromagnetic valve IV 22, closing the micro air pump II 20 and the electromagnetic valve III 21, opening the micro air pump I19 and the electromagnetic valve II 18, closing the micro vacuum pump I16 and the electromagnetic valve I17, wherein the pneumatic circuit of the longitudinal vacuum chuck is in an inflation state, the pneumatic circuit of the transverse vacuum chuck is in an air extraction state, the longitudinal vacuum chuck is lifted by the piston of the air cylinder to separate from the wall surface, and the transverse vacuum chuck is adsorbed on the wall surface.

Fourth, the transverse stepping motor 14 rotates anticlockwise, the driven gear I2604 is driven to rotate through the reduction gear I2602 and the reduction gear II 2603, the driven gear I2604 drives the transverse sliding rod II 802 to rotate, the transverse sliding rod II 802 drives the longitudinal synchronizing wheel III 403 and the longitudinal synchronizing wheel IV 404 fixed on the transverse sliding rod II to rotate, the longitudinal synchronizing wheel III 403 and the longitudinal synchronizing wheel IV 404 respectively drive the longitudinal synchronous belt I701 and the longitudinal synchronous belt II 702 which are meshed with the longitudinal synchronous wheel III 403 and the longitudinal synchronizing wheel IV to rotate clockwise, and the longitudinal synchronous belt I701 and the longitudinal synchronous belt II 702 drive the transverse sliding table 10 to slide relative to the longitudinal sliding rod I901 and the longitudinal sliding rod II 902, so that the transverse sliding table moves downwards relative to the robot frame body, namely the robot frame body moves upwards relative to the transverse sliding table.

The curtain wall cleaning robot can continuously move upwards by repeating the steps. Downward, leftward and rightward. Thereby realizing the up-down, left-right and omnibearing movement of the curtain wall cleaning robot on the glass wall surface.

The large arm connecting rod steering engine 48 and the small arm connecting rod steering engine 49 respectively drive the large arm 62 and the small arm 68 to rotate through the large arm connecting rod 56 and the small arm connecting rod 57, and the cleaning head rotating steering engine 70 drives the cleaning head shell 77 to rotate through the long U bracket 73; the large arm connecting rod steering engine 48, the small arm connecting rod steering engine 49 and the cleaning head rotating steering engine 70 are mutually matched, so that the angles of the large arm 62, the small arm 68 and the cleaning head shell 77 relative to the frame body 1 can be adjusted, and the cleaning collodion cotton 78 is tightly attached to the wall surface to be cleaned in parallel; the rotating shaft stepping motor 41 drives the rotating platform 46 to rotate through the worm wheel 38 and the worm 39, and the rotating platform 46 drives the cleaning mechanical arm to rotate through the driving arm seat 47 fixedly connected with the rotating platform 46; the rotating cleaning collodion cotton 78 scrubs to remove dirt on the wall surface; the sewage in the cleaning process is recovered, filtered and reused through a sewage recovery system; the systems of the robots are mutually matched, so that safe and efficient cleaning operation on the high-rise glass curtain wall can be realized.

Claims (10)

1. The utility model provides a many sucking discs formula high altitude glass curtain wall cleaning robot, includes absorption-moving system, control-communication system, sensing system, five degrees of freedom cleaning mechanical arm and sewage recovery mechanism, its characterized in that: the control-communication system is respectively connected with the adsorption-movement system, the sensing system and the five-degree-of-freedom cleaning manipulator; the five-degree-of-freedom cleaning manipulator is connected with the sewage recycling mechanism; the adsorption-movement system comprises a frame body (1) with a transverse sliding table (10) and a longitudinal sliding table (11) at the bottom; the frame body (1) is provided with a transverse stepping motor (14), a longitudinal stepping motor (15), a transverse cylinder group, a longitudinal cylinder group and a platform (30); the bottoms of all the side surfaces of the frame body (1) are respectively provided with a transverse sliding rod I (801), a transverse sliding rod II (802), a longitudinal sliding rod I (901) and a longitudinal sliding rod II (902); 6 transverse vacuum suckers are symmetrically arranged on the transverse sliding table (10), and the transverse sliding table (10) is nested with the longitudinal sliding rod I (901) and the longitudinal sliding rod II (902) through a cylinder I at the tail end; each transverse vacuum chuck is connected with the transverse cylinder groups in a one-to-one correspondence manner; longitudinal synchronous belts I (701) and II (702) are respectively arranged on two sides of the transverse sliding table (10); two ends of the longitudinal synchronous belt I (701) are respectively meshed with a longitudinal synchronous wheel I (401) and a longitudinal synchronous wheel III (403); two ends of the longitudinal synchronous belt II (702) are respectively meshed with a longitudinal synchronous wheel II (402) and a longitudinal synchronous wheel IV (404); the longitudinal synchronous wheel I (401) and the longitudinal synchronous wheel II (402) are fixedly nested on the transverse sliding rod I (801); the longitudinal synchronizing wheel III (403) and the longitudinal synchronizing wheel IV (404) are fixedly nested on the transverse slide bar II (802); 6 longitudinal vacuum suckers are symmetrically arranged on the longitudinal sliding table (11), and the longitudinal sliding table (11) is nested with the transverse sliding rod I (801) and the transverse sliding rod II (802) through a cylinder II at the tail end; each longitudinal vacuum chuck is connected with the longitudinal cylinder group in a one-to-one correspondence manner; two sides of the longitudinal sliding table (11) are respectively provided with a transverse synchronous belt I (601) and a transverse synchronous belt II (602); two ends of the transverse synchronous belt I (601) are respectively meshed with a transverse synchronous wheel I (501) and a transverse synchronous wheel III (503); two ends of the transverse synchronous belt II (602) are respectively meshed with a transverse synchronous wheel II (502) and a transverse synchronous wheel IV (504); the transverse synchronizing wheel I (501) and the transverse synchronizing wheel II (502) are fixedly nested on the longitudinal sliding rod I (901); the transverse synchronizing wheel III (503) and the transverse synchronizing wheel IV (504) are fixedly nested on the longitudinal slide bar II (902); the platform (30) is respectively provided with a micro vacuum pump I (16), a micro air pump I (19), a micro air pump II (20) and a micro vacuum pump II (23); the miniature vacuum pump I (16) is respectively connected with the air pipe group I (24) through the electromagnetic valve I (17) and the miniature air pump I (19) through the electromagnetic valve II (18); the air pipe group I (24) is connected with the longitudinal cylinder group; the micro inflator pump II (20) is respectively connected with the air pipe group II (25) through the electromagnetic valve III (21) and the micro vacuum pump II (23) through the electromagnetic valve IV (22); the air pipe group II (25) is connected with the transverse cylinder group; a driving gear I (2601) is arranged on an output shaft I of the transverse stepping motor (14), and the driving gear I (2601) is meshed with a large gear I of a reduction gear I (2602); the pinion I of the reduction gear I (2602) is meshed with the large gear II of the reduction gear II (2603), and the pinion II of the reduction gear II (2603) is meshed with the driven gear I (2604); the reduction gear I (2602) and the reduction gear II (2603) are arranged on the gear fixing frame I (28); the driven gear I (2604) is fixedly nested on the transverse sliding rod II (802) and is provided with the longitudinal synchronizing wheel IV (404); an output shaft II of the longitudinal stepping motor (15) is provided with a driving gear II (2701), and the driving gear II (2701) is meshed with a large gear III of a reduction gear III (2702); pinion III of reduction gear III (2702) meshes with bull gear IV of reduction gear IV (2703), pinion IV of reduction gear IV (2703) meshes with driven gear II (2704); the reduction gear III (2702) and the reduction gear IV (2703) are arranged on a gear fixing clamping frame II (29); the driven gear II (2704) is fixedly nested on the longitudinal slide bar I (901) and is provided with the transverse synchronizing wheel II (502); the middle part of the frame body (1) and the upper parts of the transverse sliding table (10) and the longitudinal sliding table (11) are provided with a water tank (31); an upper cover (32) with a round shell (33) is arranged on the water tank (31); the round shell (33) is connected with the five-degree-of-freedom cleaning manipulator; the five-degree-of-freedom cleaning manipulator comprises a rotating shaft stepping motor (41) and a worm bracket (34) which are connected with the water tank (31), and a rotating platform (46), a large arm (62), a small arm (68) and a cleaning head shell (77) which are provided with a driving arm seat (47); the rotating shaft stepping motor (41) is connected with a flange piece (40) through a worm (39), and the flange piece (40) is fixed on the worm bracket (34); the worm (39) is meshed with a worm wheel (38), and the worm wheel (38) is nested on the rotating shaft (35); a lower rotating shaft bearing (36) and a lower rotating shaft flange (37) are sleeved between the rotating shaft (35) and the water tank (31); a locking flange (42) is nested on the rotating shaft (35), and the locking flange (42) is fixedly connected with the worm wheel (38); the top end of the rotating shaft (35) is fixedly connected with the rotating platform (46) through a locking screw (45), a rotating shaft upper bearing (44) arranged in the center of the upper surface of the round shell (33) is nested, and the rotating shaft upper bearing (44) is fixedly connected with a rotating shaft upper flange (43); one side of the driving arm seat (47) is provided with a small arm connecting rod steering engine (49), and the other side of the driving arm seat is provided with a large arm connecting rod steering engine (48); a big arm bearing I (58) and a big arm bearing II (59) are symmetrically arranged at the top of the driving arm seat (47), and the big arm bearing I (58) and the big arm bearing II (59) are respectively connected with a big arm bearing flange I (60) and a big arm bearing flange II (61); the large arm bearing flange I (60) and the large arm bearing flange II (61) are connected with the large arm (62); the small arm connecting rod steering engine (49) is connected with the small arm (68) through a small arm transmission rocker arm (51), a connecting rod bearing cover III (55) and a small arm connecting rod (57); the large arm connecting rod steering engine (48) is connected with a large arm connecting rod (56) through a large arm transmission rocker arm (50) and a crank (52), and the large arm connecting rod (56) is fixed on the large arm (62); the crank (52) is respectively provided with a connecting rod bearing cover I (53) and a connecting rod bearing cover II (54); the tail end of the large arm (62) is symmetrically provided with a small arm bearing I (64) and a small arm bearing II (65), and the small arm bearing I (64) and the small arm bearing II (65) are respectively connected with a small arm bearing flange I (66) and a small arm bearing flange II (67); the small arm bearing flange I (66) and the small arm bearing flange II (67) are connected with a small arm seat (63), and the small arm (68) is fixed on the small arm seat (63); a short U-shaped bracket (69) is arranged at the tail end of the small arm (68), and a cleaning head rotating steering engine (70) is fixedly arranged on the short U-shaped bracket (69); the cleaning head rotating steering engine (70) is connected with a long U bracket (73) through a steering wheel I (71) and a steering wheel II (72), and a lifting rope motor (74) and a cleaning head shell (77) are respectively fixed on the long U bracket (73); the left lower part and the right lower part of the cleaning head shell (77) are respectively fixed with a supporting shaft (82), and the bottom center of the cleaning head shell is provided with a fixed frame connecting shaft (80); a pull rope shaft (75) is arranged on the pull rope motor (74), and the pull rope shaft (75) is hinged with a pull rope (76); the other end of the lifting rope (76) is fixed on the fixed frame connecting shaft (80); the cleaning head is characterized in that cleaning collodion fixing frames (79) are symmetrically arranged at the bottom of the cleaning head shell (77), and the cleaning collodion fixing frames (79) are connected together through fixing frame connecting shafts (80); the cleaning collodion fixing frame (79) is provided with cleaning collodion (78); a support crank (81) is arranged on the support shaft (82), and one end of the support crank (81) is connected with the cleaning collodion fixing frame (79); an elastic rope (83) penetrates through a gap between the cleaning collodion cotton fixing frame (79) and the cleaning collodion cotton (78), and two ends of the elastic rope (83) are fixed in the cleaning head shell (77); a water guide column is arranged at the top of the cleaning head shell (77) and is connected with the sewage recovery mechanism; the sensing system comprises an infrared ranging sensor and an ultrasonic sensor which are arranged at the bottom of the frame body (1), a gyroscope and a digital three-axis gravity acceleration sensor which are arranged in the upper cover (32), an air pressure sensor which is arranged in the air pipe group I (24) and the air pipe group II (25), a pressure sensor which is arranged on the surface of the cleaning collodion cotton (78) and an infrared photoelectric sensor which is arranged in the water tank (31); the infrared distance measuring sensor, the ultrasonic sensor, the gyroscope, the digital triaxial gravity acceleration sensor, the air pressure sensor, the pressure sensor and the infrared photoelectric sensor are respectively connected with the control-communication system; the sewage recovery mechanism comprises a silicone tube I, a silicone tube II, a filter and the water tank (31); one end of the silica gel pipe I is connected with the water guide column, the other end of the silica gel pipe I is connected with a water pumping port of a miniature water pump, and a water outlet of the miniature water pump is connected with the water tank (31) through the filter; the silica gel pipe II is connected between the miniature water suction pump and the cleaning collodion cotton (78).

2. The multi-sucker high altitude glass curtain wall cleaning robot as claimed in claim 1, wherein: the transverse sliding table (10) is symmetrically provided with a transverse vacuum chuck I (201), a transverse vacuum chuck II (202), a transverse vacuum chuck III (203), a transverse vacuum chuck IV (204), a transverse vacuum chuck V (205) and a transverse vacuum chuck VI (206), and two ends of the transverse sliding table (10) are respectively connected with the longitudinal sliding rod I (901) and the longitudinal sliding rod II (902).

3. The multi-sucker high altitude glass curtain wall cleaning robot as claimed in claim 1, wherein: longitudinal vacuum suction cups I (301), II (302), III (303), IV (304), V (305) and VI (306) are symmetrically arranged on the longitudinal sliding table (11), and two ends of the longitudinal sliding table (11) are respectively connected with the transverse sliding rod I (801) and the transverse sliding rod II (802).

4. The multi-sucker high altitude glass curtain wall cleaning robot as claimed in claim 1, wherein: the electromagnetic valve I (17) is connected with an air inlet I of the micro vacuum pump I (16).

5. The multi-sucker high altitude glass curtain wall cleaning robot as claimed in claim 1, wherein: the electromagnetic valve II (18) is connected with the air outlet hole I of the miniature inflator pump I (19).

6. The multi-sucker high altitude glass curtain wall cleaning robot as claimed in claim 1, wherein: the electromagnetic valve III (21) is connected with an air outlet hole II of the miniature inflator pump II (20).

7. The multi-sucker high altitude glass curtain wall cleaning robot as claimed in claim 1, wherein: the electromagnetic valve IV (22) is connected with an air inlet hole II of the micro vacuum pump II (23).

8. The multi-sucker high altitude glass curtain wall cleaning robot as claimed in claim 1, wherein: the longitudinal cylinder group consists of a longitudinal cylinder I (1301), a longitudinal cylinder II (1302), a longitudinal cylinder III (1303), a longitudinal cylinder IV (1304), a longitudinal cylinder V and a longitudinal cylinder VI, and the longitudinal cylinder I (1301), the longitudinal cylinder II (1302), the longitudinal cylinder III (1303), the longitudinal cylinder IV (1304), the longitudinal cylinder V and the longitudinal cylinder VI are connected with 6 longitudinal vacuum suction cups in a one-to-one correspondence manner.

9. The multi-sucker high altitude glass curtain wall cleaning robot as claimed in claim 1, wherein: the transverse cylinder group is formed by connecting 6 transverse vacuum suction cups in a one-to-one correspondence manner, namely a transverse cylinder I (1201), a transverse cylinder II (1202), a transverse cylinder III (1203), a transverse cylinder 1204, a transverse cylinder V (1205) and a transverse cylinder VI (1206), wherein the transverse cylinder I (1201), the transverse cylinder II (1202), the transverse cylinder III (1203), the transverse cylinder IV (1204), the transverse cylinder V (1205) and the transverse cylinder VI (1206).

10. The multi-sucker high altitude glass curtain wall cleaning robot as claimed in claim 1, wherein: the control-communication system comprises a remote controller, a microprocessor and a wireless router which are arranged in the upper cover (32), a wireless video transmission system and an image acquisition module which is arranged in the middle of the arm of the five-degree-of-freedom cleaning manipulator; the microprocessor is respectively connected with the sensing system, the image acquisition module and the wireless router; the wireless video transmission system is connected with the wireless router, and the wireless router is connected with the remote controller in a wireless mode.