CN209391847U - Glass-cleaning robot outside building with self-identifying and obstacle avoidance ability - Google Patents

Abstract

The utility model discloses glass-cleaning robots outside the building with self-identifying and obstacle avoidance ability, in the robot, fixed device level is fixedly mounted on the outer glass curtain wall of building along upper, it is mobile to be slidably connected on the securing means with power plant module level, main frame fixed module is adsorbed on the outside of the outer glass curtain wall of building, main frame control module is installed in parallel in the outside of main frame fixed module, the top of main frame control module is connect by wirerope with movement with power plant module, intelligent cleaning module is slidably connected in main frame control module, running gear is mounted on the inside of main frame control module.The outer glass-cleaning robot of building described in the utility model can move freely outside building and be able to achieve self-identifying and barrier avoiding function, make robot that can still keep stablizing operation in the case where height has wind or other special weather environment in vain.

Description

Glass-cleaning robot outside building with self-identifying and obstacle avoidance ability

Technical field

The utility model belongs to cleaning equipment technology field, and in particular to one kind is used for glass curtain wall large area rapid cleaning The outer glass-cleaning robot of the building with self-identifying and obstacle avoidance ability.

Background technique

Glass curtain wall is that a kind of relatively more extensive novel wall is applied in Contemporary Architecture, although glass curtain wall beauty atmosphere, But exist in clean and maintenance operation more highly difficult.Traditional glass curtain wall cleaning often using artificial cleaning mode, Operating worker is hung on the outside of glass curtain wall and is cleaned, this cleaning way is not only affected by weather conditions, also right There are great hidden danger for the operation safety of cleaner.When carrying out operation by the way of manually cleaning, emphasis is needed to check The situation on roof, can inspection install hanging basket and platform sling, and whether there is or not obstacles etc. for movement on roof for suspender, it is also necessary to according to cleaning The field condition of operation determines special washing and cleaning operation scheme, therefore this is limited by the way of manually cleaning glass curtain wall It is more, it is unable to satisfy efficient cleaning requirement.

Summary of the invention

For above-mentioned defect existing in the prior art, the utility model provides a kind of with self-identifying and obstacle avoidance ability The outer glass-cleaning robot of building, realize high-efficiency cleaning glass curtain wall, robot can move freely outside building and be able to achieve from Identification and barrier avoiding function, make robot that can still keep stablizing operation in the case where height has wind or other special weather environment in vain.In conjunction with Figure of description, the technical solution of the utility model are as follows:

Glass-cleaning robot outside building with self-identifying and obstacle avoidance ability, the robot by fix device 1, it is mobile with Power plant module 2, main frame control module 3, intelligent cleaning module 4, main frame fixed module 5 and running gear 6 form；

1 level of fixed device is fixedly mounted on the outer glass curtain wall of building along upper, the movement and 2 water of power plant module 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 control Molding block 3 is installed in parallel in the outside of main frame fixed module 5, the top of the main frame control module 3 by wirerope with Movement is connect with power plant module 2, and the intelligence cleaning module 4 is slidably connected in main frame control module 3, the running gear 6 are mounted on the inside of main frame control module 3.

Further, the fixed device 1 is by feed rod first 101, feed rod second 102, the fixed group of 103, two groups of walls of lead screw first Part, screw rod fourth 108, hand roulette 106, fixed device main frame 109 form；

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, feed rod The both ends of 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 109 bottom both ends of device main frame, and is respectively mounted Along upper on glass curtain wall outside building.

Further, the movement and power plant module 2 are by motor first 21, idler wheel 22, pedestal 23, fixed pulley 24 and two groups Wall 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 the upper of pedestal 23 Surface, the output shaft and idler wheel 22 of motor first 21 are coaxially connected, and idler wheel 22 is mounted on pedestal 23 by rolling wheel support support, The fixed pulley 24 is mounted on the outer of pedestal 23 by fixed pulley bracket, and wirerope one ends wound is on idler wheel 22, steel wire The rope other end is connected around fixed pulley 24 with the top frame of the main frame 305 of main frame control module 3；

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 103 that pedestal 23 passes through bottom It is threadedly coupled, drives lower bottom base 23 that will slide along feed rod first 101 and feed rod second 102 in the rotation of lead screw first 103；

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

Further, 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, the fixed dress of wall It is equipped with vertical long baffle on rear side of the lower section set, vertical short connecting plate, vertical long baffle are equipped on front side of the lower section of wall body fixing device 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 the fixed device of body is cooperatively connected to form threaded connection pair, and the rocking bar is diametrically mounted to the outer end of screw rod, Screw rod rotation is driven by pivots rocker, and screw rod edge moves axially back and forth.

Further, 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-screw mould group second 302, movable block 303, control centre 304 and main frame 305 form；

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

The ball-screw mould group first 301 along horizontal cross be arranged, both ends respectively with the sliding rail first 3051 of main frame 305 It is slidably connected with sliding rail second 3052, keeps ball-screw mould group first 301 free to slide along the vertical direction on main frame 305；

The ball-screw mould group second 302 is arranged along the vertical direction, both ends respectively with the sliding rail of main frame 305 the third 3053 It is slidably connected, makes free to slide along horizontal cross on 302 main frame 305 of ball-screw mould group second with sliding rail fourth 3054；

The control centre 304 is mounted in the lower section installation deep gouge of main frame 305, installs inside control centre 304 single Piece machine is equipped with battery and cleaning solution box, the battery and control centre's electricity in the lower section of main frame 305 installation deep gouge Connection, 4 piping connection of the cleaning solution box and intelligent cleaning module.

Further, the ball-screw mould group first 301 is by motor second 3011, lead screw second 3012, feed rod third 3013, light Thick stick fourth 3014, sliding block first 3015 and sliding block second 3016 form；

The both ends of the lead screw second 3012 are connected with sliding block first 3015 and the installation of sliding block second 3016 respectively by bearing, feed rod Third 3013 and feed rod fourth 3014 be arranged in parallel in the two sides of lead screw second 3012, and the both ends of feed rod third 3013 and feed rod fourth 3014 It is 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 is opened up horizontal through 303 left and right side of movable block passes through spiral shell with movable block 303 Line pair is connected, and the feed rod third 3013 and feed rod fourth 3014 are each passed through the unthreaded hole that 303 left and right side of movable block opens up, in electricity Under the driving of machine second 3011, is rotated in lead screw second 3012 and drive movable block 303 steady along feed rod third 3013 and feed rod fourth 3014 Movement；

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.

Further, the intelligent cleaning module 4 is parallel to the outer glass curtain wall setting of building, by the first electric cylinders 401, motor The 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 helmet 409, camera second 410, camera the third 411, the spray of camera fourth 412, cleaning solution spray head first 413, cleaning solution are imaged Head second 414, cleaning solution spray head the third 415, cleaning solution spray head fourth 416, wiper blade 417, guide rail the third 418 and guide rail fourth 419 form；

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

The motor the third 402 is fixedly mounted on the side frame of 408 outer end face of cleaning module frame, motor the third 402 The coaxially connected gear first 403 of output end, the gear first 403 engage connection with gear second 404, and the gear second 404 is coaxially solid It is scheduled on the middle part of drive rod 405, the both ends of the drive rod 405 are separately connected transmission mould group first 406 and transmission mould group second 407, The transmission mould group first 406 and transmission mould group second 407 are arranged on 408 inner face of cleaning module frame, the wiper blade 417 It is arranged in 408 inner face side of cleaning module frame, both ends are connected to transmission mould group first 406 and transmission mould group second 407 On；

The camera shooting helmet 409, camera second 410, camera the third 411 and camera fourth 412 are evenly distributed simultaneously respectively It is mounted on 408 inner face of cleaning module frame；

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

The guide rail the third 418 and the parallel setting of guide rail fourth 419, are separately positioned on the cleaning perpendicular to drive rod 405 On the two sides frame of 408 inner face of module frame, the cleaning solution spray head first 413, cleaning solution spray head second 414, cleaning solution spray head The third 415 and cleaning solution spray head fourth 416 be connected by pipeline with cleaning solution box.

Further, 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 form；

Gear penta 4063 and the end of drive rod 405 are fixedly and coaxially connected, the gear penta 4063, gear fourth 4062 and tooth The third 4061 successively engagement connection is taken turns, the gear penta 4063, gear fourth 4062 and gear third 4061 support and be mounted on cleaning mould On block frame 408；

Belt pulley first 4064 and gear third 4061 are coaxially disposed, and described 4068 one end of belt and the transmission of belt pulley first 4064 connect It connecing, 4068 other end of belt is sequentially connected with the belt pulley second 4065 for being fixedly mounted on 408 other end of cleaning module frame, The belt 4068 and ipsilateral guide rail the third 418 is parallel；

The bar shaped sliding slot perpendicular to 4068 direction of belt, one end of moving slide block 4066 are provided on the moving slide block 4066 It is slidably mounted in the linear guide groove of guide rail the third 418, the other end of moving slide block 4066 is connected with wiper blade 417, movement Sliding block 4066 can drive wiper blade 417 along the third 418 linear motion of guide rail；

One end of the driving block 4067 is fixedly connected on belt 4068, and the other end of driving block 4067 slides peace In the bar shaped sliding slot of moving slide block 4066；

The transmission mould group second 407 is identical as transmission mould group 406 structures of first.

Further, the main frame fixed module 5 is by fixed device first 501, fixed device second 502 and fixed device third 503 compositions；

The fixed device first 501 is slidably connected in the guide rail first 3055 of the main frame control module 3, the fixation Device second 502 is slidably connected in the guide rail second 3056 of the main frame control module 3, the fixed peace of the fixed device the third 503 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, sucking disk outer-shell 5015, rubber pad 5016, interlocking lever 5017 and cord 5018 form；

Second electric cylinders 5012 are arranged perpendicular to guide rail first 3055, one end of the second electric cylinders 5012 and the fixed company of sliding block third 5011 It connects, sliding block third 5011 is slidably connected in guide rail first 3055, and the other end of the second electric cylinders 5012 passes through outside connecting bracket and sucker The outer end face of shell 5015 is vertically fixedly connected, and rubber pad 5016 is fixedly connected on the outer end face of sucking disk outer-shell 5015, spring 5014 are mounted on inside sucking disk outer-shell 5015, and both ends are supported on the inside of the outer end face for being connected to sucking disk outer-shell 5015 respectively and rubber On rubber mat 5016, the middle part of lever 5013 is hinged on the outer end face of sucking disk outer-shell 5015, and one end of cord 5018 is connected to On the cylinder body of two electric cylinders 5012, the other end of cord 5018 is connected to the end of lever 5013,5017 one end of interlocking lever and thick stick Bar 5013 is hinged, and 5017 other end of interlocking lever passes through sucking disk outer-shell 5015 and 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 the third 503 is identical as fixed device first 501, and the electric cylinders of the fixed device the third 503 One end is directly vertically fixedly mounted on the inside lower end frame of main frame 305.

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

1, the outer glass-cleaning robot of building described in the utility model can realize the primary extensive operation for cleaning a face curtain wall, The high-efficiency washing of curtain wall may be implemented in the operation simultaneously of Ji Tai robot；

2, the outer glass-cleaning robot of building described in the utility model passes through the fixation device that roof is arranged in and movement and moves Power module is able to achieve moving freely for robot body part, maximized to mitigate robot body's weight, reduces robot Demand of the main body for the energy；

3, the outer glass-cleaning robot of building described in the utility model installs camera, application image on intelligent cleaning module Identification technology identifies and crosses over the obstacles such as instrument bezel protrusion, and planning cleaning route realizes the intelligence of product；

4, the powerful electromagnetic chuck that the outer glass-cleaning robot of building described in the utility model can be moved by two in sliding rail is real The fixation and stabilization of existing robot frame, ensure that robot can the continual and steady operation outside the building for having wind；

5, the outer glass-cleaning robot of building described in the utility model can adapt to more complicated working environment, improve product Reliability；

6, the outer glass-cleaning robot of building described in the utility model is easy to operate, highly-safe, before having application well Scape.

Detailed description of the invention

Fig. 1 is the integral installation structural schematic diagram of the outer glass-cleaning robot of building described in the utility model；

Fig. 2 is the structural schematic diagram of fixed device in the outer glass-cleaning robot of building described in the utility model；

Fig. 3 is the structural schematic diagram of wall body fixing device first in the outer glass-cleaning robot of building described in the utility model；

Fig. 4 is the mobile structural schematic diagram with power plant module in the outer glass-cleaning robot of building described in the utility model；

Fig. 5 is the structural schematic diagram of main frame control module in the outer glass-cleaning robot of building described in the utility model；

Fig. 6 is the structural schematic diagram of ball-screw mould group first in the outer glass-cleaning robot of building described in the utility model；

Fig. 7 a is in the outer glass-cleaning robot of building described in the utility model, and the positive overall structure of intelligent cleaning module is shown It is intended to；

Fig. 7 b is in the outer glass-cleaning robot of building described in the utility model, and the back side overall structure of intelligent cleaning module is shown It is intended to；

Fig. 7 c is to be driven the partial structural diagram of mould group first in the outer glass-cleaning robot of building described in the utility model；

Fig. 8 a is the structural schematic diagram of main frame fixed module in the outer glass-cleaning robot of building described in the utility model；

Fig. 8 b is the structural schematic diagram of fixed device first in the outer glass-cleaning robot of building described in the utility model；

Fig. 9 is the structural schematic diagram of running gear in the outer glass-cleaning robot of building described in the utility model；

Figure 10 is the outer glass-cleaning robot operation scheme of installation of building described in the utility model；

In the process of cleaning for robot described in the utility model, fixed device first and fixed device second desorbing Figure 11 When status diagram；

Figure 12 is robot described in the utility model during vertical motion, and fixed device first and fixed device second slide to Corresponding rails bottom end and status diagram when being adsorbed on metope again；

Figure 13 is robot described in the utility model during vertical motion, and fixed device third desorbs, main frame Status diagram when control module moves down；

Figure 14 is robot described in the utility model during vertical motion, and fixed device third is adsorbed in metope and carries out down Status diagram when square region is cleaned；

Figure 15 is robot described in the utility model in transverse movement, and rope is contracted to roof by the work of motor first Status diagram when portion；

Figure 16 is robot described in the utility model in transverse movement, mobile to be moved to horizontal cross with power plant module Status diagram when to next job position；

Figure 17 is robot described in the utility model in transverse movement, and fixed device is moved to one under horizontal cross Status diagram when job position.

In figure:

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

5 main frame fixed modules, 6 running gears；

101 feed rod first, 102 feed rod second, 103 lead screw first, 104 wall body fixing device first,

105 screw rod first, 106 hand roulettes, 107 wall body fixing device fourths, 108 screw rod fourths,

109 fixed device main frames, 110 rocking bar first, 111 rocking bar second；

201 motor first, 202 idler wheels, 203 pedestals, 204 fixed pulleys,

205 wall body fixing device second, 206 screw rod second, 207 rocking bar second, 208 wall body fixing devices third,

209 screw rods third, 210 rocking bars third；

301 ball-screw mould group first, 302 ball-screw mould group second, 303 movable blocks, 304 control centres,

305 main frames；

401 first electric cylinders, 402 motors third, 403 gear first, 404 gear second,

405 drive rods, 406 transmission mould group first, 407 transmission mould group second, 408 cleaning module frames,

The 409 camera shooting helmets, 410 camera second, 411 cameras third, 412 camera fourths,

413 cleaning solution spray head first, 414 cleaning solution spray head second, 415 cleaning solution spray heads third, 416 cleaning solution spray head fourths,

417 wiper blades, 418 guide rails third, 419 guide rail fourths；

501 fixed device first, 502 fixed device second, 503 fixed devices third；

601 universal wheel first, 602 universal wheel second, 603 universal wheels third, 604 universal wheel fourths.

3011 motor second, 3012 lead screw second, 3013 feed rods third, 3014 feed rod fourths,

3015 sliding block first, 3016 sliding block second；

3051 sliding rail first, 3052 sliding rail second, 3053 sliding rails third, 3054 sliding rail fourths,

3055 guide rail first, 3056 guide rail second；

4061 gears third, 4062 gear fourths, 4063 gears penta, 4064 belt pulley first,

4065 belt pulley second, 4066 moving slide blocks, 4067 driving blocks, 4068 belts,

5011 sliding blocks third, 5,012 second electric cylinders, 5013 levers, 5014 springs,

5015 sucking disk outer-shells, 5016 rubber pads, 5017 interlocking levers, 5018 cords.

Specific embodiment

For the technical solution of the utility model and its specific work process is further described, in conjunction with Figure of description, this reality It is as follows with novel specific embodiment:

The utility model discloses glass-cleaning robots outside the building with self-identifying and obstacle avoidance ability, as shown in Figure 1, institute It states robot and is fixed by fixing device 1, movement and power plant module 2, main frame control module 3, intelligent cleaning module 4, main frame Module 5 and running gear 6 form.Wherein, 1 level of fixed device is fixedly mounted on the outer glass curtain wall of building along upper, institute It states mobile and 2 level of power plant module to be slidably connected on fixed device 1, the main frame fixed module 5 is adsorbed on the outer glass of building On the outside of glass curtain wall, main frame control module 3 is installed in parallel in the outside of main frame fixed module 5, the main frame control module 3 Top connect with movement with power plant module 2 by wirerope, the intelligent cleaning module 4 is slidably connected at main frame and controls mould On block 3, the running gear 6 is mounted on the inside (i.e. the glass curtain wall side outside building) of main frame control module 3.Herein It should be understood that, when describing technical solution described in the utility model, each component of robot is used to avoid that ambiguity occurs When, it is defined as inside or inner face close to the outer glass curtain wall side of building, is defined as outside far from the outer glass curtain wall side of building Or outer end face, each component of robot in use, the definition being located above be top, it is underlying be defined as lower section.

As shown in Fig. 2, the fixed device 1 is by feed rod first 101, feed rod second 102, lead screw first 103, wall fixation kit First, wall fixation kit fourth, screw rod fourth 108, hand roulette 106, fixed device main frame 109 form.The fixed device master Frame 109 is horizontally disposed line style frame structure, the feed rod first 101 and feed rod second 102 along fixed device main frame 109 Direction before and after be arranged in parallel, the both ends of feed rod 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 to be mounted under fixed device main frame 109 Side, the hand roulette 106 are fixedly connected on one end of lead screw first 103, drive lead screw first by can be manually rotated hand roulette 106 103 along own axes rotation；The wall fixation kit first and wall fixation kit fourth are respectively and fixedly installed to fixed device master 109 bottom both ends of frame, as shown in figure 3, the wall fixation kit first is by wall body fixing device first 104,105 and of screw rod first Rocking bar first 110 forms, and the bottom end of the top of the wall body fixing device first 104 and fixed device main frame 109 is fixed to be connected It connects, vertical long baffle is equipped on rear side of the lower section of wall body fixing device first 104, is equipped on front side of the lower section of wall body fixing device first 104 Vertical short connecting plate forms inverted " j " shaped groove between vertical long baffle and vertical short connecting plate, in the lower section of vertical short connecting plate Equipped with threaded hole, the screw rod first 105 is cooperatively connected to be formed and be threadedly coupled with the threaded hole of 104 lower section of wall body fixing device first Pair, the rocking bar first 110 are diametrically mounted to the outer end of screw rod first 105, drive 105 turns of screw rod first by pivots rocker first 110 It is dynamic, and screw rod first 105, along moving axially back and forth, the wall fixation kit first is mounted on the outer glass curtain wall of building along upper, tool Body, the wall fixation kit first by outside building on glass curtain wall along clamping below wall body fixing device first 104 rear side Between vertical long baffle and the inner face of screw rod first 105, and screw rod first 105 is driven inwardly to transport along axis by pivots rocker first 110 It is dynamic, it adapts to along thickness on the outer glass curtain wall of building, to realize edge clamps on glass curtain wall outside building；The wall fixation kit Fourth is made of wall body fixing device fourth 107, screw rod fourth 108 and rocking bar fourth 111, the structure and function of the wall fixation kit fourth Realization is identical with wall fixation kit first, and details are not described herein again, and fixed device 1 is fixed on glass outside building by final realize Along upper on curtain wall.

As shown in figure 4, mobile fix group by motor first 21, idler wheel 22, pedestal 23, fixed pulley 24, wall with power plant module 2 Part second and wall fixation kit third form.The pedestal 23 is horizontally set on the top of fixed device 1, and the motor first 21 is solid Dingan County is mounted in the upper surface of pedestal 23, and the output shaft and idler wheel 22 of motor first 21 are coaxially connected, and idler wheel 22 passes through rolling wheel support Support is mounted on pedestal 23, and the fixed pulley 24 is mounted on the outer of pedestal 23 by fixed pulley bracket, wirerope one end It is wrapped on idler wheel 22, the wirerope other end bypasses the top frame of the main frame 305 of fixed pulley 24 and main frame control module 3 It 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 feed rod of two sides 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 that pedestal 23 passes through bottom Connection frame is threadedly coupled with lead screw first 103, drives lower bottom base 23 will be along feed rod first 101 and feed rod in the rotation of lead screw first 103 Second 102 slides；The wall fixation kit second and wall fixation kit third are separately fixed at the bottom both ends of pedestal 23, the wall Body fixation kit second wall body fixing device second 205, screw rod second 206 and rocking bar second 207 form, third wall of wall fixation kit The third 210 composition of fixed device the third 208, screw rod the third 209 and rocking bar, the knot of the wall fixation kit second and wall fixation kit third Structure and function realization are identical with wall fixation kit first, and details are not described herein again.

Wall fixation kit first, the wall fixation kit second, wall fixation kit third and wall fixation kit fourth are located at On same straight line, when robot carries out washing and cleaning operation, wall fixation kit first, wall fixation kit second, wall fixation kit Third and four groups of wall fixation kits of wall fixation kit fourth be in the locking state fixed to clamp, with guarantee fixed device 1 and It is mobile to be in reliable stationary state with power plant module 2, it is ensured that washing and cleaning operation safety.In robot transverse movement, lock solid Determine the fixation kit first and wall fixation kit fourth on device 1, unclamps the mobile wall fixation kit second on power plant module 2 With wall fixation kit third, drive lead screw first 103 to rotate by hand roulette 106, thus drive it is mobile with power plant module 2 along It laterally moves on the outer glass curtain wall of building, consolidates after moving to target position, then by mobile with the wall on power plant module 2 Determine component second and wall fixation kit third is locked, then unclamps the fixation kit first and the fixed group of wall on fixed device 1 Part fourth drives lead screw first 103 to rotate by hand roulette 106, to drive entire fixed device 1 along glass curtain wall outside building On laterally move, after moving to target position, then by fixation kit first and wall fixation kit fourth on fixed device 1 It is locked, the alternating transverse shifting of such blocked operation realization device.

As shown in figure 5, 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-screw mould group second 302, movable block 303, control centre 304 and main frame 305 form.Wherein, the main frame 305 be positive quadrilateral structure, is equipped with and is parallel to each other along the vertical direction at the two sides outer of 305 lateral frame of main frame Sliding rail first 3051 and sliding rail second 3052 are equipped with along horizontal cross at the outer up and down of 305 lateral frame of main frame and are parallel to each other Sliding rail third 3053 and sliding rail fourth 3054, be equipped with along the vertical direction at the two sides outer of 305 inner frame of main frame mutually flat Capable guide rail first 3055 and guide rail second 3056；The ball-screw mould group first 301 along horizontal cross be arranged, both ends respectively with master The sliding rail first 3051 and sliding rail second 3052 of frame 305 are slidably connected, and make ball-screw mould group first 301 on main frame 305 along perpendicular Histogram is to free to slide；The ball-screw mould group second 302 is arranged along the vertical direction, the both ends cunning with main frame 305 respectively Rail third 3053 and sliding rail fourth 3054 are slidably connected, and make on 302 main frame 305 of ball-screw mould group second along horizontal cross free skating It is dynamic；The control centre 304 is mounted in the lower section installation deep gouge of main frame 305, and control centre 304 is used as the utility model institute State the control unit of robot, inside single-chip microcontroller is installed, to realize motion control to entire robot, in addition, in master The objects such as the battery that electric energy is provided and cleaning solution box, the battery and control are also equipped in the lower section installation deep gouge of frame 305 Center electrical connection processed, to provide working power；4 piping connection of the cleaning solution box and intelligent cleaning module, to provide cleaning solution.

As shown in figure 5, the ball-screw mould group first 301 is by motor second 3011, lead screw second 3012, feed rod third 3013, light Thick stick fourth 3014, sliding block first 3015 and sliding block second 3016 form；The both ends of the lead screw second 3012 by bearing respectively with sliding block first 3015 and the installation connection of sliding block second 3016, feed rod third 3013 and feed rod fourth 3014 be arranged in parallel in the two sides of lead screw second 3012, and The both ends of feed rod third 3013 and feed rod fourth 3014 are separately fixed in sliding block first 3015 and sliding block second 3016；The motor second 3011 Output shaft and lead screw second 3012 is coaxial is connected；The spiral shell that the lead screw second 3012 is opened up horizontal through 303 left and right side of movable block Pit is connected with movable block 303 by screw thread pair, and the feed rod third 3013 and feed rod fourth 3014 are each passed through movable block 303 The unthreaded hole that left and right side opens up rotates in lead screw second 3012 under the driving of motor second 3011 and drives movable block 303 along feed rod Third 3013 and 3014 smooth motion of feed rod fourth；The structure and ball-screw mould group first 301 of the ball-screw mould group second 302 are complete It is identical, and the connection type of ball-screw mould group second 302 and main frame 305 and movable block 303 with ball-screw mould group first 301 Identical, details are not described herein again；According to aforementioned, the drive of ball-screw mould group first 301 and ball-screw mould group second 302 in respective motor Under dynamic, movable block 303 is driven to move along horizontal cross or vertical direction by corresponding lead screw.

As shown in figs. 7 a and 7b, the intelligent cleaning module 4 is parallel to the outer glass curtain wall setting of building and is parallel to master Frame control module 3, by the first electric cylinders 401, motor the 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 the third 411, camera shooting Head fourth 412, cleaning solution spray head first 413, cleaning solution spray head second 414, cleaning solution spray head the third 415, cleaning solution spray head fourth 416, rain brush Item 417, guide rail the third 418 and guide rail fourth 419 form.

Cleaning module frame 408 is positive quadrilateral structure, and the installation of the first electric cylinders 401 is connected to outside cleaning module frame 408 On the intermediate connection frame of end face, the first electric cylinders 401 are connected with the movable block 303 of main frame control module 3, pass through movable block 303 Entire intelligent cleaning module 4 is driven to move upwards in the side for being parallel to glass curtain wall outside building, the first electric cylinders 401 drive entire intelligence Energy cleaning module 4 side of glass curtain wall outside perpendicular to building moves upwards, so that intelligent cleaning module 4 be driven to reach specified work Make position；Motor the third 402 is fixedly mounted on the side frame of 408 outer end face of cleaning module frame, the output end of motor the third 402 Coaxially connected gear first 403, the gear first 403 engage connection with gear second 404, and the gear second 404 is coaxially fixed on biography The middle part of lever 405, the both ends of the drive rod 405 are separately connected transmission mould group first 406 and transmission mould group second 407, the biography Dynamic model group first 406 and transmission mould group second 407 are arranged on 408 inner face of cleaning module frame, and the wiper blade 417 is arranged clear 408 inner face side of mold cleaning block frame, both ends are connected in transmission mould group first 406 and transmission mould group second 407；It is described to take the photograph As the helmet 409, camera second 410, camera the third 411 and camera fourth 412 are evenly distributed respectively and are mounted on cleaning module On 408 inner face of frame, to identify, whether there are obstacles in cleaning area that the intelligent cleaning module 4 is reached；It is described Cleaning solution spray head first 413, cleaning solution spray head second 414, cleaning solution spray head the third 415 and cleaning solution spray head fourth 416 are equably divided respectively Cloth is simultaneously mounted on 408 inner face of cleaning module frame, to realize that the atomization cleaning liquid that it is sprayed being capable of intelligence described in uniform fold The cleaning area that energy cleaning module 4 is reached；The guide rail the third 418 and the parallel setting of guide rail fourth 419, are separately positioned on vertical Directly on the two sides frame of 408 inner face of cleaning module frame of drive rod 405, the cleaning solution spray head first 413, cleaning solution spray Head second 414, cleaning solution spray head the third 415 and cleaning solution spray head fourth 416 are connected by pipeline with cleaning solution box.

As shown in Fig. 7 b and Fig. 7 c, the transmission mould group first 406 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 form.Gear penta 4063 It is fixedly and coaxially connected with the end of drive rod 405, the gear penta 4063, gear fourth 4062 and the gear third 4061 successively company of engagement It connects, the gear penta 4063, gear fourth 4062 and gear third 4061 are supported and be mounted on cleaning module frame 408；Belt pulley First 4064 and gear third 4061 are coaxially disposed, and described 4068 one end of belt and belt pulley first 4064 are sequentially connected, the belt 4068 other ends are sequentially connected with the belt pulley second 4065 for being fixedly mounted on 408 other end of cleaning module frame, the belt 4068 is parallel with ipsilateral guide rail the third 418；The bar shaped being provided on the moving slide block 4066 perpendicular to 4068 direction of belt is slided Slot, one end of moving slide block 4066 are slidably mounted in the linear guide groove of guide rail the third 418, the other end of moving slide block 4066 It is connected with wiper blade 417, moving slide block 4066 can drive wiper blade 417 along the third 418 linear motion of guide rail；The driving block 4067 one end is fixedly connected on belt 4068, and the other end of driving block 4067 is slidably mounted on the item of moving slide block 4066 In shape sliding slot, driving block 4067 can be transported with the circulating cycle of belt 4068 it is dynamic, at the same time, when driving block 4067 with When belt 4068 moves along a straight line along belt upper layer, driving block 4067 will drive moving slide block 4066 to drive wiper blade 417 along leading The third 418 linear motion of rail, when driving block 4067 moves to end arc section with belt 4068, driving block 4067 along The bar shaped sliding slot of moving slide block 4066 moves to the lower layer of belt 4068 straight down, when driving block 4067 is with belt 4068 When along belt lower layer linear motion, driving block 4067 will drive moving slide block 4066 to drive wiper blade 417 anti-along guide rail the third 418 To linear motion；The structure of the transmission mould group second 407 is identical with transmission mould group first 406, and details are not described herein again, the rain The both ends of swipe 417 are by transmission mould group first 406 and the drive for being driven mould group second 407, to realize that wiper blade 417 is being parallel to It is moved back and forth in the plane of the outer glass curtain wall of building, to clean glass curtain wall.When intelligent cleaning module 4 arrival cleaning area, lead to Cross the camera shooting helmet 409, camera second 410, camera the third 411 and camera fourth 412 identify it is accessible after, cleaning solution spray head first 413, cleaning solution spray head second 414, cleaning solution spray head the third 415 and cleaning solution spray head fourth 416 spray atomization cleaning liquid, pass through the first electricity Cylinder 401, which acts, makes the wiper blade 417 direction movements close to the outer glass curtain wall of building, until it is fitted in glass curtain wall surface, this When, the third 402 setting in motion of motor drives wiper blade 417 being parallel to building by transmission mould group first 46 and transmission mould group second 47 It is moved back and forth in the plane of outer glass curtain wall, to realize the cleaning of glass curtain wall.

As shown in Figure 8 a, the main frame fixed module 5 is by fixed device first 501, fixed device second 502 and fixed device The third 503 compositions.Wherein, the fixed device first 501 is slidably connected in the guide rail first 3055 of the main frame control module 3, The fixed device second 502 is slidably connected in the guide rail second 3056 of the main frame control module 3, the fixed device third 503 are fixedly mounted on the inside lower end frame of the main frame 305 of the main frame control module 3.

As shown in Figure 8 b, the fixed device first 501 is by sliding block third 5011, the second electric cylinders 5012, lever 5013, spring 5014, sucking disk outer-shell 5015, rubber pad 5016, interlocking lever 5017 and cord 5018 form.Second electric cylinders 5012 are perpendicular to guide rail First 3055 is arranged, and one end of the second electric cylinders 5012 is fixedly connected with sliding block third 5011, and sliding block third 5011 is slidably connected at guide rail first In 3055, the other end of the second electric cylinders 5012 is fixedly connected by the way that connecting bracket is vertical with the outer end face of sucking disk outer-shell 5015, rubber Rubber mat 5016 is fixedly connected on the outer end face of sucking disk outer-shell 5015, and spring 5014 is mounted on inside sucking disk outer-shell 5015, and two Support is connected on the inside of the outer end face of sucking disk outer-shell 5015 and on rubber pad 5016 respectively at end, and the middle part of lever 5013 is hinged on suction On the outer end face of disk casing 5015, one end of cord 5018 is connected on the cylinder body of the second electric cylinders 5012, cord 5018 it is another End is connected to the end of lever 5013, and 5017 one end of interlocking lever is hinged with lever 5013, and interlocking lever 5017 and lever The position that 5013 connected positions are connected with cord 5018 and lever 5013 is located at ipsilateral, the interlocking lever of 5013 hinge joint of lever 5017 other ends pass through sucking disk outer-shell 5015 and are connected with rubber pad 5016.When the telescopic rod of the second electric cylinders 5012 to it is overhanging when, carefully The one end for 5018 pull lever 5013 of restricting is upturned, and lever 5013 drives interlocking lever 5,017 1 is logical to move upwards, interlocking lever 5017 pull rubber pad 5016, make to generate negative pressure between rubber pad 5016 and glass curtain wall, make fixed device by rubber pad 5016 First 501 is absorbed and fixed at the outer glass curtain wall outer surface of building；When the telescopic rod of the second electric cylinders 5012 is to when inside contracting, pass through the second electricity Rubber pad 5016 is directly pulled outwardly by the pulling force of cylinder 5012, is made fixed device first 51 far from wall, is released fixed device first 51 Absorption is fixed.

The structure of the fixed device second 502 is identical with fixed device first 501, is also to be slided by a sliding block It is connected in guide rail second 3056, working method is also identical as fixed device first 501, and details are not described herein again；The fixed device The third 503 structure and fixed device first 501 are essentially identical, fixed device the third 503 without third 5011 this modular construction of sliding block, Its building block, connection relationship and function realization are identical with fixed device first 501, and details are not described herein again, the fixed dress The third 503 electric cylinders one end is set directly vertically to be fixedly mounted on the inside lower end frame of main frame 305.

When the intelligence cleaning module 4 works, main frame fixed module 5 passes through fixed device first 501, fixed device second 502 and fixed device the third 503 be adsorbed on glass curtain wall, whole device is fixed on metope, to the region in main frame 305 After cleaning, fixed device first 501 and fixed device second 502 are desorbed, and by self gravity respectively along guide rail first 355 and guide rail second 356 slide to 305 bottom end of main frame, and be adsorbed on metope again, then, fixed device the third 503 desorbs, The mobile motor first 21 with power plant module 2 acts, and discharges wirerope, and whole device moves down, and starts to carry out lower zone Cleaning.

As shown in figure 9, the running gear 6 is by universal wheel first 601, universal wheel second 602, universal wheel the third 603 and universal wheel Fourth 604 forms, and four universal wheels are respectively and fixedly installed to four apex angles of 305 inner face of main frame of main frame control module 3 On, to ensure that whole device smoothly smoothly passes obstacle.

In above structure composition, motor first 201 in the movement and power plant module 2, in main frame control module 3 Motor second 3011, the first electric cylinders 401, motor in intelligent cleaning module 4 the third 402, camera second 410, are taken the photograph the camera shooting helmet 409 As head the third 411, camera fourth 412, cleaning solution spray head first 413, cleaning solution spray head second 414, cleaning solution spray head the third 415 and cleaning solution The second electric cylinders 5012 in spray head fourth 416 and main frame fixed module are respectively and in the control in main frame control module 3 304 signal of heart connection, by the chip microcontroller in control centre 304 to the action control of above-mentioned component.

The course of work of glass-cleaning robot includes outside building described in the utility model with self-identifying and obstacle avoidance ability Robot cleans the process of the mobile process of glass curtain wall process, robot vertical direction and robot horizontal transverse movement. Specific work process is as follows:

1, the robot cleaning in place glass curtain wall, as shown in Figure 10, detailed process is as follows:

A1: fixed device 1 is horizontally fixed in glass curtain wall top edge, by mobile and power plant module 2 and fixed 1, device It is mobile to be hung at the main frame control module 3 for being mounted with intelligent cleaning module 4 by wirerope with power plant module 2 with installation On the outside of glass curtain wall, main frame control module 3 controls the fixation device first of main frame fixed module 5 by control centre 304 501, fixed device second 502 and fixed device the third 503, is adsorbed in it on glass curtain wall outer surface；

A2: pass through the camera shooting helmet 409 on intelligent cleaning module 4, camera second 410, camera the third 411 and camera fourth 412 identification working regions, identification working region in whether there is or not the obstacles such as instrument bezel protrusion and identification working region whether be not clearly Region is washed, will be without obstacles such as instrument bezel protrusions and non-cleaning area is defined as target area, pass through control centre 304 and controls ball Lead screw mould group first 301 and ball-screw mould group second 302 drive intelligent movable cleaning module 4 to reach above target area；

A3: controlling the work of the first electric cylinders 401 by control centre 304, and the intelligent drive of cleaning module 4 is pushed to make wiper blade 417 move to perpendicular to glass curtain wall and are tightly attached on glass surface；

A4: cleaning solution spray head first 413, the cleaning solution spray head second in intelligent cleaning module 4 are controlled by control centre 304 414, cleaning solution spray head the third 415 and cleaning solution spray head fourth 416 disposably uniformly spray cleaning solution to glass curtain wall surface；

A5: controlling motor the third 402 by control centre 304 and transmission mould group first 406 and transmission mould group second 407 driven to move, And then wiper blade 417 is driven to clean glass repeatedly；

A6: after the completion of the working region unit is cleaned, control centre 304 controls the first electric cylinders 401 and shrinks, and drives intelligence Cleaning module 4 is detached from glass surface；

A7: repeating step A2-A6, until glass curtain wall in the region that the main frame 305 of main frame control module 3 is covered All cleaning is completed.

2, the robot vertical direction clears up glass curtain wall, and detailed process is as follows:

B1: glass curtain wall all complete by cleaning in the region that the main frame 305 of current main frame control module 3 is covered Afterwards, when lower zone to be cleaned, control centre 304 controls the fixation device first 501 and fixed device second of main frame fixed module 5 502 desorb, as shown in figure 11；

B2: fixed device first 501 and fixed device second 502 are snapped down to main frame respectively along 305 liang of side rails of main frame Behind 305 bottom ends, it is adsorbed on glass curtain wall outer surface again in the case where control centre 304 controls, as shown in figure 12；

B3: the fixation device the third 503 that control centre 304 controls main frame fixed module 5 desorbs, and control it is mobile with The motor first 201 of power plant module 2 works, and discharges wirerope, keeps the main frame control module 3 for being mounted with intelligent cleaning module 4 perpendicular It directly moves downward, makes to fix device first 501 and fixed device second 502 respectively along 305 liang of side rails of main frame relatively upward 305 top of main frame is slided to, as shown in figure 13；

B4: control centre 304 controls fixed device the third 503 and is adsorbed on glass curtain wall outer surface again, repeats above-mentioned step Rapid A2-A7 completes the scouring of lower zone glass, as shown in figure 14；

B5: repeat the above steps B1-B4, until main frame control module 3 moves to glass curtain wall bottom, that is, completes building The cleaning of outer column vertical direction glass curtain wall.

3, the robot horizontal cross clears up glass curtain wall, and detailed process is as follows:

C1: after the completion of the cleaning of above-mentioned column vertical direction glass curtain wall, the control movement of control centre 304 and power plant module 2 motor first 201 works, and wirerope is shunk, and the main frame control module 3 for being mounted with intelligent cleaning module 4 is driven to move to At the top of glass curtain wall, as shown in figure 15；

C2: mobile wall body fixing device second 205 and wall body fixing device with power plant module 2 the third 208 is unclamped manually, then Lead screw first 103 is driven to drive entire movement and 2 horizontal transverse movement of power plant module to target position by shaking hand roulette 106 Afterwards, wall body fixing device second 205 and wall body fixing device the third 208 is locked again, as shown in figure 16；

C3: repeat the above steps B1-B5, completes laterally another column vertical direction glass curtain wall cleaning, at the same time, manually The wall body fixing device first 104 and wall body fixing device fourth 107 on fixed device 1 are unclamped, and again by shake hand roulette 106 driving lead screw first 103 drive fixed 1 horizontal transverse movement of device to target position, to realize fixed device 1 and movement It is mobile in replacing for horizontal cross with power plant module 2, as shown in figure 17.

It realizes by the above process and large-area glass curtain wall is erected again from top to bottom perpendicular column cleaning → transverse shifting → Arrange clean function.

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).