A curtain wall drone system

Abstract

The present invention provides a curtain wall drone system, belonging to the technical field of curtain wall cleaning equipment. The drone system includes a frame, on which a propulsion module and a cleaning module are arranged. The cleaning module includes a translation fixed plate one and a translation fixed plate two. A cleaning roller capable of rotating around its own axis is connected between the translation fixed plate one and the translation fixed plate two. A cleaning motor is fixed on the translation fixed plate one, a cleaning driving wheel is connected to the output shaft of the cleaning motor, a cleaning driven wheel is fixed on one end of the cleaning roller, and the cleaning driven wheel meshes with the cleaning driving wheel. The propulsion module includes a propulsion motor one, and a propulsion rotor one is connected to the output shaft of the propulsion motor one. During the process of the cleaning roller of this drone system cleaning the curtain wall, the propulsion motor one drives the propulsion rotor one to rotate, and the propulsion rotor one generates a forward thrust on the frame, so that the cleaning roller is always in close contact with the curtain wall, improving the cleaning efficiency and bringing a better cleaning effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of curtain wall cleaning equipment and relates to a curtain wall drone system. Background Art

[0002] High-rise buildings are the business cards of a city. However, the cleaning of high-rise buildings has always been a difficult problem. In the field of outdoor curtain wall cleaning, especially the outdoor curtain wall cleaning of high-rise buildings, it is generally completed by "spidermen", which has the characteristics of high labor intensity and high risk potential. Curtain wall cleaning robots are considered an effective way to solve this problem. By an operator controlling the robot to complete the curtain wall cleaning work, it can greatly reduce the labor intensity and improve safety, providing an effective method for the cleaning of high-rise building curtain walls.

[0003] Chinese patent document with application number 201710870473.0 discloses an outdoor curtain wall cleaning drone, including a drone assembly, a cleaning liquid tank, a stabilizer assembly, a storage battery, a high-pressure water pump, a landing frame, and a high-pressure water gun. The cleaning liquid tank is fixed at the lower end of the drone. The stabilizer assembly is fixed behind the lower end of the cleaning liquid tank. The stabilizer fan is connected to the stabilizer assembly, and the fan is exposed. The high-pressure water pump is fixed in front of the lower end of the cleaning liquid tank. The high-pressure water gun is connected to the high-pressure water pump and protrudes outward. The storage battery is installed at the middle part of the lower end of the cleaning liquid tank. The landing frame connects the cleaning liquid tank and the drone assembly. The drone can automatically clean the curtain wall according to a set route, simplifying the operation. By spraying a special cleaning liquid with the high-pressure water gun, it can remove dirt, with high cleaning efficiency and not being restricted by the building, so it has a good market prospect and is a capable assistant for outdoor cleaning.

[0004] Chinese patent document with publication number CN201610598757.4 discloses a curtain wall cleaning overhead crane, including an overhead crane hanging frame and a curtain wall cleaning arm movably connected to the overhead crane hanging frame. The curtain wall cleaning arm is matched with a transverse sliding guide rail arranged on the bottom surface of the overhead crane hanging frame through a transverse sliding trolley. The transverse sliding trolley is connected to a cleaning brush head through several groups of articulated arm segments. Several groups of adsorption brackets interacting with the curtain wall are arranged on the side elevation of the overhead crane hanging frame corresponding to the curtain wall.

[0005] The disadvantages of the above-mentioned curtain wall cleaning overhead crane are that it is sometimes limited by the structural characteristics of the building and is difficult to deploy. When the curtain wall has a special curved surface, the cleaning efficiency is low. By simply using the method of a drone, the energy consumption is high and it is not easy to control. Summary of the Invention

[0006] In view of the above problems existing in the prior art, the present invention provides a curtain wall drone system. The technical problem to be solved by the present invention is: how to make the cleaning roller closely adhere to the curtain wall.

[0007] The object of the present invention can be achieved by the following technical solutions:

[0008] A curtain wall drone system, the drone system includes a frame, a propulsion module and a cleaning module are arranged on the frame, the cleaning module includes a translation fixing plate one and a translation fixing plate two, a cleaning roller capable of rotating around its own axis is connected between the translation fixing plate one and the translation fixing plate two, a cleaning motor is fixed on the translation fixing plate one, a cleaning driving wheel is connected to the output shaft of the cleaning motor, a cleaning driven wheel is fixed on one end of the cleaning roller, and the cleaning driven wheel meshes with the cleaning driving wheel. The propulsion module includes a propulsion motor one fixed on the frame, and a propulsion rotor one is connected to the output shaft of the propulsion motor one.

[0009] Its working principle is: in this drone system, the cleaning module and the propulsion module are respectively arranged at the front and rear of the frame. The cleaning motor drives the cleaning driving wheel to rotate, thereby driving the cleaning driven wheel to rotate. The cleaning driven wheel makes the cleaning roller rotate, so that the cleaning roller cleans the curtain wall. During the process of the cleaning roller cleaning the curtain wall, the propulsion motor one drives the propulsion rotor one to rotate, and the propulsion rotor one generates a forward thrust on the frame, so that the cleaning roller is always closely attached to the curtain wall, improving the cleaning efficiency and bringing a better cleaning effect. The cleaning module uses fewer parts, has a compact structure, is lighter, is convenient to operate and has a high working efficiency when cleaning the curtain wall.

[0010] As an embodiment, both the cleaning driving wheel and the cleaning driven wheel are gears.

[0011] In the above-mentioned curtain wall drone system, the propulsion module further includes a propulsion motor two fixed on the frame, a propulsion rotor two is connected to the output shaft of the propulsion motor two, and the propulsion rotor one and the propulsion rotor two are symmetrically arranged.

[0012] The propulsion motor one and the propulsion motor two respectively drive the propulsion rotor one and the propulsion rotor two to rotate. The propulsion rotor one and the propulsion rotor two jointly generate a forward thrust on the frame, so that the cleaning roller is always more closely attached to the curtain wall, better improving the cleaning effect of the cleaning roller. The propulsion motor one, the propulsion rotor one and the propulsion motor two, the propulsion rotor two are symmetrically arranged. The propulsion motor one and the propulsion motor two are both fixed to the frame through propulsion fixing plates, and the fixing method is thread locking.

[0013] In the above-mentioned curtain wall drone system, a lifting module is further arranged on the frame. The lifting module includes a lifting motor fixed on the frame, a coupling is connected to the output shaft of the lifting motor, a winch drum capable of rotating around its own axis is connected to the coupling, a steel wire rope is connected to the winch drum, the steel wire rope passes through a pulley group and is connected to a cantilever beam, the pulley group is fixed on a pulley fixing plate, and the pulley fixing plate is fixed on the frame.

[0014] During cleaning, the cantilever beam in the lifting module is fixed to the building. The lifting motor winds and unwinds the steel wire rope through the rotating winch drum to achieve the overall up and down movement and hovering of the frame, which is safe and energy-saving.

[0015] In the above-mentioned curtain wall drone system, a translation module is provided on the frame. The translation module includes a translation motor and a speed reducer fixed on the first translation fixing plate. The output shaft of the translation motor is connected to the input shaft of the speed reducer, and a first translation omnidirectional wheel is connected to the output shaft of the speed reducer. A second translation omnidirectional wheel capable of rotating around its own axis is connected to the second translation fixing plate. The translation motor drives the first translation omnidirectional wheel to rotate through the speed reducer, so that the frame moves along the axis of the cleaning roller. Then the second translation omnidirectional wheel rotates accordingly. The first translation omnidirectional wheel and the second translation omnidirectional wheel jointly drive the cleaning roller to move, so that it can clean different areas on the curtain wall and expand the cleaning range.

[0016] In the above-mentioned curtain wall drone system, the axes of the first translation omnidirectional wheel and the second translation omnidirectional wheel are perpendicular to the axis of the cleaning roller, and the outermost parts of the first translation omnidirectional wheel, the second translation omnidirectional wheel and the cleaning roller are located in the same plane.

[0017] In the above-mentioned curtain wall drone system, the first cleaning omnidirectional wheel and the second cleaning omnidirectional wheel are respectively located on one side of the first translation fixing plate. The first cleaning omnidirectional wheel and the second cleaning omnidirectional wheel are separated by the first translation fixing plate, and they do not interfere with each other during rotation, ensuring that all components can operate well, realizing their respective functions and not affecting each other.

[0018] In the above-mentioned curtain wall drone system, a first cleaning fixing plate is fixed on the frame, and a first cleaning carbon tube is fixed on the first cleaning fixing plate.

[0019] In the above-mentioned curtain wall drone system, a second cleaning fixing plate is fixed on the frame, and a second cleaning carbon tube is fixed on the second cleaning fixing plate.

[0020] As an embodiment, the first cleaning fixing plate and the second cleaning fixing plate are fixedly connected to the frame, and the connection method is thread locking; the first cleaning carbon tube and the second cleaning carbon tube are respectively fixedly connected to the first cleaning fixing plate and the second cleaning fixing plate and the frame, and the connection method is thread locking; the first translation fixing plate and the second translation fixing plate are respectively fixedly connected to the first cleaning carbon tube and the second cleaning carbon tube, and the connection method is thread locking; the cleaning motor is fixedly connected to the first translation fixing plate, and the connection method is thread locking; the cleaning driven wheel is fixedly connected to the cleaning roller, and the connection method is thread locking.

[0021] In the above-mentioned curtain wall drone system, a pitching module and a rolling module are further arranged on the frame. The pitching module includes a pitching fixed plate fixed on the frame, a pitching servo motor fixed on the pitching fixed plate. A pitching driving wheel is connected to the output shaft of the pitching servo motor. A pitching rotating shaft capable of rotating around its own axis is arranged on the pitching fixed plate. A pitching driven wheel is fixed on the pitching rotating shaft, and the pitching driven wheel meshes with the pitching driving wheel. The rolling module includes a rolling fixed plate fixed on the pitching rotating shaft, a rolling servo motor fixed on the rolling fixed plate. A rolling servo motor angle is fixed on the output shaft of the rolling servo motor. A pull rod is hinged to the outer end of the rolling servo motor angle. A rocker arm is hinged to one end of the pull rod. A rolling rotating shaft capable of rotating around its own axis is arranged on the rolling fixed plate. One end of the rocker arm is fixed on the rolling rotating shaft. A posture motor one and a posture motor two are respectively fixed on the ends of the rolling rotating shaft. A posture rotor one and a posture rotor two are respectively connected to the output shafts of the posture motor one and the posture motor two.

[0022] After the posture motor one and the posture motor two are started, they respectively drive the posture rotor one and the posture rotor two to rotate. When it is necessary to adjust the angle in the left-right direction, the rolling servo angle drives the servo motor angle to rotate. At this time, the pull rod pulls the rocker arm to swing, and the rocker arm makes the rolling rotating shaft rotate a certain angle. The posture rotor one and the posture rotor two rotate to the required angle along with the rolling rotating shaft. At this time, the frame swings in the left-right direction, and the rotating posture rotor one and the posture rotor two can maintain this posture to achieve angle adjustment. When it is necessary to perform a pitching action, the pitching servo motor drives the pitching driving wheel to rotate. At this time, the pitching driven wheel rotates accordingly, and the pitching driven wheel drives the pitching rotating shaft to rotate a certain angle, so that the posture rotor one and the posture rotor two are at different heights. The rotating posture rotor one and the posture rotor two can maintain this posture, and at this time, the pitching action is achieved. This posture control system only uses two rotors, which can realize the posture switching of the frame and keep the corresponding posture stable, and has the characteristics of safety, energy saving, simplicity and high efficiency.

[0023] As an embodiment, the frame is formed into an integral structure by welding, and the pitching driving wheel and the pitching driven wheel are gears.

[0024] In the above-mentioned curtain wall drone system, a posture fixed plate one and a posture fixed plate two are respectively fixed on the ends of the rolling rotating shaft. The posture motor one and the posture motor two are respectively fixed on the posture fixed plate one and the posture fixed plate two. The posture motor one and the posture motor two are respectively fixed to the rolling rotating shaft through the posture fixed plate one and the posture fixed plate two. As an embodiment, the fixing method of the two is thread locking.

[0025] In the above-mentioned curtain wall drone system, the attitude rotor one and the attitude rotor two are located on both sides of the roll fixing plate, and the attitude rotor one and the attitude rotor two are symmetrically arranged.

[0026] In the above-mentioned curtain wall drone system, the pitch rotating shaft and the roll rotating shaft are hollow shafts. The hollow pitch rotating shaft and roll rotating shaft make the entire attitude control system lighter and the attitude switching easier, and this structure can further reduce energy loss.

[0027] In the above-mentioned curtain wall drone system, the pitch module and the roll module are arranged inside the frame. The pitch module and the roll module arranged inside the frame do not occupy extra space, making the entire attitude control system structure more compact and smaller, and more flexible when performing various actions.

[0028] In the above-mentioned curtain wall drone system, the pitch fixing plate and the frame are fixedly connected by bolts, and the pitch servo and the pitch fixing plate are fixedly connected by bolts.

[0029] The way of bolt fixed connection is convenient for disassembly and assembly and the connection is stable. Of course, the fixing method between the pitch driving wheel and the pitch servo and the fixing method between the pitch rotating shaft and the pitch driven wheel can also be thread locking.

[0030] In the above-mentioned curtain wall drone system, the roll fixing plate and the pitch rotating shaft are fixedly connected by bolts, and the roll servo and the roll fixing plate are also fixedly connected by bolts.

[0031] The way of bolt fixed connection is convenient for disassembly and assembly and the connection is stable. Of course, the fixing method between the roll servo and the roll servo angle and the fixing method between the rocker arm and the roll rotating shaft can also be thread locking.

[0032] In the above-mentioned curtain wall drone system, a waterproof control box is arranged on the frame.

[0033] Compared with the prior art, the advantages of the present invention are as follows:

[0034] 1. During the process of the cleaning roller of this drone system cleaning the curtain wall, the propulsion motor one drives the propulsion rotor one to rotate, and the propulsion rotor one generates a forward thrust on the frame, so that the cleaning roller is always closely attached to the curtain wall, improving the cleaning efficiency and bringing a better cleaning effect.

[0035] 2. The lifting module of this drone system can realize the up and down movement and hovering of the whole frame, which is safe and energy-saving.

[0036] 3. This drone system has a compact structure, uses standardized parts, has a low cost, is easy to operate, and has low requirements for users. Description of the Drawings

[0037] Figure 1 is a schematic structural diagram of a drone system;

[0038] Figure 2 is a schematic structural diagram of a cleaning module;

[0039] Figure 3 is a schematic structural diagram of a pitch module and a roll module.

[0040] In the figure, 1 is the frame; 2 is the propulsion module; 3 is the cleaning module; 4 is the first translation fixing plate; 5 is the second translation fixing plate; 6 is the cleaning roller; 7 is the cleaning motor; 8 is the cleaning driving wheel; 9 is the cleaning driven wheel; 10 is the first propulsion motor; 11 is the first propulsion rotor; 12 is the second propulsion motor; 13 is the second propulsion rotor; 14 is the propulsion fixing plate; 15 is the lifting module; 16 is the lifting motor; 17 is the coupling; 18 is the winch drum; 19 is the steel wire rope; 20 is the pulley block; 21 is the cantilever beam; 22 is the pulley fixing plate; 23 is the translation module; 24 is the translation motor; 25 is the speed reducer; 26 is the first translation omnidirectional wheel; 27 is the second translation omnidirectional wheel; 28 is the first cleaning fixing plate; 29 is the first cleaning carbon tube; 30 is the second cleaning fixing plate; 31 is the second cleaning carbon tube; 32 is the pitch module; 33 is the roll module; 34 is the pitch fixing plate; 35 is the pitch servo; 36 is the pitch driving wheel; 37 is the pitch rotating shaft; 38 is the pitch driven wheel; 39 is the roll fixing plate; 40 is the roll servo; 41 is the roll servo angle; 42 is the pull rod; 43 is the rocker arm; 44 is the roll rotating shaft; 45 is the first attitude motor; 46 is the second attitude motor; 47 is the first attitude rotor; 48 is the second attitude rotor; 49 is the first attitude fixing plate; 50 is the second attitude fixing plate; 51 is the waterproof control box. Detailed implementation manners

[0041] The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.

[0042] As Figure 1 and 2 shown, the present drone system includes a frame 1, a propulsion module 2 and a cleaning module 3 are arranged on the frame 1. The cleaning module 3 includes a first translation fixing plate 4 and a second translation fixing plate 5. A cleaning roller 6 capable of rotating around its own axis is connected between the first translation fixing plate 4 and the second translation fixing plate 5. A cleaning motor 7 is fixed on the first translation fixing plate 4. A cleaning driving wheel 8 is connected to the output shaft of the cleaning motor 7. A cleaning driven wheel 9 is fixed on one end of the cleaning roller 6. The cleaning driven wheel 9 meshes with the cleaning driving wheel 8. The propulsion module 2 includes a first propulsion motor 10 fixed on the frame 1. A first propulsion rotor 11 is connected to the output shaft of the first propulsion motor 10.

[0043] The cleaning module 3 and the propulsion module 2 are respectively arranged at the front and rear of the frame 1. The cleaning motor 7 drives the cleaning driving wheel 8 to rotate, thereby driving the cleaning driven wheel 9 to rotate. The cleaning driven wheel 9 rotates the cleaning roller 6, so that the cleaning roller 6 cleans the curtain wall. During the cleaning of the curtain wall by the cleaning roller, the propulsion motor one 10 drives the propulsion rotor one 11 to rotate, and the propulsion rotor one 11 generates a forward thrust on the frame 1, so that the cleaning roller 6 is always closely attached to the curtain wall, improving the cleaning effect and cleaning efficiency of the cleaning roller 6, and the operation is convenient.

[0044] As an embodiment, both the cleaning driving wheel 8 and the cleaning driven wheel 9 are gears.

[0045] As Figure 1 shown, in this embodiment, the propulsion module 2 further includes a propulsion motor two 12 fixed on the frame 1. A propulsion rotor two 13 is connected to the output shaft of the propulsion motor two 12, and the propulsion rotor one 11 and the propulsion rotor two 13 are symmetrically arranged.

[0046] The propulsion motor one 10 and the propulsion motor two 12 respectively drive the propulsion rotor one 11 and the propulsion rotor two 13 to rotate. The propulsion rotor one 11 and the propulsion rotor two 13 jointly generate a forward thrust on the frame 1, so that the cleaning roller 6 is always more closely attached to the curtain wall, better improving the cleaning effect of the cleaning roller 6. The propulsion motor one 10, the propulsion rotor one 11, the propulsion motor two 12, and the propulsion rotor two 13 are symmetrically arranged. Both the propulsion motor one 10 and the propulsion motor two 12 are fixed to the frame 1 through the propulsion fixing plate 14, and the fixing method is screw locking.

[0047] As Figure 1 shown, in this embodiment, a lifting module 15 is further arranged on the frame 1. The lifting module 15 includes a lifting motor 16 fixed on the frame 1. A coupling 17 is connected to the output shaft of the lifting motor 16. A winch drum 18 that can rotate around its own axis is connected to the coupling 17. A steel wire rope 19 is connected to the winch drum 18. The steel wire rope 19 passes through a pulley block 20 and is connected to a cantilever beam 21. The pulley block 20 is fixed on a pulley fixing plate 22, and the pulley fixing plate 22 is fixed on the frame 1. A waterproof control box 51 is arranged on the frame 1.

[0048] During cleaning, the cantilever beam 21 in the lifting module 15 is fixed to the building. The lifting motor 16 winds and unwinds the steel wire rope 19 by rotating the winch drum 18, realizing the overall up and down movement and hovering of the frame 1, which is safe and energy-saving.

[0049] As Figure 1As shown in Fig. 2, in this embodiment, a translation module 23 is provided on the frame 1. The translation module 23 includes a translation motor 24 and a reduction gearbox 25 fixed on the first translation fixing plate 4. The output shaft of the translation motor 24 is connected to the input shaft of the reduction gearbox 25, and a first omnidirectional translation wheel 26 is connected to the output shaft of the reduction gearbox 25. A second omnidirectional translation wheel 27 capable of rotating around its own axis is connected to the second translation fixing plate 5. The translation motor 24 drives the first omnidirectional translation wheel 26 to rotate through the reduction gearbox 25, so that the frame 1 moves along the axis of the cleaning roller 6. Then, the second omnidirectional translation wheel 27 rotates accordingly. The first omnidirectional translation wheel 26 and the second omnidirectional translation wheel 27 jointly drive the cleaning roller 6 to move, enabling it to clean different areas on the curtain wall and expanding the cleaning range.

[0050] As Figure 2 shown, in this embodiment, the axes of both the first omnidirectional translation wheel 26 and the second omnidirectional translation wheel 27 are perpendicular to the axis of the cleaning roller 6, and the outermost parts of the first omnidirectional translation wheel 26, the second omnidirectional translation wheel 27, and the cleaning roller 6 are located in the same plane.

[0051] As Figure 2 shown, in this embodiment, the first cleaning omnidirectional wheel and the second cleaning omnidirectional wheel are respectively located on one side of the first translation fixing plate 4. The first cleaning omnidirectional wheel and the second cleaning omnidirectional wheel are separated by the first translation fixing plate 4, and they do not interfere with each other during rotation, ensuring that all components can operate well, realizing their respective functions without affecting each other.

[0052] As Figure 2 shown, in this embodiment, a first cleaning fixing plate 28 is fixed on the frame 1, and a first cleaning carbon tube 29 is fixed on the first cleaning fixing plate 28.

[0053] As Figure 2 shown, in this embodiment, a second cleaning fixing plate 30 is fixed on the frame 1, and a second cleaning carbon tube 31 is fixed on the second cleaning fixing plate 30.

[0054] As an embodiment, the first cleaning fixing plate 28 and the second cleaning fixing plate 30 are fixedly connected to the frame 1, and the connection method is screw locking; the first cleaning carbon tube 29 and the second cleaning carbon tube 31 are respectively fixedly connected to the first cleaning fixing plate 28 and the second cleaning fixing plate 30 and the frame 1, and the connection method is screw locking; the first translation fixing plate 4 and the second translation fixing plate 5 are respectively fixedly connected to the first cleaning carbon tube 29 and the second cleaning carbon tube 31, and the connection method is screw locking; the cleaning motor 7 is fixedly connected to the first translation fixing plate 4, and the connection method is screw locking; the cleaning driven wheel 9 is fixedly connected to the cleaning roller 6, and the connection method is screw locking.

[0055] As Figure 1 and 3As shown in the figure, in this embodiment, a pitching module 32 and a rolling module 33 are further provided on the frame 1. The pitching module 32 includes a pitching fixed plate 34 fixed on the frame 1. A pitching servo 35 is fixed on the pitching fixed plate 34. A pitching driving wheel 36 is connected to the output shaft of the pitching servo 35. A pitching rotating shaft 37 capable of rotating around its own axis is provided on the pitching fixed plate 34. A pitching driven wheel 38 is fixed on the pitching rotating shaft 37. The pitching driven wheel 38 meshes with the pitching driving wheel 36. The rolling module 33 includes a rolling fixed plate 39 fixed on the pitching rotating shaft 37. A rolling servo 40 is fixed on the rolling fixed plate 39. A rolling servo angle 41 is fixed on the output shaft of the rolling servo 40. A pull rod 42 is hinged to the outer end of the rolling servo angle 41. A rocker arm 43 is hinged to one end of the pull rod 42. A rolling rotating shaft 44 capable of rotating around its own axis is provided on the rolling fixed plate 39. One end of the rocker arm 43 is fixed on the rolling rotating shaft 44. A posture motor one 45 and a posture motor two 46 are respectively fixed on the ends of the rolling rotating shaft 44. A posture rotor one 47 and a posture rotor two 48 are respectively connected to the output shafts of the posture motor one 45 and the posture motor two 46.

[0056] After the posture motor one 45 and the posture motor two 46 are started, they respectively drive the posture rotor one 47 and the posture rotor two 48 to rotate. When angle adjustment is required in the left - right direction, the rolling servo angle drives the servo angle to rotate. At this time, the pull rod 42 pulls the rocker arm 43 to swing. The rocker arm 43 makes the rolling rotating shaft 44 rotate a certain angle. The posture rotor one 47 and the posture rotor two 48 rotate to the required angle along with the rolling rotating shaft 44. At this time, the frame 1 swings in the left - right direction. The rotating posture rotor one 47 and the posture rotor two 48 can maintain this posture, realizing angle adjustment. When pitching motion is required, the pitching servo 35 drives the pitching driving wheel 36 to rotate. At this time, the pitching driven wheel 38 rotates accordingly. The pitching driven wheel 38 drives the pitching rotating shaft 37 to rotate a certain angle, so that the posture rotor one 47 and the posture rotor two 48 are at different heights. The rotating posture rotor one 47 and the posture rotor two 48 can maintain this posture. At this time, the pitching motion is realized. This posture control system can realize the posture switching of the frame 1 and keep the corresponding posture stable only by using two rotors, and has the characteristics of safety, energy - saving, simplicity and high efficiency.

[0057] As an embodiment, the frame 1 is formed into an integral structure by welding, and the pitching driving wheel 36 and the pitching driven wheel 38 are gears.

[0058] As Figure 3As shown in the figure, in this embodiment, an attitude fixing plate one 49 and an attitude fixing plate two 50 are respectively fixed on the ends of the roll rotating shaft 44, and an attitude motor one 45 and an attitude motor two 46 are respectively fixed on the attitude fixing plate one 49 and the attitude fixing plate two 50. The attitude motor one 45 and the attitude motor two 46 are respectively fixed to the roll rotating shaft 44 through the attitude fixing plate one 49 and the attitude fixing plate two 50. As an embodiment, the fixing method of the two is screw locking.

[0059] As Figure 3 shown in the figure, in this embodiment, the attitude rotor one 47 and the attitude rotor two 48 are located on both sides of the roll fixing plate 39, and the attitude rotor one 47 and the attitude rotor two 48 are symmetrically arranged.

[0060] As an embodiment, the pitch rotating shaft 37 and the roll rotating shaft 44 are hollow shafts. The hollow-structured pitch rotating shaft 37 and roll rotating shaft 44 make the entire attitude control system lighter and the attitude switching easier, and this structure can further reduce energy loss.

[0061] As Figure 1 shown in the figure, in this embodiment, the pitch module 32 and the roll module 33 are arranged inside the frame 1. The pitch module 32 and the roll module 33 arranged inside the frame 1 do not occupy extra space, making the entire attitude control system structure more compact and smaller, and more flexible when performing various actions.

[0062] As an embodiment, the pitch fixing plate 34 and the frame 1 are fixedly connected by bolts, and the pitch servo 35 and the pitch fixing plate 34 are fixedly connected by bolts.

[0063] The method of bolt fastening connection is convenient for disassembly and assembly and has a firm connection. Of course, the fixing method between the pitch driving wheel 36 and the pitch servo 35 and the fixing method between the pitch rotating shaft 37 and the pitch driven wheel 38 can also be screw locking.

[0064] As an embodiment, the roll fixing plate 39 and the pitch rotating shaft 37 are fixedly connected by bolts, and the roll servo 40 and the roll fixing plate 39 are also fixedly connected by bolts.

[0065] The method of bolt fastening connection is convenient for disassembly and assembly and has a firm connection. Of course, the fixing method between the roll servo 40 and the roll servo angle 41 and the fixing method between the rocker arm 43 and the roll rotating shaft 44 can also be screw locking.

[0066] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art of the present invention can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A curtain wall drone system, the drone system comprising a frame (1), characterized in that, A propulsion module (2) and a cleaning module (3) are provided on the frame (1). The cleaning module (3) includes a translation fixed plate one (4) and a translation fixed plate two (5). A cleaning roller (6) capable of rotating around its own axis is connected between the translation fixed plate one (4) and the translation fixed plate two (5). A cleaning motor (7) is fixed on the translation fixed plate one (4). A cleaning driving wheel (8) is connected to the output shaft of the cleaning motor (7). A cleaning driven wheel (9) is fixed on one end of the cleaning roller (6). The cleaning driven wheel (9) meshes with the cleaning driving wheel (8). The propulsion module (2) includes a propulsion motor one (10) fixed on the frame (1). A propulsion rotor one (11) is connected to the output shaft of the propulsion motor one (10); The propulsion module (2) further includes a propulsion motor two (12) fixed on the frame (1). A propulsion rotor two (13) is connected to the output shaft of the propulsion motor two (12). The propulsion rotor one (11) and the propulsion rotor two (13) are symmetrically arranged; A lifting module (15) is further provided on the frame (1). The lifting module (15) includes a lifting motor (16) fixed on the frame (1). A coupling (17) is connected to the output shaft of the lifting motor (16). A winch drum (18) capable of rotating around its own axis is connected to the coupling (17). A steel wire rope (19) is connected to the winch drum (18). The steel wire rope (19) is connected to a cantilever beam (21) through a pulley block (20). The pulley block (20) is fixed on a pulley fixed plate (22). The pulley fixed plate (22) is fixed on the frame (1).

2. The curtain wall drone system according to claim 1, characterized in that, A translation module (23) is provided on the frame (1). The translation module (23) includes a translation motor (24) and a reduction box (25) fixed on the translation fixed plate one (4). The output shaft of the translation motor (24) is connected to the input shaft of the reduction box (25). A translation omnidirectional wheel one (26) is connected to the output shaft of the reduction box (25). A translation omnidirectional wheel two (27) capable of rotating around its own axis is connected to the translation fixed plate two (5).

3. The curtain wall drone system according to claim 2, characterized in that, The axes of both the translation omnidirectional wheel one (26) and the translation omnidirectional wheel two (27) are perpendicular to the axis of the cleaning roller (6). The outermost parts of the translation omnidirectional wheel one (26), the translation omnidirectional wheel two (27) and the cleaning roller (6) are located in the same plane.

4. The curtain wall drone system according to any one of claims 1-3, characterized in that, The frame (1) is further provided with a pitching module (32) and a rolling module (33). The pitching module (32) includes a pitching fixed plate (34) fixed on the frame (1). A pitching servo (35) is fixed on the pitching fixed plate (34). A pitching driving wheel (36) is connected to the output shaft of the pitching servo (35). A pitching rotating shaft (37) capable of rotating around its own axis is arranged on the pitching fixed plate (34). A pitching driven wheel (38) is fixed on the pitching rotating shaft (37). The pitching driven wheel (38) meshes with the pitching driving wheel (36). The rolling module (33) includes a rolling fixed plate (39) fixed on the pitching rotating shaft (37). A rolling servo (40) is fixed on the rolling fixed plate (39). A rolling servo angle (41) is fixed on the output shaft of the rolling servo (40). A pull rod (42) is hinged to the outer end of the rolling servo angle (41). A rocker arm (43) is hinged to one end of the pull rod (42). A rolling rotating shaft (44) capable of rotating around its own axis is arranged on the rolling fixed plate (39). One end of the rocker arm (43) is fixed on the rolling rotating shaft (44). An attitude motor one (45) and an attitude motor two (46) are respectively fixed on the end of the rolling rotating shaft (44). Attitude rotors one (47) and two (48) are respectively connected to the output shafts of the attitude motor one (45) and the attitude motor two (46).

5. The curtain wall drone system according to claim 4, characterized in that, An attitude fixed plate one (49) and an attitude fixed plate two (50) are respectively fixed on the end of the rolling rotating shaft (44). The attitude motor one (45) and the attitude motor two (46) are respectively fixed on the attitude fixed plate one (49) and the attitude fixed plate two (50).

6. The curtain wall drone system according to claim 4, characterized in that, The attitude rotors one (47) and two (48) are located on both sides of the rolling fixed plate (39) and are symmetrically arranged.

7. The curtain wall drone system according to claim 4, characterized in that, The pitching rotating shaft (37) and the rolling rotating shaft (44) are hollow shafts. The pitching module (32) and the rolling module (33) are arranged inside the frame (1).

8. The curtain wall drone system according to claim 1, characterized in that, A waterproof control box (51) is arranged on the frame (1).

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