CN209391847U - Glass-wiping robot outside buildings with self-identification and obstacle avoidance capabilities - Google Patents

Abstract

The utility model discloses a glass-wiping robot outside a building with self-identification and obstacle avoidance capabilities. In the robot, a fixing device is horizontally and fixedly installed on the edge of a glass curtain wall outside a building, and a moving and power module is horizontally slidably connected to the fixing device. The main frame fixed module is adsorbed on the outside of the glass curtain wall outside the building. The main frame control module is installed in parallel on the outside of the main frame fixed module. The top of the main frame control module is connected to the mobile and power module through a steel wire rope. On the module, the running gear is installed on the inner side of the main frame control module. The glass-wiping robot outside the building described in the utility model can move freely outside the building and can realize self-identification and obstacle avoidance functions, so that the robot can still maintain stable operation in windy high altitude or other special weather conditions.

Description

Glass-wiping robot outside buildings with self-identification and obstacle avoidance capabilities

technical field

The utility model belongs to the technical field of cleaning equipment, in particular to a building exterior glass-wiping robot with self-identification and obstacle-avoiding capabilities, which is used for large-area rapid cleaning of glass curtain walls.

Background technique

Glass curtain wall is a new type of wall widely used in contemporary buildings. Although glass curtain wall is beautiful and magnificent, it is difficult to clean and maintain. The traditional glass curtain wall cleaning often adopts the manual cleaning method, and the workers are hung on the outside of the glass curtain wall for cleaning. This cleaning method is not only greatly affected by weather factors, but also has great hidden dangers to the cleaning workers' work safety. When using manual cleaning to carry out operations, it is necessary to focus on the condition of the roof, check whether the hanging basket and hanging plate can be installed, and whether the lifting tool is moving on the roof without obstacles, etc. It is also necessary to determine the special Therefore, this method of manually cleaning the glass curtain wall is more limited and cannot meet the high-efficiency cleaning requirements.

Contents of the invention

Aiming at the above-mentioned defects in the prior art, the utility model provides a glass-cleaning robot outside a building with self-identification and obstacle avoidance capabilities, which can efficiently clean glass curtain walls. The robot can move freely outside the building and can realize self-identification and obstacle avoidance. The obstacle avoidance function enables the robot to maintain stable operation even in windy high altitude or other special weather conditions. In conjunction with the accompanying drawings of the description, the technical scheme of the utility model is as follows:

A glass-wiping robot outside a building with self-identification and obstacle avoidance capabilities, the robot is composed of a fixing device 1, a moving and power module 2, a main frame control module 3, an intelligent cleaning module 4, a main frame fixing module 5, and a walking device 6 ;

The fixing device 1 is horizontally and fixedly installed on the edge of the glass curtain wall outside the building, the mobile and power module 2 is horizontally slidably connected to the fixing device 1, the main frame fixing module 5 is adsorbed on the outside of the glass curtain wall outside the building, and the main frame The control module 3 is installed in parallel on the outside of the main frame fixed module 5, the top of the main frame control module 3 is connected with the mobile and power module 2 through a wire rope, and the intelligent cleaning module 4 is slidably connected to the main frame control module 3, so Said running gear 6 is installed on the inside of the main frame control module 3.

Further, the fixing device 1 is composed of a light rod A 101, a light rod B 102, a lead screw A 103, two sets of wall fixing components, a screw D 108, a hand wheel 106, and a main frame 109 of the fixing device;

Described light bar first 101 and light bar second 102 are arranged parallel to the front and back along the direction of fixture main frame 109, and the two ends of light bar first 101 and light bar second 102 are all fixedly installed on the fixture main frame 109;

The lead screw A 103 is supported and installed under the main frame 109 of the fixing device in parallel with the light rod A 101 and the light rod B 102, and the manual wheel 106 is fixedly connected to one end of the lead screw A 103;

The two sets of wall fixing components are respectively fixedly installed at both ends of the bottom of the main frame 109 of the fixing device, and are all installed on the upper edge of the glass curtain wall outside the building.

Furthermore, the mobile and power module 2 is composed of a motor armor 21, a roller 22, a base 23, a fixed pulley 24 and two sets of wall fixing components;

The base 23 is horizontally arranged above the fixing device 1, the motor armor 21 is fixedly installed on the upper surface of the base 23, the output shaft of the motor armor 21 is coaxially connected with the roller 22, and the roller 22 is supported and installed on the base by a roller bracket 23, the fixed pulley 24 is installed on the outer edge of the base 23 through the fixed pulley bracket, one end of the wire rope is wound on the roller 22, and the other end of the wire rope goes around the top frame of the main frame 305 of the fixed pulley 24 and the main frame control module 3 connected;

The both sides of described base 23 are provided with the sleeve that axially is horizontal, and described base 23 is slidably connected with light rod A 101 and light rod second 102 by the sleeve of both sides;

The bottom of described base 23 is provided with leading screw connecting frame, and base 23 is threadedly connected with leading screw armor 103 by the leading screw connecting frame of bottom, and base 23 will be along light rod armor 101 and light rod under the rotation drive of leading screw first 103. B 102 slip;

The two sets of wall fixing components are respectively fixed on the bottom two ends of the base 23 .

Furthermore, the wall fixing assembly is composed of a wall fixing device, a screw and a rocker;

The top of the wall fixing device is fixedly connected to one end of the bottom of the fixing device main frame 109, the lower rear side of the wall fixing device is provided with a vertical long baffle, and the lower front side of the wall fixing device is provided with a vertical short connecting plate , an inverted "J"-shaped groove is formed between the vertical long baffle plate and the vertical short connecting plate, and a threaded hole is provided under the vertical short connecting plate, and the screw rod is connected with the threaded hole below the wall fixing device A threaded connection pair is formed, the rocker is radially installed on the outer end of the screw, and the screw is driven to rotate by rotating the rocker, and the screw moves forward and backward in the axial direction.

Further, the main frame control module 3 is arranged parallel to the glass curtain wall outside the building, and is composed of a ball screw module A 301, a ball screw module B 302, a moving block 303, a control center 304 and a main frame 305;

At the outer edges of both sides of the outer frame of the main frame 305, parallel sliding rails A 3051 and second 3052 are arranged vertically, and at the upper and lower outer edges of the outer frame of the main frame 305, there are mutual sliding rails arranged horizontally and horizontally. Parallel slide rail C 3053 and slide rail D 3054 are provided with mutually parallel guide rail A 3055 and guide rail B 3056 along the vertical direction at the outer edges of both sides of the main frame 305 inner frame;

The ball screw module A 301 is arranged horizontally and horizontally, and its two ends are respectively slidably connected with the slide rail A 3051 and the slide rail B 3052 of the main frame 305, so that the ball screw module A 301 is vertically mounted on the main frame 305. Free sliding in the vertical direction;

The ball screw module B 302 is arranged vertically, and its two ends are respectively slidably connected with the slide rail C 3053 and the slide rail D 3054 of the main frame 305, so that the upper edge of the main frame 305 of the ball screw module B 302 is horizontal. Horizontal free sliding;

The control center 304 is installed in the sinking tank below the main frame 305, a single chip microcomputer is installed inside the control center 304, and a battery and a cleaning solution box are installed in the sinking tank below the main frame 305, and the battery is electrically connected to the control center , the cleaning solution box is connected to the intelligent cleaning module 4 pipelines.

Furthermore, the ball screw module A 301 is composed of a motor B 3011, a lead screw B 3012, a light rod C 3013, a light rod D 3014, a slider A 3015 and a slider B 3016;

The two ends of the leading screw B 3012 are respectively installed and connected with the slider A 3015 and the slider B 3016 through bearings, the light rod C 3013 and the light rod D 3014 are arranged in parallel on both sides of the leading screw B 3012, and the light rod C 3013 and the light rod The two ends of the bar D 3014 are respectively fixed on the slider A 3015 and the slider B 3016;

The output shaft of the motor B 3011 is coaxially connected with the lead screw B 3012;

The lead screw B 3012 horizontally passes through the threaded holes provided on the left and right sides of the moving block 303, and is connected with the moving block 303 through a thread pair, and the light rod C 3013 and the light rod D 3014 pass through the light holes provided on the left and right sides of the moving block 303 respectively. Hole, under the drive of the motor B 3011, the rotation of the lead screw B 3012 drives the moving block 303 to move smoothly along the light rod C 3013 and the light rod D 3014;

The structure of the ball screw module B 302 is the same as that of the ball screw module A 301, and the ball screw module A 301 and the ball screw module B 302 respectively drive the moving block 303 to move horizontally, horizontally or vertically.

Further, the intelligent cleaning module 4 is arranged parallel to the glass curtain wall outside the building, and consists of the first electric cylinder 401, motor C 402, gear A 403, gear B 404, transmission rod 405, transmission module A 406, transmission module B 407, cleaning module frame 408, camera A 409, camera B 410, camera C 411, camera D 412, cleaning fluid nozzle A 413, cleaning fluid nozzle B 414, cleaning fluid nozzle C 415, cleaning fluid nozzle D 416, wiper bar 417 , guide rail C 418 and guide rail D 419;

The first electric cylinder 401 is installed and connected to the intermediate connecting frame on the outer end surface of the cleaning module frame 408, and the first electric cylinder 401 is connected to the moving block 303 of the main frame control module 3;

The motor C 402 is fixedly installed on one side frame of the outer end face of the cleaning module frame 408, the output end of the motor C 402 is coaxially connected to the gear A 403, and the gear A 403 is meshed with the gear B 404, and the gear B 404 Coaxially fixed in the middle of the transmission rod 405, the two ends of the transmission rod 405 are respectively connected to the transmission module A 406 and the transmission module B 407, and the transmission module A 406 and the transmission module B 407 are arranged on the cleaning module frame On the inner end face of 408, the wiper strip 417 is arranged on one side of the inner end face of the cleaning module frame 408, and its two ends are respectively connected to the transmission module A 406 and the transmission module B 407;

The camera A 409, camera B 410, camera C 411 and camera D 412 are respectively evenly distributed and installed on the inner end face of the cleaning module frame 408;

The cleaning liquid nozzle A 413, the cleaning liquid nozzle B 414, the cleaning liquid nozzle C 415 and the cleaning liquid nozzle D 416 are respectively evenly distributed and installed on the inner end surface of the cleaning module frame 408;

The guide rail C 418 and the guide rail D 419 are arranged in parallel, which are respectively arranged on the two side frames of the inner end surface of the cleaning module frame 408 perpendicular to the transmission rod 405. The cleaning liquid nozzle A 413, the cleaning liquid nozzle B 414, the cleaning liquid The liquid nozzle C 415 and the cleaning liquid nozzle D 416 are connected to the cleaning liquid box through pipelines.

Further, the transmission module A 406 is composed of a gear C 4061, a gear D 4062, a gear E 4063, a pulley A 4064, a pulley B 4065, a moving slider 4066, a transmission slider 4067 and a belt 4068;

The gear E 4063 is coaxially fixedly connected with the end of the transmission rod 405, and the gear E 4063, the gear D 4062 and the gear C 4061 are sequentially meshed and connected, and the gear E 4063, the gear D 4062 and the gear C 4061 are all supported and installed in the cleaning On the module frame 408;

Pulley A 4064 is coaxially arranged with gear C 4061, one end of the belt 4068 is connected to the pulley A 4064, and the other end of the belt 4068 is connected to the pulley B 4065 fixedly installed on the other end of the cleaning module frame 408. The belt 4068 Parallel to the guide rail C 418 on the same side;

The moving slider 4066 is provided with a strip chute perpendicular to the direction of the belt 4068, and one end of the moving slider 4066 is slidably installed in the linear guide groove of the guide rail C 418, and the other end of the moving slider 4066 is connected to the wiper bar 417. connected, the moving slider 4066 can drive the wiper bar 417 to move linearly along the guide rail C 418;

One end of the transmission slider 4067 is fixedly connected to the belt 4068, and the other end of the transmission slider 4067 is slidably installed in the strip chute of the motion slider 4066;

The transmission module B 407 has the same structure as the transmission module A 406.

Further, the main frame fixing module 5 is composed of fixing device A 501, fixing device B 502 and fixing device C 503;

The fixing device A 501 is slidably connected to the guide rail A 3055 of the main frame control module 3, the fixing device B 502 is slidably connected to the guide rail B 3056 of the main frame control module 3, and the fixing device C 503 fixedly installed on the inner lower end frame of the main frame 305 of the main frame control module 3;

The fixing device A 501 is composed of a slider C 5011, a second electric cylinder 5012, a lever 5013, a spring 5014, a suction cup shell 5015, a rubber pad 5016, a linkage rod 5017 and a string 5018;

The second electric cylinder 5012 is arranged perpendicular to the guide rail A 3055, one end of the second electric cylinder 5012 is fixedly connected with the slider C 5011, the slider C 5011 is slidably connected in the guide rail A 3055, and the other end of the second electric cylinder 5012 passes through the connecting bracket It is vertically fixedly connected with the outer end surface of the suction cup shell 5015, the rubber pad 5016 is fixedly connected on the outer end surface of the suction cup shell 5015, the spring 5014 is installed inside the suction cup shell 5015, and its two ends are respectively supported and connected to the inside of the outer end surface of the suction cup shell 5015 and the rubber On the pad 5016, the middle part of the lever 5013 is hinged on the outer end surface of the suction cup shell 5015, and one end of the string 5018 is connected to the cylinder body of the second electric cylinder 5012, and the other end of the string 5018 is connected to the end of the lever 5013. One end of the moving rod 5017 is hinged to the lever 5013, and the other end of the connecting rod 5017 passes through the suction cup shell 5015 and is connected to the rubber pad 5016;

The structure of the fixing device B 502 is the same as that of the fixing device A 501;

The structure of the fixing device C 503 is the same as that of the fixing device A 501 , and one end of the electric cylinder of the fixing device C 503 is directly and vertically fixedly installed on the inner lower end frame of the main frame 305 .

Compared with the prior art, the utility model has the beneficial effects of:

1. The glass-wiping robot outside the building described in the utility model can realize large-scale operation of scrubbing one curtain wall at a time, and several robots can work simultaneously to realize efficient cleaning of the curtain wall;

2. The glass-cleaning robot outside the building described in the utility model can realize the free movement of the main part of the robot through the fixing device and the mobile and power module arranged on the roof, which can reduce the weight of the main body of the robot to the greatest extent and reduce the energy demand of the main body of the robot. ;

3. The glass-wiping robot outside the building described in the utility model installs a camera on the intelligent cleaning module, uses image recognition technology to identify and overcome obstacles such as glass frame protrusions, plans cleaning routes, and realizes the intelligence of the product;

4. The glass-cleaning robot outside the building described in this utility model realizes the fixation and stability of the robot frame through two powerful suction cups that can move in the slide rails, ensuring that the robot can continue to work stably outside the building where there is wind;

5. The glass-wiping robot outside the building described in the utility model can adapt to a more complicated working environment and improve the reliability of the product;

6. The glass-wiping robot outside a building described in the utility model is easy to operate, has high safety, and has a good application prospect.

Description of drawings

Fig. 1 is a schematic diagram of the overall installation structure of the glass-wiping robot outside the building described in the utility model;

Fig. 2 is a structural schematic diagram of the fixing device in the glass-wiping robot outside the building described in the present invention;

Fig. 3 is a structural schematic diagram of the wall fixing device A in the glass-wiping robot outside the building described in the utility model;

Fig. 4 is a structural schematic diagram of the mobile and power modules in the glass-wiping robot outside the building described in the present invention;

Fig. 5 is a structural schematic diagram of the main frame control module in the glass-wiping robot outside the building described in the present invention;

Fig. 6 is a structural schematic diagram of the ball screw module A in the glass-wiping robot outside the building described in the present invention;

Fig. 7a is a schematic diagram of the front overall structure of the intelligent cleaning module in the glass-wiping robot outside the building described in the present invention;

Fig. 7b is a schematic diagram of the overall structure of the rear of the intelligent cleaning module in the glass-wiping robot outside the building described in the present invention;

Fig. 7c is a schematic diagram of the partial structure of the transmission module A in the glass-wiping robot outside the building described in the present invention;

Fig. 8a is a structural schematic diagram of the main frame fixing module in the glass-wiping robot outside the building described in the present invention;

Fig. 8b is a structural schematic diagram of the fixing device A in the glass-wiping robot outside the building described in the present invention;

Fig. 9 is a structural schematic diagram of the walking device in the glass-wiping robot outside the building described in the present invention;

Fig. 10 is a schematic diagram of the operation and installation of the glass-wiping robot outside the building described in the present invention;

Figure 11 is a schematic diagram of the state of the robot described in the utility model when the fixing device A and the fixing device B are desorbed during the cleaning process;

Fig. 12 is a schematic diagram of the state when the robot described in the utility model is moving vertically, when the fixing device A and the fixing device B slide to the bottom of the corresponding guide rail and are adsorbed on the wall again;

Fig. 13 is a schematic diagram of the state when the main frame control module moves downward when the fixing device C is desorbed during the vertical movement of the robot described in the present invention;

Fig. 14 is a schematic diagram of the state of the robot described in the present invention when the fixing device C is adsorbed on the wall to clean the lower area during the vertical movement process;

Fig. 15 is a schematic diagram of the state when the robot of the utility model is in the process of lateral movement, and the motor armor is working to shrink the rope to the top of the building;

Fig. 16 is a schematic diagram of the state of the robot described in the present invention when the moving and power module moves to the next working position in the horizontal direction during the lateral movement process;

Fig. 17 is a schematic diagram of the state when the fixing device moves to the next working position in the horizontal direction during the lateral movement of the robot described in the present invention.

In the picture:

1 fixed device, 2 mobile and power module, 3 main frame control module, 4 intelligent cleaning module,

5 main frame fixed modules, 6 traveling devices;

101 light rods A, 102 light rods B, 103 leading screw A, 104 wall fixtures A,

105 screw A, 106 hand wheel, 107 wall fixing device D, 108 screw D,

109 fixture main frame, 110 rocking bar A, 111 rocking bar second;

201 motor armor, 202 rollers, 203 bases, 204 fixed pulleys,

205 wall fixture B, 206 screw rod B, 207 rocker B, 208 wall fixture C,

209 screw C, 210 rocker C;

301 ball screw module A, 302 ball screw module B, 303 moving block, 304 control center,

305 main frame;

401 the first electric cylinder, 402 motor C, 403 gear A, 404 gear B,

405 transmission rod, 406 transmission module first, 407 transmission module second, 408 cleaning module frame,

409 Camera A, 410 Camera B, 411 Camera C, 412 Camera D,

413 Cleaning fluid nozzle A, 414 Cleaning fluid nozzle B, 415 Cleaning fluid nozzle C, 416 Cleaning fluid nozzle D,

417 wiper strip, 418 guide rail C, 419 guide rail D;

501 fixture first, 502 fixture second, 503 fixture C;

601 universal wheel A, 602 universal wheel second, 603 universal wheel third, 604 universal wheel D.

3011 motor B, 3012 lead screw B, 3013 light rod C, 3014 light rod D,

3015 slider A, 3016 slider B;

3051 slide rail A, 3052 slide rail B, 3053 slide rail C, 3054 slide rail D,

3055 rail A, 3056 rail B;

4061 gear C, 4062 gear D, 4063 gear E, 4064 pulley A,

4065 pulley B, 4066 motion slider, 4067 transmission slider, 4068 belt,

5011 slider C, 5012 second electric cylinder, 5013 lever, 5014 spring,

5015 suction cup shell, 5016 rubber pad, 5017 linkage rod, 5018 string.

Detailed ways

In order to further set forth the technical scheme of the utility model and its specific working process, in conjunction with the accompanying drawings, the specific implementation of the utility model is as follows:

The utility model discloses a glass-wiping robot outside a building with self-identification and obstacle avoidance capabilities. As shown in Figure 1, the robot consists of a fixing device 1, a moving and power module 2, a main frame control module 3, an intelligent cleaning module 4, The main frame fixed module 5 and the running gear 6 are composed. Wherein, the fixing device 1 is horizontally and fixedly installed on the upper edge of the glass curtain wall outside the building, the moving and power module 2 is horizontally slidably connected to the fixing device 1, and the main frame fixing module 5 is adsorbed on the outside of the glass curtain wall outside the building, The main frame control module 3 is installed in parallel on the outside of the main frame fixed module 5, the top of the main frame control module 3 is connected with the mobile and power module 2 through a wire rope, and the intelligent cleaning module 4 is slidably connected to the main frame control module 3 , the running device 6 is installed on the inner side of the main frame control module 3 (that is, the side near the glass curtain wall outside the building). What needs to be explained here is: in order to avoid ambiguity, when describing the technical solution described in the utility model, when the parts of the robot are used, the side close to the outer glass curtain wall of the building is defined as the inner side or the inner end surface, and the side away from the outer glass curtain wall of the building is defined as the inner side or the inner end surface. The side is defined as the outer side or the outer end surface. When the parts of the robot are used, the upper side is defined as the upper side, and the lower side is defined as the lower side.

As shown in Fig. 2, described fixing device 1 is made of light rod A 101, light rod B 102, lead screw A 103, wall fixing assembly A, wall fixing assembly D, screw D 108, hand wheel 106, fixing The device main frame 109 is formed. The main frame 109 of the fixing device is a linear frame structure arranged horizontally, and the light bar A 101 and the second light bar 102 are arranged parallel to the front and rear along the direction of the main frame of the fixing device 109, and the two ends of the light bar A 101 and the second light bar 102 All are fixedly installed on the main frame 109 of the fixture; the lead screw A 103 is supported and installed under the main frame 109 of the fixture in parallel with the light bar A 101 and the light bar B 102, and the hand wheel 106 is fixedly connected to the One end of the lead screw A 103 is driven by the manual rotation of the hand wheel 106 to drive the lead screw A 103 to rotate along its own axis; the wall fixing assembly A and the wall fixing assembly D are respectively fixed and installed at both ends of the bottom of the main frame 109 of the fixing device , as shown in Figure 3, the wall fixing assembly A is made up of a wall fixing device A 104, a screw rod A 105 and a rocking bar A 110, the top of the wall fixing device A 104 and the bottom of the fixing device main frame 109 One end is fixedly connected, the lower rear side of the wall fixing device A 104 is provided with a vertical long baffle, the lower front side of the wall fixing device A 104 is provided with a vertical short connecting plate, and the vertical long baffle is connected with the vertical short An inverted "J"-shaped groove is formed between the plates, and a threaded hole is provided below the vertical short connecting plate, and the screw rod A 105 is matched with the threaded hole below the wall fixing device A 104 to form a threaded connection pair. The rocker arm 110 is radially installed on the outer end of the screw arm 105, and the screw arm 105 is driven to rotate by rotating the rocker arm 110, and the screw arm 105 moves forward and backward along the axial direction. The wall fixing component arm is installed on the outer glass of the building. The upper edge of the curtain wall, specifically, the wall fixing component A clamps the outer glass curtain wall edge of the building between the vertical long baffle plate on the rear side below the wall fixing device A 104 and the inner end surface of the screw rod A 105, And rotate the rocker A 110 to drive the screw A 105 to move inward along the axial direction, adapting to the thickness of the upper edge of the outer glass curtain wall of the building, so as to realize the clamping of the upper edge of the outer glass curtain wall of the building; the wall fixing component D is provided by the wall fixing device D 107, screw D 108 and rocker D 111, the structure and function of the wall fixing assembly D are exactly the same as the wall fixing assembly A, and will not be repeated here, and finally the fixing device 1 can be fixed outside the building Along the glass curtain wall.

As shown in FIG. 4 , the mobile and power module 2 is composed of a motor A 21 , a roller 22 , a base 23 , a fixed pulley 24 , a wall fixing assembly B and a wall fixing assembly C. The base 23 is horizontally arranged above the fixing device 1, the motor armor 21 is fixedly mounted on the upper surface of the base 23, the output shaft of the motor armor 21 is coaxially connected with the roller 22, and the roller 22 is supported and installed on the base by a roller bracket. 23, the fixed pulley 24 is installed on the outer edge of the base 23 through the fixed pulley bracket, one end of the wire rope is wound on the roller 22, and the other end of the wire rope goes around the top frame of the main frame 305 of the fixed pulley 24 and the main frame control module 3 connected; the two sides of the base 23 are provided with axially horizontal sleeves, and the base 23 is slidably connected with the light bar A 101 and the light bar B 102 through the sleeves on both sides; the bottom of the base 23 is provided with There is a lead screw connecting frame, and the base 23 is threadedly connected with the lead screw A 103 through the lead screw connecting frame at the bottom, and the base 23 will slide along the light rod A 101 and the light rod B 102 under the rotation of the lead screw A 103; The wall fixing assembly B and the wall fixing assembly C are fixed on the bottom two ends of the base 23 respectively. Component C is composed of wall fixing device C 208, screw C 209 and rocker C 210. The structure and function realization of wall fixing component B and wall fixing component C are exactly the same as wall fixing component A, and are no longer described here. repeat.

The wall fixing assembly A, the wall fixing assembly B, the wall fixing assembly C and the wall fixing assembly D are located on the same straight line. When the robot is cleaning, the wall fixing assembly A, the wall fixing assembly B, the wall fixing assembly The body fixing component C and the wall fixing component D four sets of wall fixing components are in a fixed and clamped locked state to ensure that the fixing device 1 and the mobile and power module 2 are in a reliable static state and ensure the safety of cleaning operations. When the robot moves laterally, lock the fixed assembly A and the wall fixed assembly D on the fixing device 1, loosen the wall fixed assembly B and the wall fixed assembly C on the mobile and power module 2, and pass the manual wheel 106 Drive the screw A 103 to rotate, thereby driving the mobile and power module 2 to move laterally along the glass curtain wall outside the building. When the movement reaches the target position, then fix the mobile and power module 2 to the wall fixing component B and the wall Component C is locked and fixed, and then the fixing component A and the wall fixing component D on the fixing device 1 are loosened, and the screw A 103 is driven to rotate through the hand wheel 106, thereby driving the whole fixing device 1 along the glass curtain wall outside the building. Move along the lateral direction, and when the movement reaches the target position, then lock and fix the fixing component A and the wall fixing component D on the fixing device 1, so that the alternate lateral movement of the device can be realized through alternate operations.

As shown in Figure 5, the main frame control module 3 is arranged parallel to the glass curtain wall outside the building, and is composed of a ball screw module A 301, a ball screw module B 302, a moving block 303, a control center 304 and a main frame 305 . Wherein, the main frame 305 is a regular quadrilateral structure, on the outer edges of both sides of the outer frame of the main frame 305, there are slide rails A 3051 and slide rails B 3052 parallel to each other along the vertical direction, and on the outside of the main frame 305 The upper and lower outer edges of the frame are horizontally and horizontally provided with slide rails C 3053 and slide rails D 3054 parallel to each other, and at the outer edges of both sides of the main frame 305 inner frame are vertically provided with guide rails A 3055 and guide rails parallel to each other. B 3056; the ball screw module A 301 is arranged horizontally and horizontally, and its two ends are respectively slidably connected with the slide rail A 3051 and the slide rail B 3052 of the main frame 305, so that the ball screw module A 301 is in the main frame 305 The top slides freely along the vertical direction; the ball screw module B 302 is arranged vertically, and its two ends are respectively slidably connected with the slide rail C 3053 and the slide rail D 3054 of the main frame 305, so that the ball screw module The second 302 main frame 305 freely slides horizontally along the horizontal direction; the control center 304 is installed in the sinker below the main frame 305, and the control center 304 is used as the control part of the robot described in the utility model, and a single-chip microcomputer is installed inside it to Realize the motion control to the whole robot, in addition, in the lower part of the main frame 305, the battery and the cleaning fluid box etc. that provide electric energy are also installed in the sink tank, and the battery is electrically connected with the control center to provide the working power; The cleaning solution box is connected with the intelligent cleaning module 4 pipelines to provide cleaning solution.

As shown in Figure 5, the ball screw module A 301 is composed of a motor B 3011, a lead screw B 3012, a light rod C 3013, a light rod D 3014, a slider A 3015 and a slider B 3016; The two ends of B 3012 are respectively installed and connected with slide block A 3015 and slide block B 3016 through bearings, light rod C 3013 and light rod D 3014 are arranged in parallel on both sides of lead screw B 3012, and light rod C 3013 and light rod D 3014 The two ends are respectively fixed on the slider A 3015 and the slider B 3016; the output shaft of the motor B 3011 is coaxially connected with the screw B 3012; the screw B 3012 passes through the left and right sides of the moving block 303 horizontally The threaded hole is connected with the moving block 303 by a thread pair, and the light rod C 3013 and the light rod D 3014 pass through the light holes provided on the left and right sides of the moving block 303 respectively, and are driven by the second motor 3011 to rotate at the second screw 3012 Drive the moving block 303 to move smoothly along the light rod C 3013 and the light rod D 3014; the structure of the ball screw module B 302 is exactly the same as that of the ball screw module A 301, and the ball screw module B 302 and the main frame The connection methods of 305 and moving block 303 are the same as those of ball screw module A 301, and will not be repeated here; according to the foregoing, ball screw module A 301 and ball screw module B 302 are driven by their respective motors, The moving blocks 303 are driven to move horizontally, laterally or vertically by respective corresponding lead screws.

As shown in Figure 7a and Figure 7b, the intelligent cleaning module 4 is arranged parallel to the glass curtain wall outside the building and parallel to the main frame control module 3, composed of the first electric cylinder 401, motor C 402, gear A 403, gear B 404, Transmission rod 405, transmission module A 406, transmission module B 407, cleaning module frame 408, camera A 409, camera B 410, camera C 411, camera D 412, cleaning fluid nozzle A 413, cleaning fluid nozzle B 414, cleaning Liquid nozzle C 415, cleaning fluid nozzle D 416, wiper bar 417, guide rail C 418 and guide rail D 419 are formed.

The cleaning module frame 408 is a regular quadrilateral structure, the first electric cylinder 401 is installed and connected on the intermediate connecting frame of the outer end surface of the cleaning module frame 408, the first electric cylinder 401 is connected with the moving block 303 of the main frame control module 3, and the moving block 303 Drive the entire intelligent cleaning module 4 to move in a direction parallel to the glass curtain wall outside the building, and the first electric cylinder 401 drives the entire intelligent cleaning module 4 to move in a direction perpendicular to the glass curtain wall outside the building, thereby driving the intelligent cleaning module 4 to reach the designated work Position; motor C 402 is fixedly installed on the side frame of the outer end face of the cleaning module frame 408, the output end of the motor C 402 is coaxially connected to gear A 403, and the gear A 403 is meshed with the gear B 404, and the gear B 404 Coaxially fixed in the middle of the transmission rod 405, the two ends of the transmission rod 405 are respectively connected to the transmission module A 406 and the transmission module B 407, and the transmission module A 406 and the transmission module B 407 are arranged on the cleaning module frame On the inner end face of 408, the wiper strip 417 is arranged on one side of the inner end face of the cleaning module frame 408, and its two ends are respectively connected to the transmission module A 406 and the transmission module B 407; the camera A 409, camera B 410, Camera C 411 and camera D 412 are respectively evenly distributed and installed on the inner end face of the cleaning module frame 408 to identify whether there is an obstacle in the cleaning area reached by the intelligent cleaning module 4; the cleaning liquid nozzle A 413, cleaning Liquid nozzle B 414, cleaning liquid nozzle C 415 and cleaning liquid nozzle D 416 are respectively evenly distributed and installed on the inner end surface of the cleaning module frame 408, so that the sprayed atomized cleaning liquid can evenly cover the intelligent cleaning module 4 The cleaning area reached: the guide rail C 418 and the guide rail D 419 are arranged in parallel, which are respectively arranged on the two side frames of the inner end face of the cleaning module frame 408 perpendicular to the transmission rod 405, the cleaning liquid nozzle A 413, cleaning Liquid nozzle B 414, cleaning fluid nozzle C 415 and cleaning fluid nozzle D 416 are all connected to the cleaning fluid box through pipelines.

As shown in Figure 7b and Figure 7c, the transmission module A 406 is composed of a gear C 4061, a gear D 4062, a gear E 4063, a pulley A 4064, a pulley B 4065, a moving slider 4066, a transmission slider 4067 and a belt 4068. . The gear E 4063 is coaxially fixedly connected with the end of the transmission rod 405, and the gear E 4063, the gear D 4062 and the gear C 4061 are sequentially meshed and connected, and the gear E 4063, the gear D 4062 and the gear C 4061 are all supported and installed in the cleaning On the module frame 408; the pulley A 4064 is coaxially arranged with the gear C 4061, one end of the belt 4068 is connected to the pulley A 4064, and the other end of the belt 4068 is connected to the pulley B 4065 fixedly installed on the other end of the cleaning module frame 408. , the belt 4068 is parallel to the guide rail C 418 on the same side; the moving slider 4066 is provided with a strip chute perpendicular to the direction of the belt 4068, and one end of the moving slider 4066 is slidably installed on the straight line of the guide rail C 418. In the guide groove, the other end of the moving slider 4066 is connected with the wiper strip 417, and the moving slider 4066 can drive the wiper strip 417 to move linearly along the guide rail C 418; one end of the transmission slider 4067 is fixedly connected to the belt 4068, and the transmission The other end of slide block 4067 is slidably installed in the strip chute of motion slide block 4066, and transmission slide block 4067 can move along with the cycle turnover of belt 4068. When moving in a straight line, the transmission slider 4067 will drive the movement slider 4066 to drive the wiper bar 417 to move linearly along the guide rail C 418. When the transmission slider 4067 moves to the end arc segment along with the belt 4068, the transmission slider 4067 will move along the The bar-shaped chute of the slider 4066 moves vertically downward to the lower layer of the belt 4068. When the transmission slider 4067 moves linearly along the lower layer of the belt along with the belt 4068, the transmission slider 4067 will drive the moving slider 4066 to drive the wiper bar 417 along the belt. The guide rail C 418 moves in a reverse direction; the structure of the transmission module B 407 is exactly the same as that of the transmission module A 406, and will not be repeated here. The two ends of the wiper strip 417 pass through the transmission module A 406 and the transmission module Driven by B 407, the wiper strip 417 reciprocates on a plane parallel to the glass curtain wall outside the building to clean the glass curtain wall. When the intelligent cleaning module 4 arrives at the cleaning area, after the camera A 409, the camera B 410, the camera C 411 and the camera D 412 identify no obstacles, the cleaning liquid nozzle A 413, the cleaning liquid nozzle B 414, the cleaning liquid nozzle C 415 and the cleaning liquid Spray head D 416 sprays atomized cleaning liquid, and through the action of the first electric cylinder 401, the wiper strip 417 moves in the direction close to the glass curtain wall outside the building until it fits on the surface of the glass curtain wall. Module A 46 and transmission module B 47 drive the wiper strip 417 to reciprocate on a plane parallel to the glass curtain wall outside the building, thereby realizing the cleaning of the glass curtain wall.

As shown in FIG. 8 a , the main frame fixing module 5 is composed of a fixing device A 501 , a fixing device B 502 and a fixing device C 503 . Wherein, the fixing device A 501 is slidably connected on the guide rail A 3055 of the main frame control module 3, the fixing device B 502 is slidably connected on the guide rail B 3056 of the main frame control module 3, and the fixing device C 503 is fixedly installed on the inner lower end frame of the main frame 305 of the main frame control module 3 .

As shown in FIG. 8 b , the fixing device A 501 is composed of a slider C 5011 , a second electric cylinder 5012 , a lever 5013 , a spring 5014 , a suction cup shell 5015 , a rubber pad 5016 , a linkage rod 5017 and a string 5018 . The second electric cylinder 5012 is arranged perpendicular to the guide rail A 3055, one end of the second electric cylinder 5012 is fixedly connected with the slider C 5011, the slider C 5011 is slidably connected in the guide rail A 3055, and the other end of the second electric cylinder 5012 passes through the connecting bracket It is vertically fixedly connected with the outer end surface of the suction cup shell 5015, the rubber pad 5016 is fixedly connected on the outer end surface of the suction cup shell 5015, the spring 5014 is installed inside the suction cup shell 5015, and its two ends are respectively supported and connected to the inside of the outer end surface of the suction cup shell 5015 and the rubber On the pad 5016, the middle part of the lever 5013 is hinged on the outer end surface of the suction cup shell 5015, and one end of the string 5018 is connected to the cylinder body of the second electric cylinder 5012, and the other end of the string 5018 is connected to the end of the lever 5013. One end of the moving rod 5017 is hinged to the lever 5013, and the position where the connecting rod 5017 is connected to the lever 5013 is connected to the string 5018 and the lever 5013 is located on the same side of the hinge point of the lever 5013, and the other end of the connecting rod 5017 passes through the suction cup The housing 5015 is connected to a rubber pad 5016 . When the telescopic rod of the second electric cylinder 5012 was stretched out, the string 5018 pulled one end of the lever 5013 to tilt up, and the lever 5013 drove the linkage rod 5017 to move upwards, and the linkage rod 5017 pulled the rubber pad 5016 to make the rubber pad 5016 Negative pressure is generated between it and the glass curtain wall, and the fixing device A 501 is adsorbed and fixed on the outer surface of the glass curtain wall outside the building through the rubber pad 5016; Pull the rubber pad 5016 outward to keep the fixing device A 51 away from the wall, and release the adsorption and fixation of the fixing device A 51 .

The structure of the fixing device B 502 is exactly the same as that of the fixing device A 501, and it is also slidably connected to the guide rail B 3056 through a slider, and its working method is also the same as that of the fixing device A 501, which will not be repeated here; The structure of the device C 503 is basically the same as that of the fixing device A 501. The fixing device C 503 does not have the structure of the slider C 5011. The other components, connections and functions are exactly the same as those of the fixing device A 501, and will not be repeated here. One end of the electric cylinder of the fixing device C 503 is directly and vertically fixedly installed on the inner lower end frame of the main frame 305 .

When the intelligent cleaning module 4 was working, the main frame fixing module 5 was adsorbed on the glass curtain wall by the fixing device A 501, the fixing device B 502 and the fixing device C 503, and the whole device was fixed on the wall, and the area in the main frame 305 was to be After cleaning, the fixing device A 501 and the fixing device B 502 are desorbed, and slide along the guide rail A 355 and the guide rail B 356 to the bottom of the main frame 305 respectively by their own gravity, and are adsorbed on the wall again. Subsequently, the fixing device C 503 removes the adsorption, moves and moves with the motor armor 21 in the power module 2, releases the wire rope, and the whole device moves downwards to start cleaning the lower area.

As shown in Figure 9, the walking device 6 is composed of universal wheel A 601, universal wheel B 602, universal wheel C 603 and universal wheel D 604, and the four universal wheels are fixedly mounted on the main frame control module respectively. 3 on the four corners of the inner end face of the main frame 305 to ensure that the whole device passes through obstacles smoothly and smoothly.

In the above structure, the motor A 201 in the mobile and power module 2, the motor B 3011 in the main frame control module 3, the first electric cylinder 401 in the intelligent cleaning module 4, the motor C 402, the camera A 409, Camera B 410, camera C 411, camera D 412, cleaning fluid nozzle A 413, cleaning fluid nozzle B 414, cleaning fluid nozzle C 415, cleaning fluid nozzle D 416 and the second electric cylinder 5012 in the main frame fixed module are respectively connected with The control center 304 in the main frame control module 3 is connected to the signal, and the action control of the above-mentioned components is realized through the single-chip microcomputer in the control center 304 .

The working process of the glass-wiping robot outside a building with self-identification and obstacle avoidance capabilities described in the utility model includes the process of the robot cleaning the glass curtain wall, the process of the robot moving in the vertical direction, and the process of the robot moving horizontally and laterally. The specific working process is as follows:

1. The robot cleans the glass curtain wall in situ, as shown in Figure 10, the specific process is as follows:

A1: Fix the fixing device 1 horizontally on the top edge of the glass curtain wall, match and install the mobile and power module 2 with the fixing device 1, and the mobile and power module 2 lifts the main frame control module 3 loaded with the intelligent cleaning module 4 through the wire rope On the outside of the glass curtain wall, the main frame control module 3 controls the fixing device A 501, the fixing device B 502 and the fixing device C 503 of the main frame fixing module 5 through the control center 304, so that they are adsorbed on the outer surface of the glass curtain wall;

A2: Use the camera A 409, camera B 410, camera C 411 and camera D 412 on the intelligent cleaning module 4 to identify the working area, identify whether there are obstacles such as glass frame protrusions in the working area, and identify whether the working area is an unwashed area, Define the unwashed area without obstacles such as glass frame protrusions as the target area, and control the ball screw module A 301 and the ball screw module B 302 through the control center 304 to drive the mobile intelligent cleaning module 4 to reach above the target area;

A3: Control the first electric cylinder 401 to work through the control center 304, push the intelligent cleaning module 4 to drive the wiper strip 417 to move perpendicular to the glass curtain wall until it is close to the glass surface;

A4: Through the control center 304, control the cleaning liquid nozzle A 413, the cleaning liquid nozzle B 414, the cleaning liquid nozzle C 415 and the cleaning liquid nozzle D 416 in the intelligent cleaning module 4 to spray the cleaning liquid evenly on the surface of the glass curtain wall at one time;

A5: Control the motor C 402 through the control center 304 to drive the movement of the transmission module A 406 and the transmission module B 407, and then drive the wiper strip 417 to repeatedly scrub the glass;

A6: After the scrubbing of the working area unit is completed, the control center 304 controls the first electric cylinder 401 to shrink, and drives the intelligent cleaning module 4 to separate from the glass surface;

A7: Repeat steps A2-A6 until all glass curtain walls in the area covered by the main frame 305 of the main frame control module 3 are cleaned.

2. The robot cleans the glass curtain wall vertically, the specific process is as follows:

B1: After the glass curtain wall in the area covered by the main frame 305 of the current main frame control module 3 is completely cleaned, when the lower area is to be cleaned, the control center 304 controls the fixing device A 501 and the fixing device B 502 of the main frame fixing module 5 to release Adsorption, as shown in Figure 11;

B2: Fixing device A 501 and fixing device B 502 respectively slide down to the bottom of the main frame 305 along the guide rails on both sides of the main frame 305, and then are adsorbed on the outer surface of the glass curtain wall again under the control of the control center 304, as shown in Figure 12;

B3: The control center 304 controls the fixing device C 503 of the main frame fixing module 5 to remove the adsorption, and controls the movement to work with the motor A 201 of the power module 2, releases the wire rope, and makes the main frame control module 3 loaded with the intelligent cleaning module 4 vertical Move downward, so that the fixing device A 501 and the fixing device B 502 slide relatively upwards to the top of the main frame 305 along the guide rails on both sides of the main frame 305, as shown in Figure 13;

B4: The control center 304 controls the fixing device C 503 to be adsorbed on the outer surface of the glass curtain wall again, and repeats the above steps A2-A7 to complete the scrubbing of the glass in the lower area, as shown in Figure 14;

B5: Repeat the above steps B1-B4 until the main frame control module 3 moves to the bottom of the glass curtain wall, that is, the cleaning of a row of vertical glass curtain walls outside the building is completed.

3. The robot cleans the glass curtain wall horizontally and horizontally. The specific process is as follows:

C1: After the above-mentioned series of vertical glass curtain walls are cleaned, the control center 304 controls the movement and the motor A 201 of the power module 2 to work, shrinks the wire rope, and drives the main frame control module 3 loaded with the intelligent cleaning module 4 to move to the glass curtain wall top, as shown in Figure 15;

C2: Manually loosen the wall fixing device B 205 and the wall fixing device C 208 of the mobile and power module 2, and then drive the screw A 103 by shaking the manual wheel 106 to drive the entire mobile and power module 2 to move horizontally and laterally to the target After position, lock the wall fixing device B 205 and the wall fixing device C 208 again, as shown in Figure 16;

C3: Repeat the above steps B1-B5 to complete the cleaning of another vertical glass curtain wall in the horizontal direction. At the same time, manually loosen the wall fixing device A 104 and the wall fixing device D 107 on the fixing device 1, and shake The hand wheel 106 drives the lead screw A 103 to drive the fixing device 1 to move horizontally and laterally to the target position, thereby realizing the alternate horizontal and lateral movement of the fixing device 1 and the mobile and power module 2 , as shown in FIG. 17 .

Through the above process, the function of vertically cleaning large-area glass curtain walls from top to bottom→transversely moving→vertically cleaning again is realized.

Claims (9)

1. the outer glass-cleaning robot of the building with self-identifying and obstacle avoidance ability, it is characterised in that:

The robot is by fixing device (1), mobile and power plant module (2), main frame control module (3), intelligent cleaning module (4), main frame fixed module (5) and running gear (6) composition；

Fixed device (1) level is fixedly mounted on the outer glass curtain wall of building along upper, the movement and power plant module (2) water Flat to be slidably connected on fixed device (1), the main frame fixed module (5) is adsorbed on the outside of the outer glass curtain wall of building, main frame Frame control module (3) is installed in parallel in the outside of main frame fixed module (5), and the top of the main frame control module (3) is logical It crosses wirerope to connect with movement with power plant module (2), the intelligence cleaning module (4) is slidably connected at main frame control module (3) on, the running gear (6) is mounted on the inside of main frame control module (3).

2. the outer glass-cleaning robot of building as described in claim 1 with self-identifying and obstacle avoidance ability, it is characterised in that:

The fixed device (1) is by feed rod first (101), feed rod second (102), lead screw first (103), two groups of wall fixation kits, spiral shells Bar fourth (108), hand roulette (106), fixed device main frame (109) composition；

The feed rod first (101) and feed rod second (102) are arranged in parallel before and after the direction along fixed device main frame (109), light The both ends of thick stick first (101) and feed rod second (102) are fixedly mounted on fixed device main frame (109)；

The lead screw first (103) supports parallelly with feed rod first (101) and feed rod second (102) is mounted on fixed device main frame (109) lower section, the hand roulette (106) are fixedly connected on one end of lead screw first (103)；

Wall fixation kit described in two groups is respectively and fixedly installed to fixed device main frame (109) bottom both ends, and is installed in Along upper on the outer glass curtain wall of building.

3. the outer glass-cleaning robot of building as claimed in claim 2 with self-identifying and obstacle avoidance ability, it is characterised in that:

The movement and power plant module (2) are by motor first (21), idler wheel (22), pedestal (23), fixed pulley (24) and two groups of walls Fixation kit composition；

The pedestal (23) is horizontally set on the top of fixed device (1), and the motor first (21) is fixedly mounted on pedestal (23) Upper surface, the output shaft and idler wheel (22) of motor first (21) are coaxially connected, and idler wheel (22) pass through rolling wheel support support installation On pedestal (23), the fixed pulley (24) is mounted on the outer of pedestal (23) by fixed pulley bracket, and wirerope one end twines It is wound on idler wheel (22), the wirerope other end bypasses the top of the main frame (305) of fixed pulley (24) and main frame control module (3) Portion's frame is connected；

It is horizontal sleeve that two lateral edges of the pedestal (23), which are equipped with axial, and the pedestal (23) passes through the sleeve and light of two sides Thick stick first (101) and feed rod second (102) are slidably connected；

The bottom of the pedestal (23) is equipped with lead screw connection frame, the lead screw connection frame and lead screw first that pedestal (23) passes through bottom (103) it is threadedly coupled, drives lower bottom base (23) will be along feed rod first (101) and feed rod second (102) in the rotation of lead screw first (103) Sliding；

Wall fixation kit described in two groups is separately fixed at the bottom both ends of pedestal (23).

4. the outer glass-cleaning robot of building with self-identifying and obstacle avoidance ability as described in Claims 2 or 3, it is characterised in that:

The wall fixation kit is made of wall body fixing device, screw rod and rocking bar；

It is fixedly connected at the top of the wall body fixing device with the bottom end of fixed device main frame (109), wall body fixing device Lower section on rear side of be equipped with vertical long baffle, be equipped with vertical short connecting plate on front side of the lower section of wall body fixing device, vertical long baffle with Inverted " j " shaped groove is formed between vertical short connecting plate, is equipped with threaded hole, the screw rod and wall in the lower section of vertical short connecting plate Threaded hole below fixed device is cooperatively connected to form threaded connection pair, and the rocking bar is diametrically mounted to the outer end of screw rod, leads to It crosses pivots rocker and drives screw rod rotation, and screw rod edge moves axially back and forth.

5. the outer glass-cleaning robot of building as described in claim 1 with self-identifying and obstacle avoidance ability, it is characterised in that:

The main frame control module (3) is parallel to the outer glass curtain wall setting of building, by ball-screw mould group first (301), ball Lead screw mould group second (302), movable block (303), control centre (304) and main frame (305) composition；

It is equipped with the sliding rail first (3051) being parallel to each other along the vertical direction at the two sides outer of the main frame (305) lateral frame With sliding rail second (3052), the sliding rail being parallel to each other is equipped with along horizontal cross at the outer up and down of main frame (305) lateral frame Third (3053) and sliding rail fourth (3054) are equipped with mutually flat along the vertical direction at the two sides outer of main frame (305) inner frame Capable guide rail first (3055) and guide rail second (3056)；

The ball-screw mould group first (301) is arranged along horizontal cross, the both ends sliding rail first with main frame (305) respectively (3051) be slidably connected with sliding rail second (3052), make ball-screw mould group first (301) on main frame (305) along the vertical direction from By sliding；

The ball-screw mould group second (302) is arranged along the vertical direction, the both ends sliding rail third with main frame (305) respectively (3053) it is slidably connected, makes on ball-screw mould group second (302) main frame (305) along horizontal cross freedom with sliding rail fourth (3054) Sliding；

The control centre (304) is mounted in the lower section installation deep gouge of main frame (305), installation inside control centre (304) Single-chip microcontroller is installed in the lower section of main frame (305) and is equipped with battery and cleaning solution box in deep gouge, in the battery and control Electrocardio connection, the cleaning solution box and intelligent cleaning module (4) piping connection.

6. the outer glass-cleaning robot of building as claimed in claim 5 with self-identifying and obstacle avoidance ability, it is characterised in that:

The ball-screw mould group first (301) is by motor second (3011), lead screw second (3012), feed rod third (3013), feed rod fourth (3014), sliding block first (3015) and sliding block second (3016) composition；

The both ends of the lead screw second (3012) are connected with sliding block first (3015) and sliding block second (3016) installation respectively by bearing, light Thick stick third (3013) and feed rod fourth (3014) are arranged in parallel in the two sides of lead screw second (3012), and feed rod third (3013) and feed rod fourth (3014) both ends are separately fixed in sliding block first (3015) and sliding block second (3016)；

The output shaft of the motor second (3011) is coaxial connected with lead screw second (3012)；

The threaded hole that the lead screw second (3012) opens up horizontal through movable block (303) left and right side, passes through with movable block (303) Screw thread pair is connected, and the feed rod third (3013) and feed rod fourth (3014) are each passed through movable block (303) left and right side and open up Unthreaded hole rotates in lead screw second (3012) under the driving of motor second (3011) and drives movable block (303) along feed rod third (3013) With feed rod fourth (3014) smooth motion；

The structure of the ball-screw mould group second (302) is identical as ball-screw mould group first (301), ball-screw mould group first (301) movable block (303) is driven to move along horizontal cross or vertical direction respectively with ball-screw mould group second (302).

7. the outer glass-cleaning robot of building as described in claim 1 with self-identifying and obstacle avoidance ability, it is characterised in that:

The intelligence cleaning module (4) is parallel to the outer glass curtain wall setting of building, by the first electric cylinders (401), motor third (402), Gear first (403), gear second (404), drive rod (405), transmission mould group first (406), transmission mould group second (407), cleaning module Frame (408), the camera shooting helmet (409), camera second (410), camera third (411), camera fourth (412), cleaning solution spray head First (413), cleaning solution spray head third (415), cleaning solution spray head fourth (416), wiper blade (417), is led cleaning solution spray head second (414) Rail third (418) and guide rail fourth (419) composition；

First electric cylinders (401) installation is connected on the intermediate connection frame of cleaning module frame (408) outer end face, the first electric cylinders (401) it is connected with the movable block (303) of main frame control module (3)；

The motor third (402) is fixedly mounted on the side frame of cleaning module frame (408) outer end face, motor third (402) The coaxially connected gear first (403) of output end, the gear first (403) engages connection, the gear second with gear second (404) (404) it is coaxially fixed on the middle part of drive rod (405), the both ends of the drive rod (405) are separately connected transmission mould group first (406) With transmission mould group second (407), the transmission mould group first (406) and transmission mould group second (407) are arranged in cleaning module frame (408) On inner face, the wiper blade (417) is arranged in cleaning module frame (408) inner face side, and both ends are connected to biography In dynamic model group first (406) and transmission mould group second (407)；

The camera shooting helmet (409), camera second (410), camera third (411) and camera fourth (412) are equably divided respectively Cloth is simultaneously mounted on cleaning module frame (408) inner face；

The cleaning solution spray head first (413), cleaning solution spray head second (414), cleaning solution spray head third (415) and cleaning solution spray head fourth (416) it is evenly distributed and is mounted on cleaning module frame (408) inner face respectively；

The guide rail third (418) and the parallel setting of guide rail fourth (419), are separately positioned on perpendicular to the clear of drive rod (405) It is the cleaning solution spray head first (413), cleaning solution spray head second (414), clear on the two sides frame of mold cleaning block frame (408) inner face Washing lotion spray head third (415) and cleaning solution spray head fourth (416) are connected by pipeline with cleaning solution box.

8. the outer glass-cleaning robot of building as claimed in claim 7 with self-identifying and obstacle avoidance ability, it is characterised in that:

The transmission mould group first (406) is by gear third (4061), gear fourth (4062), gear penta (4063), belt pulley first (4064), belt pulley second (4065), moving slide block (4066), driving block (4067) and belt (4068) composition；

Gear penta (4063) and the end of drive rod (405) are fixedly and coaxially connected, the gear penta (4063), gear fourth (4062) Connection is successively engaged with gear third (4061), the gear penta (4063), gear fourth (4062) and gear third (4061) support It is mounted on cleaning module frame (408)；

Belt pulley first (4064) and gear third (4061) are coaxially disposed, and described belt (4068) one end and belt pulley first (4064) pass Dynamic connection, belt (4068) other end and the belt pulley second for being fixedly mounted on cleaning module frame (408) other end (4065) it is sequentially connected, the belt (4068) is parallel with ipsilateral guide rail third (418)；

It is provided with the bar shaped sliding slot perpendicular to belt (4068) direction on the moving slide block (4066), the one of moving slide block (4066) End is slidably mounted in the linear guide groove of guide rail third (418), and the other end of moving slide block (4066) is connected with wiper blade (417) It connects, moving slide block (4066) can drive wiper blade (417) to move along a straight line along guide rail third (418)；

One end of the driving block (4067) is fixedly connected on belt (4068), the other end sliding of driving block (4067) It is mounted in the bar shaped sliding slot of moving slide block (4066)；

The transmission mould group second (407) is identical as transmission mould group first (406) structure.

9. the outer glass-cleaning robot of building as described in claim 1 with self-identifying and obstacle avoidance ability, it is characterised in that:

The main frame fixed module (5) is by fixed device first (501), fixed device second (502) and fixed device third (503) group At；

The fixed device first (501) is slidably connected in the guide rail first (3055) of the main frame control module (3), described solid Determine device second (502) to be slidably connected in the guide rail second (3056) of the main frame control module (3), the fixed device third (503) it is fixedly mounted on the inside lower end frame of the main frame (305) of the main frame control module (3)；

The fixed device first (501) is by sliding block third (5011), the second electric cylinders (5012), lever (5013), spring (5014), suction Disk casing (5015), rubber pad (5016), interlocking lever (5017) and cord (5018) composition；

Second electric cylinders (5012) are arranged perpendicular to guide rail first (3055), and one end of the second electric cylinders (5012) and sliding block third (5011) are solid Fixed connection, sliding block third (5011) are slidably connected in guide rail first (3055), and the other end of the second electric cylinders (5012) passes through connection branch Frame is vertical with the outer end face of sucking disk outer-shell (5015) to be fixedly connected, and rubber pad (5016) is fixedly connected on sucking disk outer-shell (5015) On outer end face, spring (5014) is mounted on sucking disk outer-shell (5015) inside, and both ends support be connected to sucking disk outer-shell respectively (5015) on the inside of outer end face and on rubber pad (5016), the outer end of sucking disk outer-shell (5015) is hinged in the middle part of lever (5013) On face, one end of cord (5018) is connected on the cylinder body of the second electric cylinders (5012), and the other end of cord (5018) is connected to thick stick The end of bar (5013), interlocking lever (5017) one end are hinged with lever (5013), and interlocking lever (5017) other end, which passes through, to be inhaled Disk casing (5015) is connected with rubber pad (5016)；

The structure of the fixed device second (502) is identical as fixed device first (501)；

The structure of the fixed device third (503) is identical as fixed device first (501), and the electricity of the fixed device third (503) Cylinder one end is directly vertically fixedly mounted on the inside lower end frame of main frame (305).