An intelligent window-cleaning robotic arm for building exterior glass

Abstract

The present invention discloses an intelligent window-wiping robot arm for building exterior wall glass in the technical field of window-wiping robot arms, comprising a support column, the bottom of the support column is fixedly connected to a connecting seat that can be docked with a slide rail, the top of the support column is rotatably connected to a rotating arm, the rear end of the rotating arm is fixedly connected to a counterweight block, the front end of the rotating arm is slidably connected to a third telescopic arm, the bottom of the front end of the third telescopic arm is rotatably connected to a connecting frame, the bottom of the connecting frame is slidably connected to a slide rail frame, a cage is provided at the bottom of the slide rail frame, and a pressure balancing assembly is provided on the connecting frame. The present invention adopts a rotatable slide rail frame to replace the secondary robot arm, and the slide rail frame can also be rotated to adjust the direction, but the cage at the bottom only needs to slide on the slide rail frame to adjust the position. Compared with the ordinary secondary rotating robot arm, the cage does not need to rotate when it is displaced, so that the direction of the cage during operation always remains in one direction.

Description

Technical Field

[0001] The present invention relates to the technical field of window-cleaning robotic arms, and in particular to an intelligent window-cleaning robotic arm for building exterior wall glass. Background Art

[0002] Window cleaning machines are permanent suspended access equipment used for cleaning and repairing windows and exterior walls of buildings or structures. Different types of window cleaning machines need to be designed based on the building's height, facade and roof structure, load-bearing capacity, and effective space for equipment movement. Safety, economy, and practicality must be taken into consideration, as well as the fact that the installed window cleaning machine can be coordinated with the building and not affect the building's aesthetics.

[0003] There are many types of existing window cleaning machines, but they are basically completed through two-stage transmission. The first-level robotic arm is responsible for retracting and moving the cage, and the second-level robotic arm installed at the free end of the first-level robotic arm is responsible for rotating the mobile cage. Since the area of ​​the building's exterior wall is very large, the second-level robotic arm needs to rotate frequently to cover as much area as possible. However, every time the second-level robotic arm rotates, it will drive the cage to rotate together. This requires the workers in the cage to frequently switch work surfaces to clean the building's exterior wall, which is more troublesome to work. In addition, when the second-level robotic arm rotates, the overall center of gravity will shift, which increases the pressure at the connection between the second-level robotic arm and the first-level robotic arm, affecting the service life.

[0004] Based on this, the present invention designs an intelligent window-cleaning robot arm for building exterior wall glass to solve the above problems. Summary of the Invention

[0005] The object of the present invention is to provide an intelligent window-cleaning robot arm for building exterior wall glass to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent window-wiping robot arm for building exterior wall glass, comprising a support column, the bottom of the support column is fixedly connected to a connecting seat that can be docked with a slide rail, the top of the support column is rotatably connected to a rotating arm, the rear end of the rotating arm is fixedly connected to a counterweight block, the front end of the rotating arm is slidably connected to a third telescopic arm, the bottom of the front end of the third telescopic arm is rotatably connected to a connecting frame, the bottom of the connecting frame is slidably connected to a slide rail frame, a cage is provided at the bottom of the slide rail frame, and a pressure balancing assembly is provided on the connecting frame, the pressure balancing assembly is used to provide additional supporting force to the connecting frame when the slide rail frame and the cage slide left and right at the bottom of the connecting frame, resulting in uneven force on the connecting frame, so that the connection between the connecting frame and the third telescopic arm is more stable.

[0007] As a further solution of the present invention, one end of the slide rail frame is fixedly connected to the second motor, the first screw rod is rotatably connected to the inner side of the top of the slide rail frame, the output end of the second motor is fixedly connected to the first screw rod, and the bottom of the connecting frame is threadedly connected to the first screw rod. One end of the slide rail frame is fixedly connected to the third motor, and the bottom inner side of the slide rail frame is rotatably connected to the second screw rod, and the output end of the third motor is fixedly connected to the second screw rod. The slide rail frame is provided with a sliding seat for sliding inside the slide rail frame, and the sliding seat is spirally sleeved on the outside of the second screw rod, and both ends of the sliding seat are respectively fixedly connected to a collecting box, and a cable is provided inside the collecting box, one end of the cable passes through the sliding seat and is fixedly connected to the top of the cage, and the connecting frame is provided with a reinforcement component, which is used to enhance the connection effect between the sliding seat and the connecting frame when the sliding seat slides inside the slide rail frame to change the center of gravity position of the slide rail frame.

[0008] The top of the driving member is a chain which has a first end fixed to the side panel that is located close to the first gear and a second end of the driving member is engaged with the gear and the control member is engaged with the gear and the control member is engaged with the gear and the control member.

[0009] As a further solution of the present invention, the reinforcement assembly includes a rotating drum, which is rotatably arranged on the inner side of the connecting frame. A connecting belt is wound around the outside of the rotating drum, one end of the connecting belt is fixedly connected to the top of the sliding seat, and a torsion spring is arranged inside the rotating drum for its reset.

[0010] As a further solution of the present invention, the front end of the rotating arm is slidingly connected to the first telescopic arm, the front end of the first telescopic arm is slidingly connected to the second telescopic arm, the third telescopic arm is slidingly arranged at the front end of the second telescopic arm, and the top of the front end of the third telescopic arm is fixedly connected to a first motor for driving the connecting frame to rotate.

[0011] As a further solution of the present invention, the inner walls of the slide rail frame are all smooth walls, and the sliding seat can completely fit with the inner walls of the slide rail frame.

[0012] As a further solution of the present invention, a limiting groove for extending the arc plate is opened inside the third telescopic arm, and after the arc plate extends outward on the rotating cylinder, the bottom of the arc plate can fit with the inner wall of the limiting groove.

[0013] As a further solution of the present invention, one end of the support column is fixedly connected to a control box, and the control box is provided with an emergency switch.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The present invention adopts a rotatable slide frame instead of the secondary robotic arm. The slide frame can also be rotated to adjust the direction, but the cage at the bottom only needs to slide on the slide frame to adjust the position. Compared with the ordinary secondary rotating robotic arm, the cage does not need to rotate during displacement, so that the direction of the cage during operation always remains in one direction, and the effect of use is better.

[0016] 2. The present invention adopts a pressure balancing component, which can provide a certain supporting effect on the connecting frame as a supporting part when the position of the slide rail frame and the cage is changed, share part of the increased force caused by the displacement of the overall center of gravity of the slide rail frame, and improve the service life of the connecting frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the overall structure of the present invention (front end view);

[0019] Figure 3 for Figure 2 A in the middle is an enlarged structural diagram;

[0020] Figure 4 for Figure 2 The enlarged structural diagram at B in the middle;

[0021] Figure 5 This is a schematic diagram of the slide rail frame and cage structure;

[0022] Figure 6 Schematic diagram of the partial cross-section structure of the third telescopic arm and the connecting frame;

[0023] Figure 7 for Figure 6 The enlarged structural diagram at C in the middle;

[0024] Figure 8 It is a schematic diagram of the structure of the rotating cylinder and the fixed rod from a top view.

[0025] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0026] 1. Connecting seat; 2. Support column; 3. Counterweight; 4. Rotating arm; 5. First telescopic arm; 6. Second telescopic arm; 7. Third telescopic arm; 8. First motor; 9. Hoisting cage; 10. Slide rail frame; 12. Connecting frame; 13. Second motor; 14. First screw rod; 15. Third motor; 16. Reverse rack; 17. Sliding seat; 18. Collection box; 19. Cable; 21. Second screw rod; 22. Meshing gear; 23. Transmission shaft; 24. Bevel gear; 25. Fixed gear; 26. Transmission belt; 27. Fixed rack; 28. Fixed shaft; 29. ​​Limiting shaft; 30. Arc plate; 31. Rotating drum; 32. Slide; 33. Fixed rod; 34. Torsion spring; 35. Rotating drum; 36. Connecting belt. Implementation Method

[0027] See also Figure 1-8 The present invention provides a technical solution: an intelligent window-wiping robot arm for building exterior wall glass, comprising a support column 2, the bottom of the support column 2 is fixedly connected to a connecting seat 1 that can be docked with a slide rail, the top of the support column 2 is rotatably connected to a rotating arm 4, the rear end of the rotating arm 4 is fixedly connected to a counterweight 3, the front end of the rotating arm 4 is slidably connected to a third telescopic arm 7, the bottom of the front end of the third telescopic arm 7 is rotatably connected to a connecting frame 12, the bottom of the connecting frame 12 is slidably connected to a slide rail frame 10, a cage 9 is provided at the bottom of the slide rail frame 10, and a pressure balancing component is provided on the connecting frame 12, wherein the pressure balancing component is used to provide additional supporting force for the connecting frame 12 when the slide rail frame 10 and the cage 9 slide left and right at the bottom of the connecting frame 12, resulting in uneven force on the connecting frame 12, so that the connection between the connecting frame 12 and the third telescopic arm 7 is more stable;

[0028] When the above scheme is put into actual use, when using the window cleaning robot arm, the connecting seat 1 is docked with the slide rail on the roof of the building, and the window cleaning worker enters the interior of the cage 9, starts the equipment to rotate the rotating arm 4 to a suitable angle, extends the third telescopic arm 7 from the front end of the rotating arm 4 to a suitable position, rotates the connecting frame 12 and moves the slide frame 10 and the cage 9 to a suitable position, and the workers inside the cage 9 can clean the exterior wall of the building. During the cleaning process, the exterior wall of the building is comprehensively cleaned by the coordinated sliding of the slide frame 10 and the cage 9. The pressure balancing mechanism of the slide frame 10 and the cage 9 will be triggered when sliding, thereby enhancing the connection stability between the connecting frame 12 and the third telescopic arm 7, alleviating the problem of increased pressure between the connecting frame 12 and the third telescopic arm 7 caused by the change of the center of gravity, and effectively improving the service life of the connecting frame 12.

[0029] As a further solution of the present invention, one end of the slide rail frame 10 is fixedly connected to a second motor 13, the inner side of the top of the slide rail frame 10 is rotatably connected to a first screw rod 14, the output end of the second motor 13 is fixedly connected to the first screw rod 14, and the bottom of the connecting frame 12 is threadedly connected to the first screw rod 14, one end of the slide rail frame 10 is fixedly connected to a third motor 15, the inner side of the bottom of the slide rail frame 10 is rotatably connected to a second screw rod 21, the output end of the third motor 15 is fixedly connected to the second screw rod 21, and the slide rail frame 1 0 is provided with a sliding seat 17 for internal sliding, and the sliding seat 17 is spirally sleeved on the outside of the second screw rod 21. Both ends of the sliding seat 17 are respectively fixedly connected to a collection box 18. A cable 19 is provided inside the collection box 18. One end of the cable 19 passes through the sliding seat 17 and is fixedly connected to the top of the cage 9. A reinforcement component is provided on the connecting frame 12. The reinforcement component is used to enhance the connection effect between the sliding seat 17 and the connecting frame 12 when the sliding seat 17 slides inside the slide rail frame 10 to change the center of gravity position of the slide rail frame 10;

[0030] When the above scheme is put into actual use, when adjusting the position of the cage 9, the second motor 13 drives the first screw rod 14 to rotate, so that the slide rail frame 10 as a whole slides left and right on the connecting frame 12 to adjust the position, and then the third motor 15 is started to drive the second screw rod 21 to rotate, so that the sliding seat 17 slides inside the slide rail frame 10, and the sliding seat 17 drives the cage 9 to move, so that the position of the cage 9 is further moved. Through the coordinated sliding of the slide rail frame 10 and the sliding seat 17, the sliding coverage area of ​​the cage 9 in the left and right directions is further increased. After adjusting to the appropriate position, the cable 19 is extended by releasing the line through the collecting box 18, thereby sliding the cage 9 downward to achieve control of the position of the cage 9.

[0031] As a further solution of the present invention, the pressure balancing assembly includes a rotating cylinder 31, the rotating cylinder 31 is rotatably arranged inside the third telescopic arm 7, a fixed rod 33 is provided inside the rotating cylinder 31, the bottom of the fixed rod 33 passes through the rotating cylinder 31 and is fixedly connected to the connecting frame 12, the bottom of the fixed rod 33 is fixedly connected to the meshing gear 22, the connecting frame 12 is internally rotatably provided with a transmission shaft 23, one end of the transmission shaft 23 is fixedly connected to a helical gear 24 for meshing with the meshing gear 22, and one end of the connecting frame 12 is rotatably provided with a fixed gear 25, the fixed gear 25 and the transmission gear 22 are fixedly connected. The shaft 23 is rotatably connected via a transmission belt 26. A fixed rack 27 meshing with a fixed gear 25 is fixedly connected to one side of the top of the slide rail frame 10. An inverted rack 16 meshing with the fixed gear 25 is fixedly connected to the other side of the top of the slide rail frame 10. A plurality of equally spaced arc-shaped plates 30 are rotatably connected to the top of the fixed rod 33. A slideway 32 is provided on the arc-shaped plate 30. A limiting shaft 29 slidably connected to the slideway 32 is fixedly connected to the top of the rotating cylinder 31. A fixed shaft 28 is fixedly connected to the top of the fixed rod 33. The top of the fixed shaft 28 is fixedly connected to the output shaft of the first motor 8.

[0032] When the above solution is put into actual use, when the second motor 13 drives the slide rail frame 10 to slide on both sides of the bottom of the connecting frame 12, when the connecting frame 12 slides to the position where the fixed gear 25 is meshed with the fixed rack 27, the connecting frame 12 continues to slide so that the fixed gear 25 rotates on the fixed rack 27, and the fixed gear 25 drives the transmission shaft 23 to rotate through the transmission belt 26. The transmission shaft 23 drives the meshing meshing gear 22 to rotate through the bevel gear 24 at one end, and the meshing gear 22 drives the rotating cylinder 31 to rotate. Since the position of the fixed rod 33 inside the rotating cylinder 31 is fixed, and one side of the arc plate 30 is engaged, the fixed rod 33 inside the rotating cylinder 31 is fixed. The end rotation is set at the top of the fixed rod 33, and because the top of the rotating cylinder 31 is set at the limit shaft 29 inside the slide 32, the rotating cylinder 31 causes one end of the arc plate 30 to gradually extend toward the outside of the rotating cylinder 31 during the rotation process. When the fixed gear 25 rotates to a position where it is about to disengage from the fixed rack 27, the connecting frame 12 moves to the farthest position, and the arc plate 30 rotates to the farthest position. At this time, the arc plate 30 extends to the maximum value, and the extended part of the arc plate 30 contacts the inner wall of the third telescopic arm 7. At this time, the slide rail frame 10 is at the maximum position that can slide at the bottom of the connecting frame 12 , that is, the maximum value of the deviation of the center of gravity of the connecting frame 12 and the slide rail frame 10 as a whole, and the maximum pressure point between the rotating cylinder 31 and the third telescopic arm 7. The contact between the arc plate 30 and the third telescopic arm 7 offsets part of the pressure between the rotating cylinder 31 and the third telescopic arm 7. When the connecting frame 12 moves in the opposite direction, the fixed gear 25 engages with the fixed rack 27 and rotates in the opposite direction. After a series of reverse transmissions, the arc plate 30 is separated from the contact with the inner wall of the third telescopic arm 7 and rotates back to the upper end of the rotating cylinder 31 until the fixed gear 25 slides to a position meshed with the reverse rack 16. Since the reverse rack 16 is in engagement with the fixed rack 27, the fixed gear 25 is engaged with the fixed rack 27. The direction of the fixed rack 27 is opposite, so that the direction of rotation of the fixed gear 25 and the reverse rack 16 is consistent with the meshing transmission direction between the fixed gear 25 and the fixed rack 27, and can also make the arc plate 30 extend outward to contact the inner wall of the third telescopic arm 7 to form a supporting force. When the slide rail frame 10 slides to the farthest position on both sides of the bottom of the connecting frame 12, the arc plate 30 extending outward on the rotating cylinder 31 can contact the inner wall of the third telescopic arm 7 to form a supporting force, thereby reducing the friction between the rotating cylinder 31 and the third telescopic arm 7 caused by the change of the center of gravity of the slide rail frame 10, thereby improving the service life of the connecting frame 12.

[0033] As a further embodiment of the present invention, the reinforcement assembly includes a rotating drum 35, which is rotatably mounted on the inner side of the connecting frame 12. A connecting belt 36 is wound around the outer side of the rotating drum 35, one end of which is fixedly connected to the top of the sliding seat 17. A torsion spring 34 is provided inside the rotating drum 35 for resetting the rotating drum 35.

[0034] When the sliding seat 17 is in the maximum position, the connecting belt 36 is stretched to the maximum, and the elastic force of the torsion spring 34 to restore the deformation is also the largest. The elastic force of the torsion spring 34 enables the connecting belt 36 to stretch the sliding seat 17. At this time, a direct connection relationship is formed between the sliding seat 17 and the connecting frame 12. Because the overall center of gravity position of the sliding seat 17 changes after the sliding seat 17 slides to one side of the sliding rail frame 10, the overall force of the sliding rail frame 10 on the connecting frame 12 becomes larger, and the connecting belt 36 can alleviate a certain tension, thereby playing a buffering role.

[0035] As a further solution of the present invention, the front end of the rotating arm 4 is slidably connected to the first telescopic arm 5, the front end of the first telescopic arm 5 is slidably connected to the second telescopic arm 6, the third telescopic arm 7 is slidably arranged at the front end of the second telescopic arm 6, and the top of the front end of the third telescopic arm 7 is fixedly connected to a first motor 8 for driving the connecting frame 12 to rotate;

[0036] When the above solution is put into actual use, the first telescopic arm 5 and the second telescopic arm 6 cooperate with the third telescopic arm 7 to perform multi-stage telescopic extension, which can effectively increase the telescopic length of the third telescopic arm 7 and improve practicality.

[0037] As a further solution of the present invention, the inner wall of the slide rail frame 10 is a smooth wall, and the sliding seat 17 can completely fit with the inner wall of the slide rail frame 10;

[0038] When the above solution is put into actual use, it fits perfectly so that the sliding seat 17 will not shake in other directions when sliding inside the slide rail frame 10, thereby improving the stability of the sliding seat 17.

[0039] As a further solution of the present invention, a limiting groove for the extension of the arc-shaped plate 30 is opened inside the third telescopic arm 7. After the arc-shaped plate 30 extends outward on the rotating cylinder 31, its bottom can fit into the inner wall of the limiting groove;

[0040] When the above solution is put into actual use, the limiting groove reserves some space for the arc plate 30 to extend from the top of the rotating cylinder 31. When the arc plate 30 extends outward and fits against the inner wall of the limiting groove, the arc plate 30 can transfer part of the force on the rotating cylinder 31 to the inner wall of the limiting groove.

[0041] As a further solution of the present invention, one end of the support column 2 is fixedly connected to a control box, and the control box is provided with an emergency switch;

[0042] When the above solution is put into practical use, the emergency switch can directly stop the robotic arm in an emergency as a safety guarantee.

[0043] Working principle: When using the window cleaning robot, the connecting base 1 is docked with the slide rail on the building roof. The window cleaner enters the cage 9, starts the device to rotate the rotating arm 4 to the appropriate angle, and extends the third telescopic arm 7 from the front end of the rotating arm 4 to the appropriate position.

[0044] When adjusting the position of the cage 9, the first screw rod 14 is driven to rotate by the second motor 13, so that the slide rail frame 10 as a whole slides left and right on the connecting frame 12 to adjust the position, and then the third motor 15 is started to drive the second screw rod 21 to rotate, so that the sliding seat 17 slides inside the slide rail frame 10, and the sliding seat 17 drives the cage 9 to move, so that the position of the cage 9 is further moved. The sliding coverage area of ​​the cage 9 in the left and right directions is further increased through the coordinated sliding of the slide rail frame 10 and the sliding seat 17. After adjusting to the appropriate position, the cable 19 is extended by the collecting box 18, so that the position of the cage 9 slides downward, thereby realizing the control of the position of the cage 9;

[0045] When the second motor 13 drives the slide rail frame 10 to slide on both sides of the bottom of the connecting frame 12, when the connecting frame 12 slides to the position where the fixed gear 25 is meshed with the fixed rack 27, the connecting frame 12 continues to slide so that the fixed gear 25 rotates on the fixed rack 27, and the fixed gear 25 drives the transmission shaft 23 to rotate through the transmission belt 26. The transmission shaft 23 drives the meshing meshing gear 22 to rotate through the bevel gear 24 at one end, and the meshing gear 22 drives the rotating cylinder 31 to rotate. Since the position of the fixed rod 33 inside the rotating cylinder 31 is fixed, and one end of the arc plate 30 is rotated and set on the fixed rod 3 3, and because the top of the rotating cylinder 31 is set at the limiting shaft 29 inside the slide 32, the rotating cylinder 31 causes one end of the arc plate 30 to gradually extend toward the outside of the rotating cylinder 31 during the rotation process. When the fixed gear 25 rotates to the position where it is about to disengage from the fixed rack 27, the connecting frame 12 moves to the farthest position, and the arc plate 30 rotates to the farthest position. At this time, the arc plate 30 extends to the maximum value, and the extended part of the arc plate 30 contacts the inner wall of the third telescopic arm 7. At this time, the slide rail frame 10 is in the maximum sliding position at the bottom of the connecting frame 12, that is, the connecting frame 12. The maximum deviation of the center of gravity of the slide rail frame 10 is also the point where the pressure between the rotating cylinder 31 and the third telescopic arm 7 is the maximum. The contact between the arc plate 30 and the third telescopic arm 7 offsets part of the pressure between the rotating cylinder 31 and the third telescopic arm 7. When the connecting frame 12 moves in the reverse direction, the fixed gear 25 engages with the fixed rack 27 and rotates in the reverse direction. After a series of reverse transmissions, the arc plate 30 is separated from the contact with the inner wall of the third telescopic arm 7 and rotates back to the upper end of the rotating cylinder 31 until the fixed gear 25 slides to a position where it engages with the reverse rack 16. Since the reverse rack 16 is engaged with the fixed rack 27, the fixed gear 25 is engaged with the fixed rack 27. 7, so that the direction of the meshing rotation of the fixed gear 25 and the reverse rack 16 is consistent with the meshing transmission direction between the fixed gear 25 and the fixed rack 27, and the curved plate 30 can also be extended to contact the inner wall of the third telescopic arm 7 to form a supporting force. When the slide rail frame 10 slides to the farthest position on both sides of the bottom of the connecting frame 12, the curved plate 30 extending outward on the rotating cylinder 31 can contact the inner wall of the third telescopic arm 7 to form a supporting force, thereby reducing the friction between the rotating cylinder 31 and the third telescopic arm 7 caused by the change of the center of gravity of the slide rail frame 10, thereby improving the service life of the connecting frame 12;

[0046] By rotating the connecting frame 12 and moving the slide rail frame 10 and the cage 9 to a suitable position, the workers inside the cage 9 can clean the exterior wall of the building.

Claims

1. An intelligent window-wiping robot arm for building exterior wall glass, comprising a support column (2), wherein the bottom of the support column (2) is fixedly connected to a connecting seat (1) capable of docking with a slide rail, the top of the support column (2) is rotatably connected to a rotating arm (4), the rear end of the rotating arm (4) is fixedly connected to a counterweight (3), the front end of the rotating arm (4) is slidably connected to a third telescopic arm (7), and the bottom of the front end of the third telescopic arm (7) is rotatably connected to a connecting frame (12), characterized in that: The bottom of the connecting frame (12) is slidably connected to a slide rail frame (10), a hoisting cage (9) is provided at the bottom of the slide rail frame (10), and a pressure balancing assembly is provided on the connecting frame (12). The pressure balancing assembly is used to provide additional supporting force for the connecting frame (12) when the slide rail frame (10) together with the hoisting cage (9) slides left and right at the bottom of the connecting frame (12) causing uneven force on the connecting frame (12), so that the connection between the connecting frame (12) and the third telescopic arm (7) is more stable; The pressure balancing assembly includes a rotating cylinder (31), the rotating cylinder (31) is rotatably arranged inside the third telescopic arm (7), a fixed rod (33) is arranged inside the rotating cylinder (31), the bottom of the fixed rod (33) passes through the rotating cylinder (31) and is fixedly connected to the connecting frame (12), the bottom of the fixed rod (33) is fixedly connected to the meshing gear (22), a transmission shaft (23) is rotatably arranged inside the connecting frame (12), one end of the transmission shaft (23) is fixedly connected to a helical gear (24) for meshing with the meshing gear (22), and a fixed gear (25) is rotatably arranged at one end of the connecting frame (12), the fixed gear (25) and the transmission shaft (23) are connected by The transmission belt (26) is rotatably connected, one side of the top of the slide rail frame (10) is fixedly connected to a fixed rack (27) meshing with the fixed gear (25), and the other side of the top of the slide rail frame (10) is fixedly connected to a reverse rack (16) meshing with the fixed gear (25), the top of the fixed rod (33) is rotatably connected to a plurality of equally spaced arc plates (30), a slideway (32) is provided on the arc plate (30), the top of the rotating cylinder (31) is fixedly connected to a limit shaft (29) slidably connected to the slideway (32), the top of the fixed rod (33) is fixedly connected to a fixed shaft (28), and the top of the fixed shaft (28) is fixedly connected to the output shaft of the first motor (8).

2. The intelligent window-cleaning robot arm for building exterior glass according to claim 1, characterized in that: One end of the slide rail frame (10) is fixedly connected to a second motor (13), the inner side of the top of the slide rail frame (10) is rotatably connected to a first screw rod (14), the output end of the second motor (13) is fixedly connected to the first screw rod (14), the bottom of the connecting frame (12) is threadedly connected to the first screw rod (14), one end of the slide rail frame (10) is fixedly connected to a third motor (15), the inner side of the bottom of the slide rail frame (10) is rotatably connected to a second screw rod (21), the output end of the third motor (15) is fixedly connected to the second screw rod (21), and the internal sliding arrangement of the slide rail frame (10) is There is a sliding seat (17), the sliding seat (17) is spirally sleeved on the outside of the second screw rod (21), and both ends of the sliding seat (17) are fixedly connected to a collection box (18), and a cable (19) is provided inside the collection box (18). One end of the cable (19) passes through the sliding seat (17) and is fixedly connected to the top of the cage (9). A reinforcement component is provided on the connecting frame (12), and the reinforcement component is used to enhance the connection effect between the sliding seat (17) and the connecting frame (12) when the sliding seat (17) slides inside the slide rail frame (10) to change the center of gravity position of the slide rail frame (10).

3. The intelligent window-cleaning robot arm for building exterior glass according to claim 2, characterized in that: The reinforcement assembly includes a rotating drum (35), the rotating drum (35) is rotatably arranged on the inner side of the connecting frame (12), a connecting belt (36) is wound around the outside of the rotating drum (35), one end of the connecting belt (36) is fixedly connected to the top end of the sliding seat (17), and a torsion spring (34) for resetting the rotating drum (35) is arranged inside the rotating drum (35).

4. The intelligent window-cleaning robot arm for building exterior glass according to claim 1, characterized in that: The front end of the rotating arm (4) is slidably connected to the first telescopic arm (5), the front end of the first telescopic arm (5) is slidably connected to the second telescopic arm (6), the third telescopic arm (7) is slidably arranged at the front end of the second telescopic arm (6), and the top of the front end of the third telescopic arm (7) is fixedly connected to a first motor (8) for driving the connecting frame (12) to rotate.

5. The intelligent window-cleaning robot arm for building exterior glass according to claim 2, characterized in that: The inner walls of the slide rail frame (10) are all smooth walls, and the sliding seat (17) can completely fit with the inner wall of the slide rail frame (10).

6. The intelligent window-cleaning robot arm for building exterior glass according to claim 1, characterized in that: A limiting groove for the extension of the arc-shaped plate (30) is provided inside the third telescopic arm (7); after the arc-shaped plate (30) extends outward on the rotating cylinder (31), its bottom can fit into the inner wall of the limiting groove.

7. The intelligent window-cleaning robot arm for building exterior glass according to claim 1, characterized in that: One end of the support column (2) is fixedly connected to a control box, and the control box is provided with an emergency switch.

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