A novel curtain wall cleaning robot and cleaning method thereof

Abstract

The present invention relates to the technical field of curtain wall cleaning robots, and in particular to a novel curtain wall cleaning robot and a cleaning method thereof, comprising a hanging basket, wherein lifting ears are symmetrically fixedly installed on both sides of the top wall of the hanging basket, the top ends of the lifting ears are installed on the ropes of the hoisting system, the top of the hanging basket is fixedly connected to an electrical drag chain, the upper end of the electrical drag chain is provided with a combined adjustment mechanism, the top of the combined adjustment mechanism is provided with an automatic cleaning mechanism, and the interior of the hanging basket is provided with a driving control mechanism; the combined adjustment mechanism includes a horizontal slider slidably installed on the top end of the electrical drag chain. The present invention can complete the function of automatic obstacle crossing in the form of a combined seven-axis robotic arm, that is, it can adapt to the construction requirements of cleaning curtain walls of basic building structures such as large-sized glass frames, building beams, and vertical beams. At the same time, by installing a vacuum suction cup and combining with thrust fan blades, it can effectively stabilize the fuselage, significantly improving the high-altitude safety of the curtain wall cleaning robot.

Description

Technical Field

[0001] The present invention relates to the technical field of curtain wall cleaning robots, and in particular to a novel curtain wall cleaning robot and a cleaning method thereof. Background Art

[0002] The cleaning of building curtain walls has always been an important part of municipal engineering. In the current market, curtain wall cleaning still relies on manual cleaning. This high-altitude operation method has always posed a threat to the life safety of curtain wall cleaners. Manual curtain wall cleaning is relatively slow and has high requirements on the physical fitness and professional quality of the cleaning staff. At the same time, the cleaning agents used in the cleaning work will also cause harm to the health of the cleaning staff.

[0003] There are two main structural forms of existing curtain wall cleaning robots: one is the adsorption structure 202220215993.4, 201710567889.5; the other is the winch lifting structure 202210515674.X, 202221731750.2.

[0004] When using an adsorption-type curtain wall cleaning robot, it is necessary to ensure that the robot can be effectively adsorbed on the curtain wall at all times. The distance between the body of such a robot and the curtain wall is generally maintained in a very small range, that is, the cleaning ability of the adsorption-type curtain wall cleaning robot is limited to the curtain wall must be a relatively flat large surface; and it cannot clean the building curtain wall with horizontal beams, vertical beams, or concave-shaped curtain walls. The curtain wall cleaning robot that uses a winch-type lifting method relies on the lifting of the winch system to complete the movement of the curtain wall cleaning action. The execution end of the cleaning mechanism is not flexible enough, which also limits the cleaning operation range of such robots.

[0005] A common problem with the two curtain wall cleaning robots mentioned above is that their cleaning working surfaces are greatly limited. They can only clean relatively flat curtain wall surfaces without other special-shaped obstacles. However, with the improvement of people's aesthetic taste, buildings are becoming more and more diversified in form and complex in appearance. The cleaning capabilities of existing curtain wall cleaning robots cannot meet the needs of display building curtain wall cleaning. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a novel curtain wall cleaning robot and a cleaning method thereof, which solve the technical problems of limited cleaning surface and poor cleaning effect.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: a novel curtain wall cleaning robot and a cleaning method thereof, comprising a hanging basket, wherein lifting ears are symmetrically fixedly mounted on both sides of the top wall of the hanging basket, the top ends of the lifting ears are mounted on the lifting ropes of the hoisting system, an electrical drag chain is fixedly connected to the top of the hanging basket, a combined adjustment mechanism is provided at the upper end of the electrical drag chain, an automatic cleaning mechanism is provided at the top of the combined adjustment mechanism, and a drive control mechanism is provided inside the hanging basket;

[0008] The combined adjustment mechanism includes a horizontal slider slidably mounted on the top of the electrical drag chain, the upper end of the horizontal slider is fixedly connected to a six-axis robotic arm, and the top end of the six-axis robotic arm is fixedly connected to a fixed plate;

[0009] The automatic cleaning mechanism includes a connecting flange fixedly connected to the end of the fixed plate, a brush plate fixedly installed at the end of the connecting flange, a cleaning brush rotatably installed inside the brush plate, a support rod symmetrically fixedly connected to the side wall of the brush plate and located beside the cleaning brush, and a scraper fixedly connected to the end of the support rod.

[0010] Preferably, the drive control mechanism includes suction cups slidably mounted on the four corners of the side wall of the hanging basket, the suction cups are located on the side close to the cleaning brush, two mesh covers are symmetrically fixedly mounted on the side wall of the hanging basket away from the suction cups, a cylinder is fixedly connected to the center of the inner wall of the hanging basket, the cylinder is located at the center of the two mesh covers, and a motor is fixedly connected to the inner wall of the hanging basket and below the cylinder;

[0011] The output end of the motor is fixedly connected to a driving shaft, a transmission belt is sleeved on the outside of the driving shaft, a driven shaft is rotatably installed on the inside of the mesh cover, a fan blade is fixedly connected to the end of the driven shaft close to the mesh cover, the left and right sides of the transmission belt are sleeved on the driven shaft, and the output end of the cylinder is fixedly connected to a sliding rod.

[0012] Preferably, pressure feedback mechanisms are provided on both sides of the sliding rod, the end of the sliding rod is fixedly connected to a support plate, the four corners of the outer wall of the support plate are fixedly connected to movable rods, and the ends of the movable rods are fixedly connected to the suction cup;

[0013] The pressure feedback mechanism comprises two sleeves symmetrically fixedly connected to the side walls of the cylinder, wherein a transverse rod is slidably mounted inside each sleeve, and a spherical conductive block is fixedly connected to the top and bottom walls of the transverse rod;

[0014] The top and bottom of the inner wall of the sleeve are fixedly connected to a plurality of elastic limiters, and the plurality of elastic limiters are equidistantly arranged along the transverse direction of the sleeve. The left side wall of the elastic limiter is fixedly connected to a first conductive contact piece, and the right side wall of the elastic limiter is fixedly connected to a second conductive contact piece.

[0015] The first conductive contact piece and the second conductive contact piece are symmetrically arranged on both sides of the elastic limiting member. The first conductive contact piece and the second conductive contact piece are both made of arc-shaped conductive material, and the length of the arc is 1 / 6π.

[0016] A novel cleaning method for a curtain wall cleaning robot comprises the following steps:

[0017] During the curtain wall cleaning process, the rooftop hoisting system is first fixed, with the hanging basket on the ground. The hoisting system is manually lowered to the ground by the ground operator. After the operator installs the hoisting cable on the hanging basket, the system switches to automatic mode. The hoisting system automatically raises the hanging basket to the highest point of the curtain wall cleaning. The hanging basket identifies the cleaning position and cleaning range by itself, and then begins the automatic cleaning operation.

[0018] S2. During the automatic cleaning operation, the hoisting system can automatically confirm the descent distance during the initial descent process. When the hanging basket is at the initial height position of the curtain wall, the cylinder drives the suction cup to automatically extend forward, and the fan blades rotate forward at the same time to generate an auxiliary thrust for the hanging basket to approach the curtain wall. When the suction cup contacts the curtain wall, the spherical conductive block and the first conductive contact piece are contacted and energized one by one, causing the left side of each elastic limiter to be squeezed and deformed. When the contact is made, it no longer moves, and the spherical conductive block and the first conductive contact piece are stably energized. When the contact piece is energized, the suction cup stops extending forward and the fan blades stop rotating. At this time, the hanging basket is in a relatively stable state, and the robotic arm begins to move to the operating posture. The robotic arm has been debugged in advance for a fixed lifting posture and operating posture;

[0019] S2. During the automatic cleaning operation, the hoisting system can automatically confirm the descent distance during the initial descent process. When the hanging basket is at the initial height position of the curtain wall, the cylinder drives the suction cup to automatically extend forward, and the fan blades rotate forward at the same time to generate an auxiliary thrust for the hanging basket to approach the curtain wall. When the suction cup contacts the curtain wall, the spherical conductive block and the first conductive contact piece are contacted and energized one by one, causing the left side of each elastic limiter to be squeezed and deformed. When the contact is made, it no longer moves, and the spherical conductive block and the first conductive contact piece are stably energized. When the contact piece is energized, the suction cup stops extending forward and the fan blades stop rotating. At this time, the hanging basket is in a relatively stable state, and the robotic arm begins to move to the operating posture. The robotic arm has been debugged in advance for a fixed lifting posture and operating posture;

[0020] S3. After the cleaning is completed, the robotic arm returns from the working position to the lifting position, the negative pressure of the suction cup is released, the fan blades reverse to generate thrust in the direction of the curtain wall, the suction cup leaves the curtain wall and the electric cylinder retracts. At this time, the spherical conductive block and the second conductive contact are in contact and energized, and the drive motor drives the fan blades to reverse to maintain a safe distance between the hanging basket and the curtain wall. At this time, the hanging basket is out of the relatively stable state and can be raised and lowered. The hoisting system adjusts the hanging basket to the next work station height, and the hanging basket starts leveling again. This process is repeated to complete all cleaning work at the first position of the hoisting system. Then the hoisting system is adjusted to the next position manually or automatically to complete the subsequent cleaning work.

[0021] S4. Specially, when the building curtain wall has horizontally protruding or recessed, or vertically protruding or recessed structures, the robotic arm can retreat to a safe position after cleaning one side of the curtain wall with the horizontal or vertical structures, and then descend or move horizontally to the other side of the horizontal or vertical structures. Relying on the precise positioning of the positioning sensor, the cleaning tool can move along the edge of the other side of the horizontal or vertical structures, and then move closer to the curtain wall, and then complete the cleaning of the curtain wall on the other side of the horizontal or vertical structures. Based on this structural form and cleaning solution, the applicability of the curtain wall cleaning robot is greatly improved, and it can meet the cleaning needs of various curtain wall structure types;

[0022] S5. When the curtain wall cleaning robot moves downward to change its working position, the hanging basket is moved to the next working position according to the adjustment method of S3 above, and then the vacuum suction cup is extended toward the curtain wall, and the stable adsorption of the hanging basket body is completed according to the action logic of S2 above. At this point, the hanging basket also completes the crossing of the horizontal structure of the building, avoiding the phenomenon that the suction cup is difficult to adsorb, and further enhancing the applicability of the curtain wall cleaning robot.

[0023] By means of the above technical solution, the present invention provides a novel curtain wall cleaning robot and a cleaning method thereof, which have at least the following beneficial effects:

[0024] 1. The present invention adopts a combined seven-axis robotic arm to achieve the function of automatic obstacle crossing, that is, it can adapt to the construction needs of cleaning the curtain walls of basic building structures such as large-size glass frames, building beams, vertical beams, etc.

[0025] 2. The present invention is equipped with a vacuum suction cup and combined with thrust fan blades to effectively stabilize the fuselage, thereby significantly improving the high-altitude safety of the curtain wall cleaning robot.

[0026] 3. The present invention realizes stable limiting of the suction cup adsorption by moving the pressure feedback mechanism toward one side of the wall. At the same time, through the coordinated setting between the transverse rod, the spherical conductive block and the first conductive contact piece, pressure feedback is realized after the suction cup adsorbs the wall, thereby achieving the effect of stopping the rotation of the fan blades and reducing the risk of overturning caused by excessive movement of the hanging basket.

[0027] 4. The present invention realizes rapid adjustment of the cleaning position by moving the pressure feedback mechanism toward the side away from the wall. At the same time, through the coordinated setting between the transverse rod, the spherical conductive block and the second conductive contact piece, the fan blade is flipped after the suction cup is released from the wall, effectively reducing the time the hanging basket is away from the wall and further improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the three-dimensional structure of the combined adjustment mechanism of the present invention;

[0031] Figure 3 This is a schematic diagram of the three-dimensional structure of the automatic cleaning mechanism of the present invention;

[0032] Figure 4 Schematic diagram of the three-dimensional structure of the drive control mechanism of the present invention;

[0033] Figure 5 This is a schematic diagram of the internal sectional three-dimensional structure of the drive control mechanism of the present invention;

[0034] Figure 6 This is a schematic diagram of the internal side view of the drive control mechanism of the present invention;

[0035] Figure 7 For the present invention Figure 6 A schematic diagram of the structure at center A;

[0036] Figure 8 This is a schematic structural diagram of the state when the spherical conductive block of the present invention is in contact with the first conductive contact piece;

[0037] Figure 9 This is a schematic structural diagram of the state when the spherical conductive block of the present invention is in contact with the second conductive contact piece.

[0038] In the figure: 1. hanging basket; 2. lifting ear; 3. electrical drag chain; 4. combined adjustment mechanism; 40. horizontal slider; 41. six-axis robot arm; 42. fixed plate; 5. automatic cleaning mechanism; 50. connecting flange; 51. brush plate; 52. cleaning brush; 53. support rod; 54. scraper; 6. drive control mechanism; 60. suction cup; 61. mesh cover; 62. motor; 63. cylinder; 64. driving shaft; 65. transmission belt; 66. driven shaft; 67. fan blade; 68. slide rod; 69. pressure feedback mechanism; 690. sleeve; 691. transverse rod; 692. spherical conductive block; 693. elastic limiter; 694. first conductive contact piece; 695. second conductive contact piece; 610. support plate; 611. movable rod. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] Example 1

[0041] Please refer to Figure 1-Figure 3 A novel curtain wall cleaning robot and a cleaning method thereof include a hanging basket 1, with lifting ears 2 symmetrically fixedly installed on both sides of the top wall of the hanging basket 1, the top of the lifting ears 2 being installed on the lifting rope of the hoisting system, the hanging basket 1 is at the initial height position of the curtain wall, and the hoisting system can automatically confirm the descent distance during the initial descent process. An electrical drag chain 3 is fixedly connected to the top of the hanging basket 1, and the electrical drag chain 3 is used to drive a horizontal slider 40 to slide horizontally along the hanging basket 1, thereby realizing horizontal cleaning of the curtain wall. A combined adjustment mechanism 4 is provided at the upper end of the electrical drag chain 3, and an automatic cleaning mechanism 5 is provided on the top of the combined adjustment mechanism 4. A driving control mechanism 6 is provided inside the hanging basket 1;

[0042] The combined adjustment mechanism 4 includes a horizontal slider 40 slidably mounted on the top of the electrical drag chain 3. The upper end of the horizontal slider 40 is fixedly connected to a six-axis robotic arm 41, and the top of the six-axis robotic arm 41 is fixedly connected to a fixed plate 42. By driving the horizontal slider 40 to move laterally along the electrical drag chain 3, the six-axis robotic arm 41 can realize the seven-axis rotation of the robotic arm. By adopting the form of a combined seven-axis robotic arm, the function of automatic obstacle crossing can be achieved, that is, it can meet the construction needs of cleaning the curtain wall of basic building structures such as large-sized glass frames, building beams, vertical beams, etc.

[0043] The automatic cleaning mechanism 5 includes a connecting flange 50 fixedly connected to the end of the fixed plate 42, a brush plate 51 is fixedly installed at the end of the connecting flange 50, a cleaning brush 52 is rotatably installed inside the brush plate 51, and a support rod 53 is symmetrically fixedly connected to the side wall of the brush plate 51 and located next to the cleaning brush 52. The end of the support rod 53 is fixedly connected to a scraper 54, which is used to scrape foreign matter on the surface of the curtain wall. A plurality of automatic spray valves can be installed on the top of the brush plate 51. According to the degree of contamination of the curtain wall, the spraying of cleaning water can be flexibly adjusted, and the cleaning effect of the curtain wall can be further enhanced by spraying the cleaning water on the cleaning brush 52.

[0044] Example 2

[0045] Please refer to Figure 4-Figure 5 This embodiment is basically the same as the first embodiment. This embodiment is made on the basis of the first embodiment and has the same beneficial effects as the first embodiment. The same parts can be referred to each other and will not be described in detail here.

[0046] The drive control mechanism 6 includes a suction cup 60 slidably mounted on the four corners of the side wall of the hanging basket 1. The suction cup 60 is located on the side close to the cleaning brush 52. Two mesh covers 61 are symmetrically fixedly mounted on the side wall of the hanging basket 1 facing away from the suction cup 60. A cylinder 63 is fixedly connected to the center of the inner wall of the hanging basket 1. The cylinder 63 is located at the center of the two mesh covers 61. A motor 62 is fixedly connected to the inner wall of the hanging basket 1 and below the cylinder 63.

[0047] As a preferred technical solution of this embodiment, the output end of the motor 62 is fixedly connected to the driving shaft 64, and the outer side of the driving shaft 64 is sleeved with a transmission belt 65. The inner side of the mesh cover 61 is rotatably installed with a driven shaft 66. The end of the driven shaft 66 close to the mesh cover 61 is fixedly connected to the fan blades 67. The left and right sides of the transmission belt 65 are sleeved on the driven shaft 66. The output end of the cylinder 63 is fixedly connected to the slide rod 68. The cylinder 63 drives the suction cup 60 to automatically extend forward, and the fan blades 67 rotate forward at the same time to generate an auxiliary thrust for the hanging basket 1 to approach the curtain wall. During the process of the suction cup 60 contacting the curtain wall, the spherical conductive block 692 and the first conductive contact piece 694 are contacted and energized one by one, causing the left side of each elastic limit piece 693 to be squeezed and deformed. When it contacts the curtain wall, it no longer moves, the spherical conductive block 692 and the first conductive contact piece 694 are stably energized, the suction cup 60 stops extending forward, and the fan blades 67 stop rotating. At this time, the hanging basket 1 is in a relatively stable state.

[0048] Example 3

[0049] Please refer to Figure 6-Figure 9 This embodiment is basically the same as the first embodiment. This embodiment is made on the basis of the first embodiment and has the same beneficial effects as the first embodiment. The same parts can be referred to each other and will not be described in detail here.

[0050] Pressure feedback mechanisms 69 are provided on both sides of the slide bar 68. The end of the slide bar 68 is fixedly connected to a support plate 610. The four corners of the outer wall of the support plate 610 are fixedly connected to movable rods 611. The ends of the movable rods 611 are fixedly connected to the suction cup 60.

[0051] The pressure feedback mechanism 69 includes two sleeves 690 symmetrically fixedly connected to the side walls of the cylinder 63. A transverse rod 691 is slidably mounted inside each sleeve 690. A spherical conductive block 692 is fixedly connected to the top and bottom walls of the transverse rod 691.

[0052] As a preferred technical solution of this embodiment, the top and bottom of the inner wall of the sleeve 690 are fixedly connected with a plurality of elastic limiters 693, and the plurality of elastic limiters 693 are arranged equidistantly along the transverse direction of the sleeve 690. The left side wall of the elastic limiter 693 is fixedly connected with a first conductive contact 694, and the right side wall of the elastic limiter 693 is fixedly connected with a second conductive contact 695. When the hanging basket 1 moves toward the curtain wall, the spherical conductive block 692 contacts each elastic limiter 693 one by one. At this time, the spherical conductive block 692 is contacted by Figure 7 When the suction cup 60 is stably adsorbed to the curtain wall, the transverse rod 691 no longer moves. At this time, the spherical conductive block 692 and the first conductive contact piece 694 are stably energized. At this time, the motor 62 no longer rotates, and the hanging basket 1 stops moving toward the curtain wall. Through the coordinated setting between the transverse rod 691, the spherical conductive block 692 and the first conductive contact piece 694, the pressure feedback after the suction cup 60 adsorbs the wall is realized, and the effect of stopping the rotation of the fan blade 67 is achieved, reducing the overturning risk caused by excessive movement of the hanging basket 1; when the corresponding station is cleaned, the cylinder 63 drives the suction cup 60 The spherical conductive block 692 contacts the second conductive contact piece 695, and the motor 62 rotates in the opposite direction, driving the hanging basket 1 to accelerate away from the curtain wall. The pressure feedback mechanism 69 moves toward the side away from the wall to achieve rapid adjustment of the cleaning position. At the same time, through the coordinated setting between the lateral rod 691, the spherical conductive block 692 and the second conductive contact piece 695, the fan blade 67 rotates in the opposite direction after the suction cup 60 releases the adsorption of the wall, which effectively reduces the time the hanging basket 1 is away from the wall, further improving the cleaning efficiency.

[0053] As a preferred technical solution of this embodiment, the first conductive contact piece 694 and the second conductive contact piece 695 are symmetrically arranged on both sides of the elastic limiter 693. The first conductive contact piece 694 and the second conductive contact piece 695 are both configured to be arc-shaped conductive material, and the length of the arc is 1 / 6π. This ensures that during the lateral movement of the spherical conductive block 692, after squeezing the elastic limiter 693, both can contact the first conductive contact piece 694 and the second conductive contact piece 695, thereby driving the motor 62 to rotate.

[0054] As the preferred technical solution of this embodiment, when the building curtain wall has large-sized beams or shaped structures, the six-axis robotic arm 41 drives the cleaning brush 52 on the automatic cleaning mechanism 5 to clean the curtain wall above the beam, and then the six-axis robotic arm 41 retreats away from the curtain wall to a safe position, and then descends to the bottom of the beam. Relying on the precise positioning of the positioning sensor, the cleaning brush 52 is ensured to move along the lower edge of the beam toward the curtain wall, and then the curtain wall cleaning under the beam is completed. Based on this structural form and cleaning solution, the applicability of the curtain wall cleaning robot is greatly improved, and it can meet the cleaning needs of various curtain wall structure types.

[0055] When the curtain wall cleaning robot moves downward to change its working position, the hanging basket is moved to the next working position according to the above-mentioned S3 adjustment method, and the working position is detected and determined in advance through visual recognition technology. When the interval between the two working positions is not greater than the height space that the robotic arm can cover, there are no factors affecting the suction cup adsorption at the working position. When the interval between the two working positions is greater than the height space that the robotic arm can cover, the vacuum suction cup extends toward the curtain wall and completes the stable adsorption of the hanging basket body according to the above-mentioned S2 action logic. At this point, the hanging basket has also completed the crossing of the horizontal structure of the building, avoiding the phenomenon that the suction cup is difficult to adsorb, and further enhancing the applicability of the curtain wall cleaning robot.

[0056] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by a person skilled in the art. The provision of power is also common knowledge in the art. The present invention is mainly used to protect mechanical devices, so the control method and circuit connection are not explained in detail in the present invention.

[0057] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0058] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to in detail. For the above embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For relevant parts, please refer to the partial description of the method embodiments.

[0059] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A novel curtain wall cleaning robot, comprising a hanging basket (1), characterized in that: Lifting ears (2) are symmetrically fixedly installed on both sides of the top wall of the hanging basket (1), and the top ends of the lifting ears (2) are installed on the lifting ropes of the hoisting system. The top of the hanging basket (1) is fixedly connected to an electrical drag chain (3), and the upper end of the electrical drag chain (3) is provided with a combined adjustment mechanism (4). The top of the combined adjustment mechanism (4) is provided with an automatic cleaning mechanism (5), and a driving control mechanism (6) is provided inside the hanging basket (1); The combined adjustment mechanism (4) comprises a horizontal slider (40) slidably mounted on the top of the electrical drag chain (3); the upper end of the horizontal slider (40) is fixedly connected to a six-axis mechanical arm (41); and the top end of the six-axis mechanical arm (41) is fixedly connected to a fixed plate (42); The automatic cleaning mechanism (5) comprises a connecting flange (50) fixedly connected to the end of the fixed plate (42); a brush plate (51) is fixedly mounted on the end of the connecting flange (50); a cleaning brush (52) is rotatably mounted inside the brush plate (51); a support rod (53) is symmetrically fixedly connected to the side wall of the brush plate (51) and located beside the cleaning brush (52); and a scraper (54) is fixedly connected to the end of the support rod (53); The center of the inner wall of the hanging basket (1) is fixedly connected to a cylinder (63), the output end of the cylinder (63) is fixedly connected to a slide bar (68), the left and right sides of the slide bar (68) are provided with pressure feedback mechanisms (69), the end of the slide bar (68) is fixedly connected to a support plate (610), the four corners of the outer wall of the support plate (610) are fixedly connected to movable rods (611), the end of the movable rod (611) is fixedly connected to the suction cup (60), the pressure feedback mechanism (69) includes a symmetrical fixed connection to the cylinder ( 63) two sleeves (690) on the side wall, a transverse rod (691) is slidably installed inside the sleeve (690), the top wall and the bottom wall of the transverse rod (691) are fixedly connected with a spherical conductive block (692), the top and the bottom of the inner wall of the sleeve (690) are fixedly connected with a plurality of elastic limiting members (693), the left side wall of the elastic limiting member (693) is fixedly connected with a first conductive contact (694), and the right side wall of the elastic limiting member (693) is fixedly connected with a second conductive contact (695).

2. A novel curtain wall cleaning robot according to claim 1, characterized in that: The driving control mechanism (6) comprises suction cups (60) slidably mounted at the four corners of the side wall of the hanging basket (1), the suction cups (60) being located on a side close to the cleaning brush (52), two mesh covers (61) being symmetrically fixedly mounted on the side wall of the hanging basket (1) away from the suction cups (60), a cylinder (63) being located at the center of the two mesh covers (61), and a motor (62) being fixedly connected to the inner wall of the hanging basket (1) and located below the cylinder (63).

3. The novel curtain wall cleaning robot according to claim 2, characterized in that: The output end of the motor (62) is fixedly connected to a driving shaft (64), the outer side of the driving shaft (64) is sleeved with a transmission belt (65), the inner side of the mesh cover (61) is rotatably mounted with a driven shaft (66), the end of the driven shaft (66) close to the mesh cover (61) is fixedly connected to a fan blade (67), and the left and right sides of the transmission belt (65) are sleeved on the driven shaft (66).

4. The novel curtain wall cleaning robot according to claim 1, characterized in that: The plurality of elastic limiting members (693) are arranged at equal intervals along the transverse direction of the sleeve (690).

5. The novel curtain wall cleaning robot according to claim 1, characterized in that: The first conductive contact piece (694) and the second conductive contact piece (695) are symmetrically arranged on both sides of the elastic limiter (693); the first conductive contact piece (694) and the second conductive contact piece (695) are both made of arc-shaped conductive material, and the length of the arc is 1 / 6π.

6. A new cleaning method for curtain wall cleaning robot, characterized in that: The steps include: S1. During the curtain wall cleaning process, first fix the rooftop hoisting system, with the hanging basket on the ground. The hoisting system is manually lowered to the ground by the ground operator. After the operator installs the hoisting cable on the hanging basket, it switches to automatic mode. The hoisting system automatically raises the hanging basket to the highest point of the curtain wall cleaning. The hanging basket recognizes the cleaning position and cleaning range by itself, and then starts the automatic cleaning operation. S2. During the automatic cleaning operation, the hoisting system can automatically confirm the descent distance during the initial descent process. When the hanging basket is at the initial height position of the curtain wall, the cylinder drives the suction cup to automatically extend forward, and the fan blades rotate forward at the same time to generate an auxiliary thrust for the hanging basket to approach the curtain wall. When the suction cup contacts the curtain wall, the spherical conductive block and the first conductive contact piece are contacted and energized one by one, causing the left side of each elastic limiter to be squeezed and deformed. When the contact is made, it no longer moves, and the spherical conductive block and the first conductive contact piece are stably energized. When the contact piece is energized, the suction cup stops extending forward and the fan blades stop rotating. At this time, the hanging basket is in a relatively stable state, and the robotic arm begins to move to the operating posture. The robotic arm has been debugged in advance for a fixed lifting posture and operating posture; S3. After the cleaning is completed, the robotic arm returns from the working position to the lifting position, the negative pressure of the suction cup is released, the fan blades reverse to generate a thrust away from the curtain wall, the suction cup leaves the curtain wall and the electric cylinder retracts. At this time, the spherical conductive block and the second conductive contact are in contact and energized, and the drive motor drives the fan blades to reverse to maintain a safe distance between the hanging basket and the curtain wall. At this time, the hanging basket is out of the relatively stable state and can be raised and lowered. The hoisting system adjusts the hanging basket to the next work station height, and the hanging basket starts leveling again. This process is repeated to complete all cleaning work at the first position of the hoisting system. Then the hoisting system is adjusted to the next position manually or automatically to complete the subsequent cleaning work. S4. When the building curtain wall has horizontal protrusions or depressions, or vertical protrusions or depressions, the robotic arm can retreat to a safe position after cleaning one side of the curtain wall with the horizontal or vertical structure, and then descend or move horizontally to the other side of the horizontal or vertical structure. Relying on the precise positioning of the positioning sensor, the cleaning tool can move along the edge of the other side of the horizontal or vertical structure, and then move closer to the curtain wall, and then complete the cleaning of the curtain wall on the other side of the horizontal or vertical structure; S5. When the curtain wall cleaning robot moves downward to change its working position, the hanging basket is moved to the next working position according to the adjustment method of S3 above, and then the vacuum suction cup is extended toward the curtain wall, and the stable adsorption of the hanging basket body is completed according to the action logic of S2 above. At this point, the hanging basket has also completed the crossing of the horizontal shaping structure of the building.

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