CN216167157U

CN216167157U - Obstacle-crossing cleaning robot for glass curtain wall

Info

Publication number: CN216167157U
Application number: CN202122561137.2U
Authority: CN
Inventors: 尉鹏; 崔傲然; 徐源; 石剑云
Original assignee: Dalian Jiaotong University
Current assignee: Dalian Jiaotong University
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2022-04-05
Anticipated expiration: 2031-10-22

Abstract

The utility model discloses a glass curtain wall obstacle crossing cleaning robot, relates to the technical field of curtain wall robots, and particularly relates to a glass curtain wall robot with an obstacle crossing function. The utility model comprises the following steps: the device comprises a central mechanism, two sets of mechanical arms and two scrapers; the two sets of mechanical arms are symmetrically arranged on the left side and the right side of the central mechanism; the two scrapers are respectively arranged on the two mechanical arms; the left and right sides of the central platform are respectively provided with an infrared distance meter A which is used for detecting the distance between the device and an operating side barrier; the front and the back of the central platform are respectively provided with an infrared distance meter B which is used for detecting the distance between the device and a forward barrier in operation and judging whether the height of the barrier exceeds the standard or not; and the scraper is provided with an infrared distance meter C for detecting the distance between the device and the obstacle in the moving direction. The technical scheme of the utility model solves the problems that the existing cleaning robot in the prior art is complex in structure, poor in adaptability and incapable of crossing obstacles.

Description

Obstacle-crossing cleaning robot for glass curtain wall

Technical Field

The utility model discloses a glass curtain wall obstacle crossing cleaning robot, relates to the technical field of curtain wall robots, and particularly relates to a glass curtain wall robot with an obstacle crossing function.

Background

Along with the urban development, the glass curtain wall becomes a modern novel wall body, so that the building is more and more beautiful, and the heavy cleaning and maintenance work of the glass curtain wall is brought. As an outdoor wall, the excrement of birds and dust in the air can be deposited on the surface of the wall, which affects the beauty of the curtain wall. The traditional manual cleaning mode has low cleaning efficiency and high danger coefficient, and can not meet the development requirement of the modern society. The glass curtain wall cleaning robot can replace human beings to work at high altitude, high efficiency and low risk, and has wide application prospect.

There are many designs of glass curtain wall cleaning robot, but there are various defects, such as: the movable cleaning is carried out by depending on the hanging structure and the mooring rope, the structure is complex, and the adaptability is poor; many automatic cleaning robots cannot span the raised frame between the glasses, so that the capability of the robot for automatically cleaning the large-area curtain wall is limited; the obstacle crossing mechanism of many obstacle crossing robots is used as an independent additional mechanism, so that the device is complex and heavy, and the obstacle crossing speed is low.

Aiming at the problems in the prior art, a novel glass curtain wall obstacle crossing cleaning robot is researched and designed, so that the problem in the prior art is very necessary to be overcome.

Disclosure of Invention

According to the technical problems that the existing cleaning robot provided by the prior art is complex in structure, poor in adaptability and incapable of crossing obstacles, the obstacle crossing cleaning robot for the glass curtain wall is provided. The utility model mainly detects the distance and the height of the robot in different directions by a plurality of groups of infrared distance measuring instruments and is matched with the mechanical arm capable of moving in a span way to perform obstacle crossing cleaning, thereby obtaining the glass curtain wall cleaning robot with simple structure, high cleaning efficiency and strong obstacle crossing capability

The technical means adopted by the utility model are as follows:

a glass curtain wall obstacle crossing cleaning robot comprises: the device comprises a central mechanism, two sets of mechanical arms and two scrapers; the two sets of mechanical arms are symmetrically arranged on the left side and the right side of the central mechanism; the two scrapers are respectively arranged on the two mechanical arms;

further, the central mechanism includes: a central suction cup, a vacuum pump and a central platform;

furthermore, the central sucker is arranged at the bottom of the central platform through a slewing mechanism, and the central sucker and the central platform can rotate relatively;

further, a vacuum pump is arranged on the top of the central platform;

furthermore, the vacuum pump is connected with the central sucker through a pipeline and an electromagnetic valve, and is also connected with a host control module arranged in the central platform; the connection and disconnection between the central sucker and the vacuum pump are controlled by an electromagnetic valve, and the opening and closing of the electromagnetic valve are controlled by a host control module;

further, the robot arm includes: a large arm and a small arm; one end of the big arm is connected with the central platform, the other end of the big arm is connected with one end of the small arm, and the other end of the small arm is connected with the scraper;

further, the large arm includes: a large arm motor and a large arm structure frame; the large arm structure frame is arranged on one side of the central platform through a large arm motor; the large arm motor drives the large arm structure frame to move correspondingly;

further, the small arm includes: a small arm motor and a small arm structure frame; the small arm structure frame is connected with the large arm structure frame through a small arm motor and is driven by the small arm motor to move correspondingly;

further, the squeegee includes: the device comprises a spring hinge, a scraper frame, a scraper sucker, a cleaning strip brush and an electromagnet;

further, the scraper frame is connected with the small arm structure frame through a spring hinge, the spring hinge realizes the relative rotation and the reset of the small arm structure frame and the scraper frame, and when the scraper frame is separated from the constraint of the wall surface, the spring hinge enables the scraper frame to be vertical to the small arm structure frame;

furthermore, electromagnets are mounted above and below four corners of the scraper frame, an upper electromagnet is arranged at the upper part of the scraper frame, and a lower electromagnet is arranged at the lower part of the scraper frame;

furthermore, cleaning strip brushes are transversely arranged on two sides of the bottom of the scraper frame in parallel, iron blocks are arranged at two ends of each cleaning strip brush and are arranged between the upper electromagnet and the lower electromagnet, and the two states of separating the cleaning strip brushes and pressing the wall surface are realized by switching the on-off of the upper electromagnet and the lower electromagnet;

further, the bottom of the scraper frame is provided with a scraper sucker, the scraper sucker is connected with a vacuum pump through a pipeline and an electromagnetic valve, the connection and disconnection of the scraper sucker and the vacuum pump are controlled by the electromagnetic valve, and the electromagnetic valve is controlled by a host control module to be opened and closed.

Furthermore, a detergent box is arranged on the large arm structure frame, a pressure pump connected with the main machine control module in the central platform is arranged in the detergent box, and a piston in the detergent box is pushed by the pressure pump to control liquid spraying;

furthermore, the detergent box is also provided with a water receiving port which is connected with an external water supply device.

Furthermore, the inner side of the cleaning strip brush at the lower part of the scraper frame is provided with a row of water spraying holes respectively, the water spraying holes are connected with the cleaning agent box through a liquid conveying pipeline, and the start and stop of water spraying are realized under the action of a pressure pump in the cleaning agent box.

Furthermore, the left side and the right side of the central platform are respectively provided with an infrared distance meter A which is used for detecting the distance between the device and an operating side barrier.

Furthermore, an infrared distance meter B is respectively arranged in front of and behind the central platform and used for detecting the distance between the device and a running forward obstacle and judging whether the height of the obstacle exceeds the standard or not.

Further, an infrared distance meter C is arranged on the scraper frame and used for detecting the distance between the device and the obstacle in the moving direction.

The working process of the utility model is as follows:

a straight line cleaning working procedure:

the robot is arranged on a glass curtain wall, at least half of body space is reserved in front of and behind the robot, a vacuum pump is started, a central suction disc is connected with the vacuum pump, and a central mechanism is adsorbed on a wall surface; the front arm support of the mechanical arm contracts, and the rear arm support extends; electrifying an electromagnet below the scraper to enable the cleaning strip to brush and press the wall surface; the state is the working initial state of the robot;

the control module controls a pressure pump of the detergent box to be started for a short time, and a proper amount of water is sprayed through a water spraying hole below the scraper plate;

the robot runs a mechanical arm in the front and is driven by a large arm motor and a small arm motor to extend towards the moving direction, so that a cleaning strip on a scraper in the front is pushed to clean a front wall surface; the right rear mechanical arm is driven by a large arm motor and a small arm motor to contract in the moving direction, so that a cleaning strip on the rear scraper blade is pushed to clean the rear wall surface; the front scraper stops moving after being extended to the farthest distance, and the rear scraper stops moving after being contracted to the nearest distance;

the lower electromagnets of the scrapers on the two sides are powered off, and the upper electromagnets are powered on, so that the cleaning strip brush is separated from the wall surface and is contacted with the wall surface through the scraper suckers;

the scraper suckers of the scrapers at the two sides are communicated with a vacuum pump and are kept adsorbed on the wall surface;

the central suction cup 11 stops sucking;

the large arm motor and the small arm motor work, the front mechanical arm contracts, the rear mechanical arm extends to push the central mechanism to move forwards, and the central mechanism stops moving after moving to the maximum limit;

the central sucker of the robot is adsorbed on the wall surface through a vacuum device;

the scraper suckers of the scrapers on the two sides release adsorption;

the lower electromagnet is electrified to enable the cleaning strip brush to press the wall surface tightly;

at the moment, the robot returns to the initial state, finishes one working cycle, prepares for the next working cycle, and finishes the cleaning of the front area by the cycle;

the infrared distance measuring instrument and the infrared distance measuring instrument detect the distance of the peripheral obstacles constantly, and a steering program or an obstacle crossing program can be started according to the cleaning work requirement and the distance of the peripheral obstacles.

And (3) turning to a working procedure:

before turning, the peripheral safety distance is required to be enough, the central sucker keeps in an adsorption state, the scraper sucker keeps in a separation state, and the control module controls the central platform to rotate relative to the central sucker through the rotating mechanism, so that turning can be realized.

Obstacle crossing working procedure:

the obstacle crossing capability of the robot is related to the lengths of a large arm and a small arm of the robot, and the maximum extension length of the large arm and the small arm is at least larger than the distance between the outer edges of a front scraper and a rear scraper of the robot in a contraction state; the mounting height of the infrared distance meter is the maximum obstacle crossing height of the robot;

when the robot crosses the obstacles such as the glass frame, firstly, the distance between the robot and the obstacle in front is measured by the distance measuring instrument on the front scraper, and the robot is adjusted to the initial state before crossing by the matching of the adsorption system and the mechanical arm: the central sucker and the rear scraper sucker are in a wall surface adsorption state, the front scraper sucker is in a wall surface separation state, the cleaning strip brush is in a lifting state, the front mechanical arm and the rear mechanical arm are in a contraction limit, and the front scraper stops at a position with a minimum distance from an obstacle;

next, the front forearm is raised first, so that the lowest position of the front scraper is higher than the front infrared distance meter, and the infrared distance meter judges whether an obstacle exists in front of the height level. If no obstacle exists in front of the height of the distance meter, continuing the next step; otherwise, the height of the obstacle is over-limit, the crossing program is stopped, and the initial state before crossing is recovered;

the front mechanical arm extends forwards to the limit and then falls down to enable the front scraper to be in contact with the wall surface on the other side of the barrier;

the front scraper sucker adsorbs the wall surface;

the central sucker is separated from the wall surface;

the front mechanical arm and the rear mechanical arm are linked to lift the central mechanism to the highest degree;

the front mechanical arm and the rear mechanical arm are linked, the central mechanism is lifted over the barrier, the front mechanical arm is contracted to the limit, and the rear mechanical arm is extended to the limit;

the front mechanical arm and the rear mechanical arm are linked, and the central mechanism is arranged on the wall surface;

the central sucker is adsorbed on the wall surface;

the rear scraper sucker is separated from the wall surface;

the rear big arm is lifted up to enable the lowest position of the rear scraping plate to be higher than the rear infrared range finder, and then the rear small arm is contracted to the limit to enable the rear scraping plate to cross the obstacle;

the rear big arm falls down to enable the rear scraping plate to be in contact with the wall surface, and at the moment, the robot integrally spans to the other side of the barrier to complete the spanning task.

Compared with the prior art, the utility model has the following advantages:

1. according to the obstacle crossing cleaning robot for the glass curtain wall, the mechanical arm design simulates an insect crawling mechanism, the bionic double-foot design and the central rotation design are integrated, the robot has the functions of automatic obstacle crossing and turning, can automatically cross obstacles, and is suitable for cleaning large-area glass curtain walls;

2. according to the obstacle crossing cleaning robot for the glass curtain wall, provided by the utility model, the cleaning function and the obstacle crossing function can be finished by the pair of bionic mechanical arms, the structure of the device is greatly simplified, and the manufacturing cost and the operation cost are low.

In conclusion, the technical scheme of the utility model solves the problems that the existing cleaning robot in the prior art is complex in structure, poor in adaptability and incapable of crossing obstacles.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the cleaning operation of the present invention;

FIG. 3 is a schematic diagram of the obstacle crossing operation of the present invention.

In the figure:

1. the device comprises a central mechanism 11, a central sucker 121, an infrared distance meter A122, an infrared distance meter B13, a vacuum pump 14 and a central platform;

2. the robot arm 21, the large arm 211, the large arm motor 212, the large arm structure frame 213, the detergent box 22, the small arm 221, the small arm motor 222, and the small arm structure frame

3. The scraper 31, the spring hinge 32, the scraper frame 33, the scraper suction cup 34, the cleaning strip brush 35, the electromagnet 351, the upper electromagnet 352, the lower electromagnet 36, the water spray hole 37 and the infrared distance meter C

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the utility model. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in the figure, the utility model provides a glass curtain wall obstacle crossing cleaning robot, which comprises: the device comprises a central mechanism 1, two sets of mechanical arms 2 and two scraping plates 3; two sets of mechanical arms 2 are symmetrically arranged at the left side and the right side of the central mechanism 1; the two scraping plates 3 are respectively arranged on the two mechanical arms 2;

the center mechanism 1 includes: a central suction cup 11, a vacuum pump 13 and a central platform 14; the central sucker 11 is arranged at the bottom of the central platform 14 through a rotary mechanism, and the central sucker and the central platform can rotate relatively; a vacuum pump 13 is mounted on top of the central platform 14; the vacuum pump 13 is connected with the central sucker 11 through a pipeline and an electromagnetic valve, and is also connected with a host control module arranged in the central platform 14; the connection and disconnection between the central sucker 11 and the vacuum pump 13 are controlled by an electromagnetic valve, and the opening and closing of the electromagnetic valve are controlled by a host control module;

the robot arm 2 includes: a large arm 21 and a small arm 22; one end of the big arm is connected with the central platform 14, the other end is connected with one end of the small arm 22, and the other end of the small arm 22 is connected with the scraper 3; the large arm 21 includes: a large arm motor 211 and a large arm structure frame 212; the large arm structure frame 212 is arranged on one side of the central platform 14 through a large arm motor 211; the large arm motor 211 drives the large arm structure frame 212 to move correspondingly; the small arm 22 includes: a small arm motor 221 and a small arm structure frame 222; the small arm structure frame 222 is connected with the large arm structure frame 212 through the small arm motor 221 and moves correspondingly under the driving of the small arm motor 221;

the squeegee 3 includes: a spring hinge 31, a scraper frame 32, a scraper sucker 33, a cleaning strip brush 34 and an electromagnet 35; the scraper frame 32 is connected with the small arm structure frame 222 through the spring hinge 31, the spring hinge 31 realizes the relative rotation and the reset of the small arm structure frame 222 and the scraper frame 32, and when the scraper frame 32 is separated from the wall surface constraint, the spring hinge 31 enables the scraper frame 32 to be vertical to the small arm structure frame 222; electromagnets 35 are respectively arranged at the upper and lower parts of four corners of the scraper holder 32, an upper electromagnet 351 is arranged at the upper part of the scraper holder 32, and a lower electromagnet 352 is arranged at the lower part; the two sides of the bottom of the scraper frame 32 are transversely provided with the cleaning strip brushes 34 in parallel, the two ends of the cleaning strip brushes 34 are provided with iron blocks, the iron blocks are arranged between the upper electromagnet 351 and the lower electromagnet 352, and the two states of separating the cleaning strip brushes 34 from the wall surface and pressing the wall surface are realized by switching the power on and power off of the upper electromagnet 351 and the lower electromagnet 352; the bottom of the scraper frame 32 is provided with a scraper suction cup 33, the scraper suction cup 33 is connected with the vacuum pump 13 through a pipeline and an electromagnetic valve, the connection and disconnection between the scraper suction cup 33 and the vacuum pump 13 are controlled by the electromagnetic valve, and the opening and closing of the electromagnetic valve are controlled by a host control module.

The large arm structure frame 212 is provided with a detergent box 213, a pressure pump connected with a main machine control module in the central platform 14 is arranged in the detergent box 213, and a piston in the detergent box 213 is pushed by the pressure pump to control liquid spraying; the detergent box 213 is further provided with a water receiving port connected to an external water supply device.

A row of water spraying holes 36 are respectively arranged at the inner side of the cleaning strip brush 34 at the lower part of the scraper frame 32, the water spraying holes 36 are connected with the cleaning agent box 213 through a liquid conveying pipeline, and the start and stop of water spraying are realized under the action of a pressure pump in the cleaning agent box 213.

An infrared distance meter a121 is provided on each of the left and right sides of the central platform 14 for detecting the distance of the device from a running lateral obstacle.

An infrared distance meter B122 is respectively arranged in front of and behind the central platform 14 and used for detecting the distance between the device and a forward obstacle in operation and judging whether the height of the obstacle exceeds the standard or not.

An infrared distance meter C37 is mounted on the scraper frame 32 and is used for detecting the distance between the device and the obstacle in the moving direction.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a glass curtain wall barrier cleaning machines people more which characterized in that:

glass curtain wall obstacle crossing cleaning robot include: the automatic scraper mechanism comprises a central mechanism (1), two sets of mechanical arms (2) and two scrapers (3); two sets of mechanical arms (2) are symmetrically arranged at the left side and the right side of the central mechanism (1); the two scrapers (3) are respectively arranged on the two mechanical arms (2);

the central mechanism (1) comprises: a central suction cup (11), a vacuum pump (13) and a central platform (14);

the central sucker (11) is arranged at the bottom of the central platform (14) through a rotary mechanism, and the central sucker and the central platform can rotate relatively;

the vacuum pump (13) is arranged at the top of the central platform (14);

the vacuum pump (13) is connected with the central sucker (11) through a pipeline and an electromagnetic valve, and is also connected with a host control module arranged in the central platform (14); the connection and disconnection between the central sucker (11) and the vacuum pump (13) are controlled by an electromagnetic valve, and the opening and closing of the electromagnetic valve are controlled by a host control module;

the mechanical arm (2) comprises: a large arm (21) and a small arm (22); one end of the big arm is connected with the central platform (14), the other end of the big arm is connected with one end of the small arm (22), and the other end of the small arm (22) is connected with the scraper (3);

the large arm (21) comprises: a large arm motor (211) and a large arm structure frame (212); the large arm structure frame (212) is arranged on one side of the central platform (14) through a large arm motor (211); the large arm motor (211) drives the large arm structure frame (212) to move correspondingly;

the small arm (22) comprises: a small arm motor (221) and a small arm structure frame (222); the small arm structure frame (222) is connected with the large arm structure frame (212) through a small arm motor (221) and is driven by the small arm motor (221) to move correspondingly;

the scraper (3) comprises: a spring hinge (31), a scraper frame (32), a scraper sucker (33), a cleaning strip brush (34) and an electromagnet (35);

the scraper frame (32) is connected with the small arm structure frame (222) through a spring hinge (31), the spring hinge (31) realizes the relative rotation and reset of the small arm structure frame (222) and the scraper frame (32), and when the scraper frame (32) is separated from the wall surface constraint, the spring hinge (31) enables the scraper frame (32) to be vertical to the small arm structure frame (222);

electromagnets (35) are respectively arranged at the upper part and the lower part of the four corners of the scraper holder (32), the upper part of the scraper holder (32) is provided with an upper electromagnet (351), and the lower part of the scraper holder is provided with a lower electromagnet (352);

cleaning strip brushes (34) are transversely arranged on two sides of the bottom of the scraper frame (32) in parallel, iron blocks are arranged at two ends of each cleaning strip brush (34), the iron blocks are arranged between the upper electromagnet (351) and the lower electromagnet (352), and the two states of separating the cleaning strip brushes (34) from the wall surface and pressing the wall surface are realized by switching the on-off of the upper electromagnet (351) and the lower electromagnet (352);

the bottom of the scraper frame (32) is provided with a scraper sucker (33), the scraper sucker (33) is connected with a vacuum pump (13) through a pipeline and an electromagnetic valve, the connection and disconnection between the scraper sucker (33) and the vacuum pump (13) are controlled by the electromagnetic valve, and the electromagnetic valve is controlled by a host control module to be opened and closed.

2. The glass curtain wall obstacle crossing cleaning robot as claimed in claim 1, wherein:

the large arm structure frame (212) is provided with a detergent box (213), a pressure pump connected with a main machine control module in the central platform (14) is arranged in the detergent box, and a piston in the detergent box (213) is pushed by the pressure pump to control liquid spraying;

the cleaner box (213) is also provided with a water receiving port which is connected with an external water supply device.

3. The glass curtain wall obstacle crossing cleaning robot as claimed in claim 1, wherein:

the inner side of the cleaning strip brush (34) at the lower part of the scraper frame (32) is respectively provided with a row of water spraying holes (36), the water spraying holes (36) are connected with the cleaning agent box (213) through a liquid conveying pipeline, and the start and stop of water spraying is realized under the action of a pressure pump in the cleaning agent box (213).

4. The glass curtain wall obstacle crossing cleaning robot as claimed in claim 1, wherein:

the left side and the right side of the central platform (14) are respectively provided with an infrared distance measuring instrument A (121) which is used for detecting the distance between the device and an operating side barrier.

5. The glass curtain wall obstacle crossing cleaning robot as claimed in claim 4, wherein:

and the front and the back of the central platform (14) are respectively provided with an infrared distance meter B (122) which is used for detecting the distance between the device and an operating forward barrier and judging whether the height of the barrier exceeds the standard or not.

6. The glass curtain wall obstacle crossing cleaning robot as claimed in claim 3, wherein:

and an infrared distance meter C (37) is arranged on the scraper frame (32) and used for detecting the distance between the device and the obstacle in the moving direction.