An intelligent robot that automatically cleans the glass curtain wall of a building

Abstract

The invention discloses an intelligent robot for fully-automatically cleaning glass curtain walls of buildings, comprising a sun-shaped frame and a mobile client, wherein a master controller, a climbing system, a rotor system and a photoelectric system are arranged on the frame; the master controller is wirelessly connected to the mobile client; a flight motor controller and a gyroscope are fixedly arranged on the flight frame, the flight motor controller is communicatively connected to the gyroscope, and the flight motor controller is control-connected to the master controller; the invention is easy to use and simple to operate, can not only be adsorbed on the glass curtain wall to automatically adjust the cleaning position, but also can automatically cross the glass beam and move to the next glass curtain wall for cleaning, thereby realizing fully-automatic cleaning, thereby solving the problems of high cost and high risk of manual cleaning of curtain wall glass and inconvenient use of the existing cleaning robots and inability to effectively cross obstacles.

Description

Technical Field

[0001] The invention belongs to the field of glass curtain wall cleaning, and in particular relates to an intelligent robot for fully automatically cleaning the glass curtain wall of a building. Background Art

[0002] Glass curtain wall is a beautiful and novel way to decorate building walls. It is a prominent feature of the modernist high-rise building era. Glass curtain wall refers to the building's external protective structure or decorative structure that has a certain displacement capacity relative to the main structure and does not share the effects on the main structure. However, with the rapid development of China, there are more and more high-rise buildings. How to clean the glass curtain walls of high-rise buildings is a big problem.

[0003] The traditional way to clean the glass curtain walls of buildings is to ask professionals to perform manual cleaning. However, the traditional manual cleaning of glass curtain walls of buildings has many disadvantages and hidden dangers. For example, when the cleaning area is large, a large amount of labor is required, which is not only costly, but also difficult to manage due to too many personnel and low professional level. This will lead to poor cleaning effect and low cleaning efficiency, and may cause certain damage to the glass curtain walls, affecting the light transmittance and service life of the glass curtain walls. In addition, the cleaning personnel need to be suspended in the air when working, which poses a huge safety hazard. Moreover, when cleaning the glass curtain walls at the top and corner edges of the building, the danger is even higher.

[0004] Today's intelligent cleaning robot products are mainly divided into suction cup cleaning robots and cable robots. Although suction cup robots are safer and faster than manual cleaning of exterior wall glass, they are still far from being able to replace manual cleaning, because specific products need to be customized according to different glass structures in order to perform cleaning operations; and there is no good obstacle crossing solution for exterior walls with complex glass beam structures; cable robots need to constantly adjust the cable position for cleaning, which results in low cleaning efficiency and inconvenience in use. Summary of the invention

[0005] In view of the defects and problems of existing cleaning robots, the present invention provides an intelligent robot for fully-automatically cleaning the glass curtain walls of buildings. The intelligent robot is easy to use and can not only be adsorbed on the glass curtain wall to automatically adjust the cleaning position, but also automatically cross the glass beam and move to the next glass curtain wall for cleaning, thereby realizing fully-automatic cleaning, thereby solving the problems of high cost and high risk of manual cleaning of curtain wall glass and the inconvenience of using existing cleaning robots and their inability to effectively overcome obstacles.

[0006] The solution adopted by the present invention to solve its technical problems is: an intelligent robot for fully automatically cleaning the glass curtain wall of a building, characterized in that it includes a sun-shaped frame and a mobile client, the frame is provided with a general controller, a climbing system, a rotor system and a photoelectric system; the general controller is wirelessly connected with the mobile client; the climbing system includes a vertical moving unit fixedly arranged on the left and right sides of the frame and a horizontal moving unit fixedly arranged on the front and rear sides of the frame, the control ends of the vertical moving unit and the horizontal moving unit are both connected to the general controller, and the climbing system can be driven by the general controller to drive the frame to move up and down or left and right along the glass curtain wall by controlling the vertical moving unit or the horizontal moving unit; the rotor system includes a flying frame, the flying frame is fixedly connected to the upper end surface of the frame, and the flying frame is fixedly provided with A flight motor controller and a gyroscope, the flight motor controller and the gyroscope are communicatively connected together, the flight motor controller and the main controller are control-connected together, two cantilevers arranged outward in a scattered shape are fixed in the middle of the left and right sides of the flight frame, and a flight rotor is provided at the end of each cantilever, and each flight rotor is control-connected with the motor controller, and the rotation of each flight rotor is controlled by the motor controller, so that the rotating flight system drives the frame to fly and move; the electrical system includes a distance sensor and a position sensor, and photoelectric distance sensors are fixedly provided on the left and right ends of the roller brush frame of the roller brush mechanism at the front end of the frame and the left and right ends of the scraper of the scraper mechanism at the rear end of the frame, and the position sensor is glued to the bottom surface of the frame, and the distance sensor and the position sensor are both communicatively connected with the main controller through wires; the frame is provided with a cleaning system for cleaning curtain wall glass.

[0007] The liquid spraying mechanism and the roller brush mechanism are arranged on the front side of the frame, the scraper mechanism is arranged on the rear side of the frame, the liquid spraying mechanism is arranged on the frame between the roller brush mechanism and the scraper mechanism, and the liquid spraying mechanism is provided with a switch or valve for controlling the opening and closing of the liquid spraying mechanism, and the switch or valve is connected to the controller control.

[0008] The roller brush mechanism includes a roller brush, a roller brush seat and a fixing rod. The roller brush seat is a fork-shaped fixing seat. The roller brush seat is spaced apart from a frame and the roller brush seat and the frame are parallel to each other. The roller brush seat is fixedly connected to the frame through a fixing rod. The roller brush is sleeved in the roller brush seat, and the circumferential side surface of the lower end of the roller brush is in close contact with the glass curtain wall.

[0009] The liquid spraying mechanism includes a liquid pump, a liquid storage tank and a nozzle. A plurality of nozzles with downward nozzles are fixedly arranged on the frame at longitudinal intervals. The liquid suction end of the liquid pump is connected to the liquid discharge port of the cleaning agent liquid bottle through a water pipe, and the liquid discharge end of the liquid pump is connected to the nozzle through a water pipe. The liquid pump is connected to the main controller through electric wires, and the opening and closing of the liquid pump is controlled by the main controller.

[0010] The scraper mechanism includes a scraper arranged parallel to the frame and spaced apart, an inverted L-shaped connector is fixed to the middle of the upper end of the scraper, the other end of the connector is fixed to an end adjacent to the frame, and the scraping end of the lower end of the scraper is in close contact with the glass curtain wall.

[0011] The frame includes a frame body and a connecting structure. The connecting structures are symmetrically fixed at the front and rear ends of the frame body, and a rectangular installation opening is formed between the connecting structure and the pricing body.

[0012] The vertical moving unit includes a crawler suction cup a and a driving structure a for driving the crawler suction cup a to work. The crawler suction cups a are symmetrically fixed on the left and right sides of the frame. The main controller is controlled and connected with the driving structure a. The driving structure a can be controlled by the main controller to drive the crawler suction cups a on the left and right sides of the frame to drive the frame to move up and down along the glass curtain wall.

[0013] The horizontal moving unit includes a crawler suction cup b and a driving structure b for driving the crawler suction cup b to work. The crawler suction cups b are symmetrically fixed on the front and rear sides of the frame. The main controller is controlled and connected with the driving structure. The driving structure b can be controlled by the main controller to drive the crawler suction cups b on the left and right sides of the frame to drive the frame to move left and right along the glass curtain wall.

[0014] The main controller is provided with a wireless transmitting and receiving module, and is connected with the mobile client through the wireless transmitting and receiving module.

[0015] Beneficial effects of the present invention: The intelligent robot for fully automatic cleaning of the glass curtain wall of a building provided by the present invention has four advantages compared with the existing cleaning robots:

[0016] 1. The present invention provides an intelligent robot for fully automatically cleaning the glass curtain wall of a building. The robot is provided with a rotor system. When the machine completes cleaning of a single piece of curtain wall glass, the rotor system will drive the machine to fly into the air across the beams around the curtain wall glass and move to the next piece of curtain wall glass to continue the cleaning operation.

[0017] 2. The present invention provides an intelligent robot for fully automatically cleaning the glass curtain wall of a building. The robot is provided with a climbing system and a cleaning system. The climbing system includes a vertical moving unit and a horizontal moving unit. The control ends of the vertical moving unit and the horizontal moving unit are both connected to the main controller. The main controller controls the vertical moving unit or the horizontal moving unit to drive the climbing system to drive the frame to move up and down or horizontally along the glass curtain wall. While the machine moves downward along the glass curtain wall through the climbing system, the cleaning system cleans the surface of the curtain wall glass, thereby ensuring that the machine completely cleans an entire curtain wall glass wall.

[0018] 3. The present invention provides an intelligent robot for fully automatic cleaning of glass curtain walls of buildings. The machine is also equipped with a photoelectric system, which is connected to the general control communication through the photoelectric system. The photoelectric system will transmit corresponding electrical signals to the general controller according to the position and working conditions of the machine. After receiving the point signal, the general controller will control each system to work according to the electrical signal to realize fully automatic cleaning.

[0019] 4. The intelligent robot for fully automatically cleaning the glass curtain wall of a building provided by the present invention is provided with a mobile client. The photoelectric system will send the real-time position of the machine to the mobile client through the main controller. The mobile client will establish a path model according to the real-time position of the machine sent by the photoelectric system through the main controller. When the glass curtain wall cleaning work is completed, the mobile client can send a recovery signal to the main controller according to the current position of the machine and the path model established by the mobile client, so that the machine can be recovered with one click, which is more convenient to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention.

[0021] Figure 2 It is a schematic diagram of the frame structure of the present invention.

[0022] Figure 3 It is a schematic diagram of the structure of the climbing system of the present invention.

[0023] Figure 4 It is a schematic diagram of the structure of the vertical moving unit of the present invention.

[0024] Figure 5 It is a structural schematic diagram of the horizontal moving unit of the present invention.

[0025] Figure 6 It is a side structural schematic diagram of the crawler suction cup a of the present invention.

[0026] Figure 7 It is a schematic diagram of the side structure of the crawler suction cup b of the present invention.

[0027] Figure 8 It is a schematic diagram of the structure of a three-way joint of the present invention.

[0028] Fig. 9 It is a schematic diagram of the installation relationship between the annular crawler and the driving wheel set of the present invention.

[0029] Fig.10 It is a schematic diagram of the tracheal passage structure of the present invention.

[0030] Fig.11 It is a schematic diagram of the structure of the cleaning system of the present invention.

[0031] Fig.12 It is a schematic diagram of the fixed position of the distance sensor of the present invention.

[0032] Fig.13 It is a schematic diagram of the horizontal position relationship between the crawler suction cup a and the crawler suction cup b of the present invention.

[0033] Fig.14 It is a schematic diagram of the internal structure of the scraper of the present invention.

[0034] Fig.15 It is a schematic diagram of the vertical take-off and landing movement process of the rotor system of the present invention.

[0035] Fig.16 It is a schematic diagram of the pitching motion process of the rotor system of the present invention.

[0036] Fig.17 It is a schematic diagram of the rolling motion process of the rotor system of the present invention.

[0037] Fig.18 It is a schematic diagram of the yaw motion process of the rotor system of the present invention.

[0038] Fig.19 It is a schematic diagram of the cleaning liquid recovery process of the present invention.

[0039] Fig. 20 It is a schematic diagram of the obstacle-crossing workflow of the present invention.

[0040] Fig.21 It is a schematic diagram of the structure of the rotor system of the present invention.

[0041] Fig. 22 It is a schematic diagram of the working state of the crawler suction cup of the present invention.

[0042] The numbers in the figure are: 1 is a frame, 11 is a frame body, 12 is a connecting structure, 121 is a fixing rod, 122 is a frame crossbeam, 13 is a mounting port, 2 is a climbing system, 201 is a vertical moving unit, 202 is a horizontal moving unit, 21 is a crawler suction cup a, 211 is a front wheel, 212 is an auxiliary wheel, 213 is a rear wheel, 214 is a fixed seat a, 215 is a fixed seat b, 216 is a fixed seat c, 217 is a fixed shaft, 218 is a connecting rod a, 2181 is a driven bevel gear, 221 is a driving motor a, 222 is a vacuum pump a, 223 is a hard exhaust pipe, 224 is a three-way joint, 2241 is a first joint, 2242 is a second joint, 2243 is The third joint, 225 is a gas distributor, 2251 is a pipe joint, 226 is an annular track, 227 is a vacuum suction cup, 2171 is an air pipe channel, 22 is a track suction cup b, 228 is a connecting rod b, 231 is a driving motor b, 232 is a vacuum pump b, 3 is a cleaning system, 311 is a roller brush seat, 312 is a roller brush, 313 is a fixing rod, 321 is an atomizing nozzle, 322 is a liquid supply pump, 323 is a liquid storage tank, 331 is a scraper, 3331 is a cavity, 332 is a connecting piece, 3321 is a guide tube, 41 is a flight frame, 42 is a flight rotor, 43 is a cantilever, 44 is a motor controller, 45 is a gyroscope, 5 is a glass curtain wall, and 61 is a distance sensor. DETAILED DESCRIPTION

[0043] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0044] Example 1

[0045] This embodiment provides an intelligent robot for fully automatic cleaning of the glass curtain wall of a building. Figure 1-22 As shown, it includes a mobile client and a frame 1 arranged parallel to the curtain wall glass, the frame 1 includes a frame body 11 and a connecting structure 12, the connecting structures 12 are symmetrically fixed at the front and rear ends of the frame body 11, the connecting structure 12 includes a frame crossbeam 112, the left and right ends of the frame crossbeam 112 are radially welded with fixing rods 121, the other ends of the fixing rods 121 are respectively welded and fixed to the left and right ends of the frame body 11, and a rectangular installation opening 13 is formed between the connecting mechanism 12 and the frame body 11, the frame 11 is provided with a main controller, a climbing system, a cleaning system, a rotor system and an optoelectronic system, the main controller is provided with a wireless transmitting and receiving module, and the main controller is connected to the mobile client through the wireless transmitting and receiving module; the working status of the main controller can be observed through the mobile client and commands can be sent to the main controller through the mobile client.

[0046] like Figure 3 , Figure 4 , Figure 6As shown, the climbing system includes a vertical moving unit 201 fixedly arranged on the left and right sides of the frame 1 and a horizontal moving unit 202 fixedly arranged on the front and rear sides of the frame 1, the vertical moving unit 201 includes a crawler suction cup a21 and a driving structure a for driving the crawler a21 to work, and the crawler suction cup a21 is symmetrically fixed on the left and right sides of the frame body 11, and the crawler suction cup a21 includes a driving wheel group, an annular crawler 226 and a vacuum suction cup 227, and the driving wheel group includes a front wheel 211, an auxiliary wheel 212 and a rear wheel 213, and the diameters of the front wheel 211, the auxiliary wheel 212 and the rear wheel 213 are consistent, and the front wheel 211, the auxiliary wheel 212 and the rear wheel 213 are fixed on the frame body 11 in sequence from front to back. Specifically:

[0047] The frame body 11 is provided with a track suction cup a21 on one side of the upper end face, and the front and rear ends and the middle part are respectively fixed with a fixed seat a214, a fixed seat c216 and a fixed seat b215 by bolts. The middle parts of the three fixed seats are transversely opened with axial holes and are fitted with fixed bearings. The fixed bearings are matched with fixed shafts 217. The outer ends of the fixed shafts 217 extend outward from the frame body 11. The fixed shafts in the fixed seats a214 on both sides of the frame body 11 are fixedly connected together by connecting rods a218, and the connecting rods a218 are coaxially arranged with the fixed shafts 217 in the fixed seats a214. When the driving mechanism a drives the connecting rod a218 to rotate, the connecting rod a218 will drive the fixed shafts 217 on both sides to rotate in the corresponding fixed seats a214.

[0048] like Fig. 9 As shown, the front wheel 211 is fixedly sleeved on the tail end of the fixed shaft located in the fixing seat a214, the auxiliary wheel 212 is fixedly sleeved on the tail end of the fixed shaft located in the fixing seat b215, and the rear wheel 213 is fixedly sleeved on the tail end of the fixed shaft located in the fixing seat c216.

[0049] The annular crawler 226 is matched and mounted on the driving wheel set, and the circumferential side of the annular crawler 226 extends axially outward from the driving wheel set. The front wheel 211, the rear wheel 213 and the auxiliary wheel 212 of the driving wheel set are all meshed with the inner side of the annular crawler. When the front wheel 211 rotates, the auxiliary wheel 213 and the rear wheel 212 will follow the front wheel 211 to rotate through the annular crawler 226. When the annular crawler 226 rotates, it will drive the frame 1 to move forward and backward in a horizontal state. Fig.10As shown, the fixed shaft 217 in the fixed seat b215 is a hollow shaft, and its internal channel is an air pipe channel 2171. A hard exhaust pipe 223 is fixedly mounted in the air pipe channel 2171 through a bearing. The inner end of the hard exhaust pipe 223 extends inwardly out of the air pipe channel 2171 and is connected to the driving structure a. The outer end of the hard exhaust pipe 223 extends outwardly out of the air pipe channel 2171 and is mounted with a gas distributor 225, and the gas distributor 225 is located in the annular track 226 on the outer side of the driving wheel group; 14 vacuum suction cups 227 with openings facing outward are evenly spaced and bonded to the middle part of the outer ring surface of the annular track 226 along the circumference; the suction ends of the vacuum suction cups 226 all pass through the annular track 226 and extend to the annular track 226 on the outer side of the driving wheel group, and all pass through the annular track 226. The exhaust hose is sealed and connected to the corresponding pipe joint 2251 on the gas distributor 225. The size of each exhaust pipe is equal, and each exhaust hose is matched with a wireless pressure sensor. The wireless pressure sensor is communicated with the main controller through its internal wireless sending module. When the front wheel 211 drives the auxiliary wheel 212 and the rear wheel 213 to rotate through the annular track 226, the vacuum suction cup 227 on the annular track 226 will follow the rotation of the annular track 226 and move around the auxiliary wheel 212. Since the hard exhaust pipe 223 is fixedly mounted in the trachea channel 2171 through a bearing, when the vacuum suction cup 227 follows the movement of the annular track 226, the vacuum suction cup 227 will drive the hard exhaust pipe 223 to rotate in the trachea channel through the exhaust hose.

[0050] like Figure 4 , Figure 8 As shown, the driving structure a includes a driving motor a221 and a vacuum pump a222. The driving motor a221 and the vacuum pump a222 are both connected to the summary controller through electric wires, and the motor shaft of the driving motor a221 is connected to the connecting rod a218 in transmission. Specifically: a driven bevel gear 2181 is mounted on the circumferential side wall of the left end of the connecting rod a218, and a driving bevel gear is mounted on the motor shaft of the driving motor a. The driving bevel gear and the driven bevel gear 2181 are matched, meshed and fixed together. When the general controller controls the driving motor a221 to rotate, the driving motor a221 will drive the connecting rod a218 to rotate through the driving bevel gear. When the connecting rod a218 rotates, it will simultaneously drive the fixed shafts 217 in the fixed seats a214 on both sides to rotate. Since the front wheel 211 is fixedly mounted on the driving shaft 217, when the driving shaft 217 in the fixed seat a214 rotates, it will drive the front wheel 211 to rotate.

[0051] The vacuum pump a222 is fixed to the upper end surface of the frame body 11 by bolts, and a three-way joint 224 is matched and mounted on the exhaust port of the vacuum pump a222. The first joint 2241 of the three-way joint is sealed and connected to the exhaust end of the vacuum pump a222. The second joint 2242 and the third joint 2243 of the three-way joint are respectively arranged toward the fixed seats b215 on the left and right sides of the frame body 11, and the joint ports of the second joint 2242 and the third joint 2243 are coaxially arranged with the fixed axis in the fixed seat b215; the second joint 2242 and the third joint 2243 of the three-way joint are respectively sealed and connected to the hard exhaust pipe 223 extending from the corresponding tail end of the exhaust pipe channel 2171. When the main controller controls the vacuum pump a222 to work, the vacuum pump a222 extracts and presses the vacuum suction cup 227 on the annular track 226 through the hard exhaust pipe 223.

[0052] like Fig. 22 As shown, when in use, the opening of the vacuum suction cup 227 located on the lower section of the annular track 226 will fit together with the glass curtain wall 5 to form a seal, and the vacuum pump a222 is controlled by the main controller to start working. The vacuum pump a222 extracts and presses the vacuum suction cup 227 on the annular track 226 through the hard exhaust pipe 223. Since the opening of the vacuum suction cup 227 located on the lower section of the annular track 226 fits together with the glass curtain wall 5, the inside of the vacuum suction cup 227 on the annular track 226 that fits together with the glass curtain wall 5 will be evacuated into a negative pressure during the extraction and pressure extraction, so that the vacuum suction cup 227 is adsorbed on the glass curtain wall. When the wireless pressure sensor detects that the negative pressure in the corresponding exhaust hose reaches the preset value, it will send a completion signal to the main controller. When the main controller receives the vertical movement When the number of completion signals sent by the track suction cup a21 on each side of the unit 201 reaches six, the main controller will control the driving motor a221 to start working. The driving motor a221 will drive the annular tracks 226 on the left and right sides of the frame body 11 to rotate through the connecting rod a218. When the annular tracks 226 rotate, the vacuum suction cups 227 adsorbed together with the curtain wall glass 5 will follow the rotation of the annular tracks 226 and separate from the curtain wall glass 5 one by one. At the same time, the vacuum suction cups 226 that are not adsorbed together with the curtain wall glass 5 will follow the rotation of the annular tracks 226 and adhere to the curtain wall glass 5 one by one, and be sucked together with the curtain wall glass 55 by the vacuum pump a222, so that the annular tracks 226 can drive the frame 1 to move up and down along the curtain wall glass 5 through the vacuum suction cups 227.

[0053] like Figure 3 , Figure 5 , Figure 7As shown, the horizontal moving unit 202 includes a horizontally placed crawler suction cup b22 and a driving structure b for driving the crawler suction cup b22 to work. The crawler suction cup b22 is symmetrically fixed in the mounting openings 13 on the front and rear sides of the frame 1. The crawler suction cup b22 includes a driving wheel group, an annular crawler 226 and a vacuum suction cup 227. The driving wheel group b includes a front wheel 211, an auxiliary wheel 212 and a rear wheel 213. The diameters of the front wheel 211, the auxiliary wheel 212 and the rear wheel 213 are consistent, and the diameter of the front wheel 211 in the crawler suction cup b22 is larger than the diameter of the front wheel 211 in the crawler suction cup a21. The front wheel 211, the auxiliary wheel 212 and the rear wheel 213 of the crawler suction cup b2 are larger than the diameter of the front wheel 211 in the crawler suction cup a21. The auxiliary wheel 212 and the rear wheel 213 are fixed on the frame body 11 at intervals in sequence. Specifically: as shown in Figure xx, the frame body 11 is provided with a track suction cup b. The left and right ends and the middle part of the upper end surface are respectively fixed with a fixing seat c216, a fixing seat a214 and a fixing seat b215 by bolts. The middle parts of the fixing seats c216, a214 and b215 are provided with axial holes and are fitted with bearings. The bearings are matched with a fixed shaft 217. The outer ends of the fixed shafts extend outward to the mounting port 13, and the fixed shaft fitted in the fixed seat b215 is a hollow shaft, and the inside of the hollow shaft is an air pipe channel 217.

[0054] like Fig.13 As shown, the vertical distance between the fixed axis in the crawler suction cup b22 and the frame 1 is a, and the vertical distance between the fixed axis in the crawler suction cup a21 and the frame 1 is b, where a>b,

[0055] like Figure 5 The fixed shafts 217 in the fixed seats a214 at the front and rear ends of the frame body 11 are fixedly connected together through a connecting rod b228, and the connecting rod b228 is coaxially arranged with the fixed shafts in the fixed seats a214 at the front and rear ends of the frame body 11. When the driving mechanism b drives the connecting rod b228 to rotate, the connecting rod b228 will drive the fixed shafts on both sides to rotate in the corresponding fixed seats a214.

[0056] like Fig. 9 As shown, the front wheel 211 is fixedly sleeved on the tail end of the fixed shaft located in the fixing seat a214, the auxiliary wheel 212 is fixedly sleeved on the tail end of the fixed shaft located in the fixing seat b215, and the rear wheel 213 is fixedly sleeved on the tail end of the fixed shaft located in the fixing seat c216.

[0057] The annular crawler 226 is matched and mounted on the driving wheel set b, and the outer annular surface of the lower end of the annular crawler 226 is on the same horizontal plane as the outer annular surface of the lower end of the annular crawler 226 on the crawler suction cup a21; the circumferential side of the annular crawler 226 on the crawler suction cup b22 extends axially outward from the driving wheel set, and the front wheel 211, the rear wheel 213 and the auxiliary wheel 212 of the driving wheel set are all meshed with the inner side of the annular crawler 226. When the front wheel 211 rotates, the auxiliary wheel 212 and the rear wheel 213 will be driven to rotate with the front wheel 211 through the annular crawler 226. When the annular crawler 226 of the crawler suction cup b22 rotates, it will drive the frame 1 in a horizontal state to move left and right;

[0058] A hard exhaust pipe 223 is fixedly sleeved in the air pipe channel 2171 in the fixed shafts at the front and rear ends of the frame body 11 through a bearing, the inner end of the hard exhaust pipe 223 extends inwardly out of the air pipe channel 2171 and is connected to the drive structure b, the outer end of the hard exhaust pipe 217 extends outwardly out of the air pipe channel 2171 and is sleeved with a gas distributor 225, and the gas distributor 225 is located in the annular track 226 outside the driving wheel group b; 28 vacuum suction cups 227 with openings facing outward are evenly spaced and bonded to the middle of the outer ring surface of the annular track 226 along the circumference, and the suction ends of the vacuum suction cups 227 all pass through the annular track 226 and extend to the annular track 226 outside the driving wheel group b, and are connected to the gas distributor through an exhaust hose. The corresponding pipe joints 2251 on the distributor 225 are sealed and connected together, and the length of each vacuum hose is consistent. The vacuum hose is matched with a wireless pressure sensor, and the wireless pressure sensor is communicated with the main controller through its internal wireless sending module. When the front wheel 211 drives the auxiliary wheel 212 and the rear wheel 213 to rotate through the annular track 226, the vacuum suction cup 227 on the annular track 226 will follow the rotation of the annular track 226 and move around the auxiliary wheel 212. Since the hard vacuum pipe 223 is fixedly mounted in the trachea channel 2171 through a bearing, when the vacuum suction cup 227 follows the movement of the annular track 226, the vacuum suction cup 227 will drive the hard vacuum pipe 223 to rotate in the trachea channel through the vacuum hose.

[0059] like Figure 5As shown, the driving structure b includes a driving motor b231 and a vacuum pump b232. The driving motor b231 and the vacuum pump b232 are both connected to the summary controller through electric wires, and the motor shaft of the driving motor b231 is transmission-connected with the connecting rod b218. Specifically: a driven bevel gear is mounted on the circumferential side wall of the right end of the connecting rod b218, and an active bevel gear is mounted on the motor shaft of the driving motor b231. The active bevel gear and the driven bevel gear are matched, meshed and fixed together. When the general controller controls the driving motor b231 to work, the driving motor b231 will drive the connecting rod b218 to rotate through the active bevel gear. When the connecting rod b218 rotates, it will also drive the fixed shafts in the fixed seats a214 on both sides to rotate. Since the front wheel 211 is fixedly mounted on the fixed shaft in the fixed seat a214, the front wheel 211 will be driven to rotate when the driving shaft in the fixed seat a214 rotates.

[0060] The vacuum pump B232 is fixed to the upper end surface of the frame body 11 by bolts, and a three-way joint 224 is matched with the exhaust port of the vacuum pump B232. The first joint 2241 of the three-way joint 224 is sealed and connected to the exhaust end of the vacuum pump B232. The second joint 2242 and the third joint 2243 of the three-way joint 224 are connected to the hard exhaust pipe 223 extending inward from the front and rear ends of the frame body 11 through a connecting pipe. The exhaust pipe channel 2171 is connected to each other. When the main controller controls the vacuum pump B232 to work, the vacuum pump B232 extracts and presses the vacuum suction cup 227 on the annular track 226 through the hard exhaust pipe.

[0061] When in use, the driving motor b231 and the vacuum pump b232 of the driving mechanism b are controlled by the main controller to work, so that the crawler suction cups b22 on the front and rear sides of the frame body 11 can drive the frame 1 to move horizontally left and right along the glass curtain wall 5, wherein the crawler suction cups b22 on the front and rear sides of the frame body 11 have the same working principle as the above-mentioned crawler suction cups a, which will not be described in detail here.

[0062] like Fig.11 As shown, the cleaning system includes a liquid spraying mechanism, a roller brush mechanism and a scraper mechanism. The roller brush mechanism includes a fork-shaped roller brush seat 311 which is arranged in parallel and spaced relation with the front end of the frame and the frame cross beam 122. A roller brush 312 is matched and fixedly mounted in the roller brush seat 311. The circumferential side surface of the lower end of the roller brush 312 is in close contact with the glass curtain wall 5. A fixing rod 313 is welded to the middle of the roller brush seat 311. The other end of the fixing rod 313 is welded and fixed to the middle of the outer end surface of the adjacent frame cross beam 122. Since the roller brush 312 is in close contact with the glass curtain wall 5, when the frame 1 moves downward along the glass curtain wall 5 through the vertical moving unit 201, the roller brush 312 will push and rub the pollutants and dust on the surface of the glass curtain wall 5 downward, separate from the glass curtain wall 5 and drop downward.

[0063] The liquid spraying mechanism includes a liquid supply pump 322, a liquid storage tank 323 and an atomizing nozzle 321. The liquid storage tank 323 is fixedly arranged on the upper end surface of the frame body 11 and the liquid storage tank 323 is filled with cleaning liquid. The liquid supply pump 322 is fixed to the frame body 322 on the right side of the liquid storage tank 322 by bolts. The liquid supply pump 322 is connected to the control of the controller through wires. The outer end surface of the frame cross beam 122 of the connecting mechanism 12 at the front end of the frame body 11 is fixed with 4 downward water mist nozzles at intervals. The liquid inlets of the 4 water mist nozzles are connected in series through a liquid supply pipe. The water inlet end of the liquid supply pipe is sealed and connected to the discharge port of the liquid supply pump through the water supply pipe. The liquid extraction end of the liquid supply pump 322 is sealed and connected to the discharge port of the liquid storage tank 323 through a water pipe. The cleaning liquid in the liquid storage tank 323 can be extracted by the liquid supply pump 322 and discharged through the water mist nozzle 321.

[0064] like Fig.12 As shown, the scraper mechanism includes a scraper 331 arranged in parallel and at intervals with the frame crossbeam 122 at the rear end of the frame body 11, the scraping end of the lower end of the scraper 331 is tightly in contact with the curtain wall glass 5, an inverted L-shaped connecting piece 332 is fixed to the middle part of the upper end of the scraper 331, and the other end of the connecting piece 332 is welded and fixed to the outer end surface of the frame crossbeam 122 of the connecting mechanism at the rear end of the frame body 11. When the frame 1 moves downward along the glass curtain wall 5 through the vertical moving unit 201, the water mist of the cleaning liquid sprayed by the water mist nozzle 321 will be directly sprayed on the curtain wall glass 5 that has been cleaned by the roller brush 312. In the process of the frame 1 moving downward, the scraper of the scraper mechanism on the rear side of the frame will scrape the cleaning liquid sprayed on the curtain wall glass 5 clean, thereby making the surface of the curtain wall glass cleaner.

[0065] like Fig.21 As shown, the rotor system includes a flight frame 41, the four top corners of the flight frame 41 are fixedly welded to the frame body 11 through fixing rods, a flight motor controller 44 and a gyroscope 45 are fixedly provided on the flight frame 4 by bolts, the gyroscope 45 is communicatively connected with the motor controller 44, two cantilevers 43 distributed outward in a scattered manner are welded and fixed to the middle of the left and right sides of the flight frame 41, and a flight rotor 42 is provided at the end of each cantilever 43, and the flight rotor includes a propeller motor fixed at the end of the cantilever, a propeller blade is installed on the rotating shaft of the propeller motor, and each propeller motor is controlled and connected to the motor controller 44 through wires, and the speed of each propeller motor is controlled by the motor controller 44, so as to realize that the frame 1 is driven to perform vertical (take-off and landing) movement, pitch movement, roll movement and yaw movement through the rotor system, specifically:

[0066] like Fig.15 As shown, the vertical (lifting) movement is that the motor controller 44 controls the rotation speed of the four flight rotors 42 to provide lift for ascent, while the descent mainly reduces the rotation speed of the flight rotors 42 and relies on gravity to land.

[0067] like Fig.16 As shown, the motor controller 44 controls the No. 1 flight rotor 42 to increase the rotation speed, and the No. 3 flight rotor 42 to reduce the rotation speed, and the rotor system drives the frame to pitch up along the X-axis direction. In addition, while the pitching movement, the rotor system also drives the frame to move forward and backward. When the rotor system tilts to a certain degree, the rotor pull generates a horizontal component, so that the forward flight movement of the rotor system can be achieved.

[0068] like Fig.17 As shown, the rolling motion is achieved by the rotor system by controlling the rotation speed of the flight rotors on two (or four) axes, which is the same as the control principle of the pitch motion, except that the controlled flight rotors are different. The motor controller controls the No. 4 flight rotor 42 to speed up and the No. 2 flight rotor 42 to slow down, and the rotor system drives the frame to roll along the Y-axis direction, and a small rolling motion will cause the rotor system to drive the frame to move sideways.

[0069] The yaw motion is achieved by the rotor system through anti-torque. During the rotation of the flying rotor, the air resistance will generate an anti-torque in the opposite direction of the rotation. In order to overcome the influence of the anti-torque, two of the four flying rotors rotate forward and two rotate backward, and the rotation directions of the flying rotors on the diagonal are the same; the magnitude of the anti-torque is related to the rotation speed of the flying rotor. When the rotation speeds of the four flying rotors are the same, the anti-torques generated by the four flying rotors are balanced with each other, and the rotor system will not drive the frame to rotate; when the rotation speeds of the four flying rotors are not exactly the same, the unbalanced anti-torque will cause the rotor system to drive the frame to rotate horizontally, thereby achieving yaw motion, such as Fig.18 As shown: the rotation speed of flight rotor No. 1 and flight rotor No. 3 increases, and the rotation speed of flight rotor No. 2 and flight rotor No. 4 decreases, the rotor system will drive the frame to rotate horizontally. Since the overall lift remains unchanged, the rotor system will not cause the frame to rise or fall.

[0070] The motor controller 44 is connected to the main controller via wires. The main controller can send control signals to the motor controller 44. After receiving the signals, the motor controller 44 controls the rotation speed of each flight rotor, thereby implementing various corresponding movements.

[0071] like Fig.12 As shown, the photoelectric system includes a distance sensor 61 and a position sensor. The left and right ends of the roller brush frame 311 of the roller brush mechanism at the front end of the frame and the left and right ends of the scraper 331 of the scraper mechanism at the rear end of the frame are adhered with photoelectric distance sensors 61. The position sensor is adhered to the bottom surface of the frame 1. The distance sensor 61 and the position sensor are both connected to the main controller through wires for communication.

[0072] When the robot of this embodiment is in use, the robot of this embodiment is first assembled, and then the device is started, and a take-off signal is sent to the main controller through the mobile client. When the main controller receives the flight signal sent by the mobile client, the main controller sends a take-off signal to the motor controller of the rotor system. The motor controller controls the four flight rotors 42 of the rotor system to rotate rapidly to provide lifting force for the machine to take off. After the machine takes off, a signal is sent to the main controller through the mobile client according to the environmental conditions. After the main controller receives the signal, it will send a corresponding signal to the motor controller according to the information of the received signal, so that the motor controller controls the rotor system on the machine to drive the machine to fly to the task position. When the position sensor at the bottom of the machine detects that the machine is in contact with the glass curtain wall 5, the position sensor will send a contact signal to the main controller. After receiving the signal, the main controller will control the vacuum pump in the vertical moving unit of the climbing system to start working. When the main controller receives the completion signal sent by the vertical moving unit to reach the preset value, the main controller will control the drive motor in the vertical moving unit of the climbing system to start working, so that the climbing system drives the machine to move downward along the glass curtain wall.

[0073] While the main controller controls the drive motor in the vertical moving unit to start working, it also controls the rotor system to stop working and controls the cleaning system to start working. While the climbing system drives the machine to move downward along the glass curtain wall, the cleaning system cleans the glass curtain wall on the machine's moving path. When the distance sensor located on the roller frame detects that the distance between the machine and the front glass curtain wall beam is less than 5 cm, the distance sensor will send a warning signal to the main controller. After receiving the warning signal, the main controller will simultaneously control the drive motor and the cleaning unit in the vertical moving unit to stop working, so that the machine stops cleaning and moves downward, and then controls the vacuum pump in the horizontal moving unit to start working. When the number of completion signals sent by the horizontal moving unit received by the main controller reaches a preset number, the main controller will control the vacuum pump a in the vertical moving unit to stop working, and then the main controller will control the drive motor b in the horizontal moving unit to start working, so that the climbing system drives the machine to move along the glass curtain wall level to a position equal to the body of the machine for the next round of cleaning process, thereby ensuring the complete cleaning of an entire glass wall.

[0074] like Fig. 20As shown, when the master controller determines that the cleaning of the current glass curtain wall is completed through the path signal transmitted by the position sensor, the master controller will transmit a signal to the motor controller to control the motor controller to start the rotor system. During this process, the main controller also controls the driving motors of the cleaning system and the climbing system to stop working. After the motor controller detects that each propeller motor reaches a certain speed, the motor controller will send a signal to the master controller. After receiving the signal, the master controller will control the vacuum pump system of the climbing system to work, so that the machine is separated from the glass curtain wall through the rotor system. The distance sensors at the four corners of the machine and the position sensor at the bottom of the machine will detect and determine the distance between the machine and the glass curtain wall and send a slave signal to the master controller. After receiving the signal, the master controller will adjust the speed of each propeller motor in the rotor system through the motor controller in combination with the judgment of the cleaning path, so as to control the machine to fly horizontally or up and down to fly over obstacles to the next glass curtain wall. After the rotor system takes the aircraft to fly over the next glass curtain wall, the position sensor at the bottom of the machine will send a contact signal to the master controller. After receiving the signal, the master controller will repeat the above process to operate each system to clean the glass curtain wall.

[0075] When the glass curtain wall cleaning work is completed, the mobile client will send a recovery signal to the main controller based on the current position of the machine and the path model established by the mobile client. The main controller will control the rotor system according to the received signal and fly back to the starting point according to the recovery route obtained by the mobile client based on the current position of the robot and the path model.

[0076] Example 2

[0077] The difference between Example 2 and Example 1 is that a recovery device is provided on the frame.

[0078] A recovery device is provided on the frame, and the recovery device includes a filter bottle and a recovery vacuum pump. A filter screen is provided in the filter bottle. A water inlet is provided at the upper end of the filter bottle and is connected to the discharge end of the recovery vacuum pump through a water pipe. A water outlet is provided at the lower end of the filter bottle and is connected to the liquid inlet of the liquid storage tank 323 through a drain pipe. Fig.14As shown, a cavity 3311 is provided in the middle of the scraper, and the cavity is a recovery cavity. The scraping end of the scraper in contact with the curtain wall glass is evenly distributed horizontally with water absorption holes that are upwardly connected to the cavity. The connecting piece 14 is provided with a guide tube 3321. One end of the guide tube 3321 is connected to the recovery cavity in the scraper, and the other end is connected to the liquid extraction end of the recovery vacuum pump. The recovery vacuum pump is connected to the main controller through wires. When the main control controls the liquid spraying mechanism to work, the main control will also control the recovery vacuum pump to start working at the same time. When the machine is cleaning the curtain wall glass, the liquid spraying mechanism The cleaning liquid sprayed on the curtain wall glass by the mechanism will accumulate at the water absorption hole where the scraper end contacts the curtain wall glass, and when the recovery vacuum pump starts to work, the recovery vacuum pump will extract the air in the cavity 3311 through the guide tube, so that the cleaning liquid accumulated at the water absorption hole will be sucked back into the cavity 3311, and discharged into the filter bottle through the recovery vacuum pump. Since the recovery vacuum pump will continuously apply pressure to the filter bottle when working, the cleaning liquid filtered by the filter bottle will be discharged into the liquid storage tank 323 through the drain pipe, so that the cleaning liquid can be used many times, reducing the cost.

Claims

1. An intelligent robot for fully automatic cleaning of building glass curtain walls, characterized in that: The invention comprises a sun-shaped frame and a mobile client, wherein a main controller, a climbing system, a rotor system and an optoelectronic system are arranged on the frame; the main controller is wirelessly connected with the mobile client; the climbing system comprises a vertical moving unit fixedly arranged on the left and right sides of the frame and a horizontal moving unit fixedly arranged on the front and rear sides of the frame, the control ends of the vertical moving unit and the horizontal moving unit are both controlled and connected with the main controller, and the climbing system can be driven to drive the frame to move up and down or left and right along the glass curtain wall by controlling the vertical moving unit or the horizontal moving unit by the main controller; the rotor system comprises a flying frame, which is fixedly connected with the upper end surface of the frame, and a flight motor controller and a gyroscope are fixedly arranged on the flying frame, and the flight motor controller and the gyroscope The instruments are connected together for communication, the flight motor controller is connected to the main controller for control, two cantilevers arranged outward in a scattered shape are fixed on the middle part of the left and right sides of the flight frame, and a flight rotor is provided at the end of each cantilever, and each flight rotor is control-connected to the motor controller, and the rotation of each flight rotor is controlled by the motor controller, so that the rotating flight system drives the frame to fly and move; the electrical system includes a distance sensor and a position sensor, and photoelectric distance sensors are fixedly provided on the left and right ends of the roller brush frame of the roller brush mechanism at the front end of the frame and the left and right ends of the scraper of the scraper mechanism at the rear end of the frame, and the position sensor is glued to the bottom surface of the frame, and the distance sensor and the position sensor are both connected to the main controller for communication through wires; a cleaning system for cleaning curtain wall glass is provided on the frame, and the cleaning system can clean the curtain wall glass. The washing system comprises a liquid spraying mechanism, a roller brush mechanism and a scraper mechanism; the roller brush mechanism is arranged on the front side of the frame, the scraper mechanism is arranged on the rear side of the frame, the liquid spraying mechanism is arranged on the frame between the roller brush mechanism and the scraper mechanism, the liquid spraying mechanism is provided with a switch or valve for controlling the opening and closing of the liquid spraying mechanism, and the switch or valve is connected to the controller for control; the roller brush mechanism comprises a roller brush, a roller brush rack and a fixing rod, the roller brush rack is a fork-shaped fixing seat, the roller brush rack is spaced apart from the frame, and the roller brush rack and the frame are parallel to each other, the roller brush rack is fixedly connected to the frame through a fixing rod, the roller brush is sleeved in the roller brush rack, and the circumferential side surface of the lower end of the roller brush is in close contact with the glass curtain wall; the liquid spraying mechanism comprises a liquid pump, a liquid storage tank and A spray head, a plurality of spray heads with downward spray nozzles are fixedly arranged at intervals along the longitudinal direction on the frame, the liquid extraction end of the liquid extraction pump is connected to the liquid discharge port of the cleaning agent liquid bottle through a water pipe, the liquid discharge end of the liquid extraction pump is connected to the spray head through a water pipe, the liquid extraction pump is connected to the master controller through an electric wire, and the opening and closing of the liquid extraction pump is controlled by the master controller; the scraper mechanism includes a scraper arranged in parallel with the frame, an inverted L-shaped connecting piece is fixed to the middle part of the upper end of the scraper, the other end of the connecting piece is fixed to the end adjacent to the frame, and the scraping end of the lower end of the scraper is tightly in contact with the glass curtain wall; the frame includes a frame body and a connecting structure, the connecting structures are symmetrically fixed to the front and rear ends of the frame body, and a rectangular mounting opening is formed between the connecting structure and the frame body;The vertical moving unit includes a crawler suction cup a and a driving structure a for driving the crawler suction cup a. The crawler suction cups a are symmetrically fixed on the left and right sides of the frame. The master controller is connected to the driving structure a. The master controller controls the driving structure a to drive the crawler suction cups a on the left and right sides of the frame to drive the frame to move up and down along the glass curtain wall. The horizontal moving unit includes a crawler suction cup b and a driving structure b for driving the crawler suction cup b. The crawler suction cups b are symmetrically fixed on the front and back sides of the frame. The master controller is connected to the driving structure. The master controller controls the driving structure b to drive the crawler suction cups b on the left and right sides of the frame to drive the frame to move left and right along the glass curtain wall. The master controller is provided with a wireless transmitting and receiving module, and is connected to the mobile client through the wireless transmitting and receiving module. ;

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