A cleaning robot for high-altitude facade cleaning

Abstract

The present application relates to the technical field of intelligent robots. Specifically, the present application relates to a cleaning robot for high-altitude facade cleaning, which comprises a main frame, a lifting device configured to move the main frame in a vertical direction through a synchronous belt, a fixed adsorption device configured to adsorb and fix the main frame on a glass curtain wall, a three-axis movement module configured to drive a cleaning device to move in X-axis, Y-axis and Z-axis directions within the main frame, and a cleaning device configured to clean the glass curtain wall. The present application uses a synchronous belt parallel architecture, and since the synchronous belt has small elastic deformation, it is easier to control the movement of the robot. Further, the reduction motors arranged on the same side are synchronized using the synchronous belt, and do not need to be controlled using a control system. In addition, the present application uses a three-axis movement module to drive the cleaning device to move, thereby achieving a wide range of cleaning and greatly improving the cleaning efficiency.

Description

Technical Field

[0001] This invention generally relates to the field of intelligent robot technology. Specifically, this invention relates to a cleaning robot for high-altitude facade cleaning. Background Technology

[0002] As my country's economy continues to develop steadily and positively, the number of large and medium-sized cities in my country continues to grow, and skyscrapers with a height of over 100 meters are everywhere. Glass curtain walls are widely used for the exterior walls of various skyscrapers because of their eye-catching appearance, good lighting, and thermal insulation properties.

[0003] However, with the continuous increase in high-rise and super high-rise buildings, the demand for cleaning of high-rise building curtain walls is also constantly growing. Traditional cleaning methods mainly involve workers climbing walls like spiders or riding cable cars. These methods are inefficient, involve high labor intensity for workers, and have low safety factors. Every year, there are incidents of workers falling from high-rise building exteriors while cleaning them. Therefore, there is a need to develop an automatic cleaning device for the exterior glass of high-rise buildings.

[0004] Existing high-altitude cleaning robots include two categories: robots that do not directly contact the wall being cleaned and robots that are attached to the wall.

[0005] Robots that do not directly contact the wall being cleaned typically use a traction device located on the rooftop to achieve vertical movement on the building facade. An external controller manages the robot's internal high-pressure water spray and drying systems to clean the wall. The advantage of this type of robot is that it is separate from the wall, allowing it to avoid structures like eaves or protrusions and speeding up the cleaning process. However, it suffers from weak interference resistance and a limited cleaning range.

[0006] Robots that adhere to walls move slowly but achieve superior cleaning results. These robots are widely studied in current theoretical and experimental research. Based on their adhesion methods, they can be categorized as thrust-based adhesion, vacuum adhesion, magnetic adhesion, electrostatic adhesion, and biomimetic adhesion; and based on their movement methods, they can be classified as legged, wheeled, tracked, and traction-based. However, these robots still suffer from limitations such as poor obstacle-crossing ability, limited cleaning range, and slow speed. Summary of the Invention

[0007] To at least partially solve the above-mentioned problems in the prior art, the present invention proposes a cleaning robot for high-rise building facade cleaning, comprising:

[0008] Main framework;

[0009] A lifting device configured to move the main frame vertically via a timing belt;

[0010] A fixed adsorption device is configured to adsorb and fix the main frame to the glass curtain wall;

[0011] A three-axis motion module is configured to drive the cleaning device to move along the X, Y, and Z axes within the main frame; and

[0012] A cleaning device configured to clean glass curtain walls.

[0013] In one embodiment of the present invention, the lifting device includes:

[0014] A first lifting device is arranged on a first side of the main frame; and

[0015] The second lifting device is arranged on the second side of the main frame opposite to the first side.

[0016] In one embodiment of the present invention, at least one of the first lifting device and the second lifting device includes:

[0017] The first synchronous belt has a first end fixed to the roof and a second end connected to a weight so that the first synchronous belt is taut and stretched in the vertical direction. The first synchronous belt passes through a first tensioning pulley, a first synchronous pulley and a second tensioning pulley in sequence from the first end.

[0018] A first geared motor is configured to drive the first synchronous pulley to rotate, wherein the first synchronous belt remains stationary while the first synchronous pulley rotates;

[0019] The second synchronous pulley is coaxially connected to the first synchronous pulley.

[0020] The second synchronous belt has its first end fixed to the roof and its second end connected to a weight so that the second synchronous belt is taut and stretched in the vertical direction. The second synchronous belt passes through a third tensioning pulley, a third synchronous pulley and a fourth tensioning pulley in sequence.

[0021] A second geared motor is configured to drive the third synchronous pulley to rotate, wherein the second synchronous belt remains stationary while the third synchronous pulley rotates; and

[0022] The fourth synchronous pulley is coaxially connected to the third synchronous pulley, wherein the fourth synchronous pulley and the second synchronous pulley are connected by a third synchronous belt to synchronize the rotational speeds of the first synchronous pulley, the second synchronous pulley, the third synchronous pulley and the fourth synchronous pulley.

[0023] In one embodiment of the present invention, the first geared motor and the second geared motor of the first lifting device and the second lifting device are configured to maintain synchronous rotation speed through a control system.

[0024] In one embodiment of the present invention, the immobilized adsorption device includes:

[0025] A first fixed adsorption device is arranged on a first side of the main frame; and

[0026] The second fixed adsorption device is arranged on the second side of the main frame opposite to the first side.

[0027] In one embodiment of the present invention, at least one of the first fixed adsorption device and the second fixed adsorption device includes:

[0028] The first telescopic cylinder is configured to drive the first telescopic rod to extend or retract.

[0029] A first telescopic rod is provided with a first suction cup, wherein the first suction cup is configured to adhere to the glass curtain wall when the first telescopic rod is extended;

[0030] The second telescopic cylinder is configured to drive the second telescopic rod to extend or retract; and

[0031] A second telescopic rod is provided with a second suction cup, wherein the second suction cup is configured to adhere to the glass curtain wall when the second telescopic rod is extended.

[0032] In one embodiment of the present invention, the first fixed adsorption device and / or the second fixed adsorption device are configured to perform the following operations:

[0033] When the cleaning device cleans the glass curtain wall, the first telescopic rod and the second telescopic rod extend, and the first suction cup and the second suction cup adhere to the glass curtain wall to fix the main frame to the glass curtain wall; and

[0034] When the lifting device moves the main frame vertically via a synchronous belt, the first telescopic rod and the second telescopic rod retract.

[0035] In one embodiment of the present invention, the first fixed adsorption device and / or the second fixed adsorption device are further configured to perform the following operations:

[0036] When the cleaning device encounters an obstacle on the glass curtain wall, it retracts the first and second telescopic rods to overcome the obstacle.

[0037] In one embodiment of the present invention, the three-axis motion module includes:

[0038] X-axis motion device, comprising:

[0039] The upper frame is equipped with the first lead screw nut.

[0040] The X-axis lead screw passes through the first lead screw nut and is connected to the third servo motor;

[0041] as well as

[0042] The third servo motor is configured to drive the X-axis lead screw to rotate, causing the first lead screw nut to move in the X-axis direction, thereby enabling the three-axis motion module to move in the X-axis direction.

[0043] Upward movement;

[0044] Y-axis motion device, comprising:

[0045] A motion platform, on which a second lead screw nut is installed;

[0046] The Y-axis lead screw passes through the second lead screw nut and is connected to the second servo motor;

[0047] as well as

[0048] A second servo motor is configured to drive the Y-axis lead screw to rotate, causing the second lead screw nut to move in the Y-axis direction, thereby causing the three-axis motion module to move in the Y-axis direction; and

[0049] Z-axis motion device, comprising,

[0050] The feed frame is equipped with a third lead screw nut.

[0051] A Z-axis lead screw, which passes through the third lead screw nut and is connected to the third servo motor; and

[0052] The third servo motor is configured to drive the Z-axis lead screw to rotate so that the third lead screw nut moves in the Z-axis direction, thereby causing the three-axis moving module to move in the Z-axis direction.

[0053] In one embodiment of the present invention, the cleaning device is arranged on the motion platform, wherein the cleaning device includes a high-pressure water jet device, a disc brush device, and a rag.

[0054] This invention offers at least the following advantages: It proposes a cleaning robot for high-altitude facade cleaning, wherein the lifting device utilizes a four-synchronous-belt parallel architecture. Due to the small elastic deformation of the synchronous belts, the machine's movement is easier to control. Ensuring the same speed of the four geared motors guarantees smooth machine operation, greatly simplifying the control system design. Furthermore, the geared motors arranged on the same side are synchronized using synchronous belts, eliminating the need for a control system, resulting in a highly concise and efficient design. In addition, this invention uses a three-axis motion module to drive the cleaning device, enabling large-area cleaning and significantly improving cleaning efficiency. Attached Figure Description

[0055] To further illustrate the advantages and other features of the various embodiments of the present invention, a more specific description of the embodiments of the present invention will be presented with reference to the accompanying drawings. It is understood that these drawings depict only typical embodiments of the invention and are therefore not intended to limit its scope. In the drawings, identical or corresponding parts will be indicated by the same or similar reference numerals for clarity.

[0056] Figure 1 A schematic diagram of a cleaning robot for high-altitude facade cleaning is shown in one embodiment of the present invention.

[0057] Figure 2 A schematic diagram of the timing belt and timing pulley of a lifting device in one embodiment of the present invention is shown.

[0058] Figure 3 An enlarged schematic diagram of the timing belt and timing pulley of a lifting device in one embodiment of the present invention is shown.

[0059] Figure 4 A schematic diagram of a fixed adsorption device according to one embodiment of the present invention is shown.

[0060] Figure 5 A schematic diagram of the arrangement of a geared motor is shown in one embodiment of the present invention.

[0061] Figure 6 A schematic diagram of the YZ direction motion frame of an XYZ three-axis motion module is shown in one embodiment of the present invention.

[0062] List of reference numerals in the attached diagram:

[0063] 1 Mounting plate, 2 First tensioning pulley, 3 First synchronous pulley, 4 Second synchronous pulley, 5 Second tensioning pulley, 6 First synchronous belt, 7 Third tensioning pulley, 8 Third synchronous pulley, 9 Fourth synchronous pulley, 10 Third synchronous belt, 11 Second synchronous belt, 12 Upper frame, 13 Lead screw fixing sleeve, 14 First lead screw nut, 15 Z-axis lead screw, 16 First slider guide rod, 17 Second slider guide rod, 18 Motion platform, 19 Third slider guide rod, 20 Y-axis lead screw, 21 Feed frame, 22 Fourth slider guide rod, 23 Lower frame, 24 First pulley, 25 Second pulley, 26 Third pulley, 27 Fourth pulley, 28 Second lead screw nut, 29 Fifth slider Guide rod, 30 Sixth slider guide rod, 31 First lead screw bearing, 32 Second lead screw bearing, 33 First frame, 34 First telescopic cylinder, 35 First telescopic rod, 36 First suction cup, 37 Second telescopic cylinder, 38 Second telescopic rod, 39 Second suction cup, 40 First geared motor, 41 Second geared motor, 42 Second motor shaft, 43 First motor shaft, 44 Fourth synchronous belt, 45 Fifth synchronous belt, 46 Third geared motor, 47 Fourth geared motor, 48 Third suction cup, 49 Fourth suction cup, 50 Main frame, 51 X-axis lead screw, 52 Third lead screw bearing, 53 First servo motor, 54 Second servo motor, 55 Third servo motor Detailed Implementation

[0064] It should be noted that the components in the various figures may be shown exaggeratedly for illustrative purposes and are not necessarily to scale. In each figure, the same reference numerals are used for components that are identical or have the same function.

[0065] In this invention, unless otherwise specified, "arranged on," "arranged above," and "arranged on" do not exclude the possibility of an intermediate element between them. Furthermore, "arranged on or above" merely indicates the relative positional relationship between two components, and in certain cases, such as when the product orientation is reversed, it can also be converted to "arranged below or under," and vice versa.

[0066] In this invention, the various embodiments are merely intended to illustrate the solutions of the invention and should not be construed as limiting.

[0067] In this invention, unless otherwise specified, the quantifiers “a” and “one” do not exclude scenarios involving multiple elements.

[0068] It should also be noted that, in the embodiments of the present invention, only a portion of the components or parts may be shown for clarity and simplicity. However, those skilled in the art will understand that, under the teachings of the present invention, necessary components or parts can be added as needed for specific scenarios. Furthermore, unless otherwise stated, features in different embodiments of the present invention can be combined with each other. For example, a feature in the second embodiment can replace a corresponding or functionally identical or similar feature in the first embodiment, and the resulting embodiment will also fall within the scope of disclosure or description of this application.

[0069] It should also be noted that, within the scope of this invention, the terms "same," "equal," and "equal to" do not imply that the two values ​​are absolutely equal, but rather allow for a certain reasonable margin of error. In other words, the terms also encompass "substantially the same," "substantially equal," and "substantially equal to." Similarly, in this invention, the directional terms "perpendicular to," "parallel to," etc., also encompass the meanings of "substantially perpendicular to" and "substantially parallel to."

[0070] Furthermore, the numbering of the steps in the methods of the present invention does not limit the execution order of the method steps. Unless otherwise specified, the method steps may be executed in different orders.

[0071] In this invention, the term "vertical direction" refers to the direction in which the cleaning robot moves up and down. This direction can be either the direction of gravity or at a certain angle to the direction of gravity. In this invention, the XYZ directions are three mutually perpendicular directions, specifically the directions of the three coordinate axes (positive and negative) in the XYZ coordinate system.

[0072] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0073] Figure 1 A schematic diagram of a cleaning robot for high-altitude facade cleaning is shown in one embodiment of the present invention. Figure 1 As shown, the cleaning robot for high-altitude facade cleaning includes a first lifting device, a second lifting device, a first fixed adsorption device, a second fixed adsorption device, an XYZ three-axis moving module, and a cleaning device.

[0074] The first lifting device and the second lifting device are arranged on the first side and the second side opposite to the first side of the robot body. The components of the first lifting device and the second lifting device may be identical and arranged in a mirror image.

[0075] Figure 2 A schematic diagram of the timing belt and timing pulley of a lifting device in one embodiment of the present invention is shown. Figure 3 An enlarged schematic diagram of the timing belt and timing pulley of a lifting device in one embodiment of the present invention is shown. Figure 5 A schematic diagram of the arrangement of a geared motor is shown in one embodiment of the present invention.

[0076] like Figure 2 and Figure 3 As shown, the first lifting device includes a first synchronous belt 6, a second synchronous belt 11, a first tension pulley 2, a first synchronous pulley 3, a second synchronous pulley 4, a second tension pulley 5, a first geared motor 40, a third tension pulley 7, a third synchronous pulley 8, a fourth synchronous pulley 9, a fourth tension pulley, and a second geared motor 41. Similarly, the second lifting device includes a fourth synchronous belt 44, a fifth synchronous belt 45, a third geared motor 46, a fourth geared motor 47, and corresponding tension pulleys and synchronous pulleys.

[0077] The first end of the first synchronous belt 6, the second synchronous belt 11, the fourth synchronous belt 44, and the fifth synchronous belt 45 is connected to a bracket fixed on the roof, and the second end is connected to a weight, wherein the weight is suspended on the second end so that the first synchronous belt 6, the second synchronous belt 11, the fourth synchronous belt 44, and the fifth synchronous belt 45 are taut and stretched in the vertical direction.

[0078] In the first lifting device, the first synchronous belt 6 passes sequentially from its first end through a first tensioning pulley 2, a first synchronous pulley 3, and a second tensioning pulley 5 arranged on a mounting plate 1. A first reduction motor 40 is connected to the first synchronous pulley 3, wherein the first reduction motor 40 can drive the first synchronous pulley 3 to rotate, and the first synchronous belt 6 remains stationary while the first synchronous pulley 3 rotates. Similarly, the second synchronous belt 11 passes sequentially through a third tensioning pulley 7, a third synchronous pulley 8, and a fourth tensioning pulley. The third synchronous pulley 8 is connected to a second reduction motor 41, wherein the second reduction motor 41 can drive the third synchronous pulley 8 to rotate, and the second synchronous belt 11 remains stationary while the third synchronous pulley 8 rotates. The first synchronous pulley 3 and the second synchronous pulley 4 are coaxially connected, the third synchronous pulley 8 and the fourth synchronous pulley 9 are coaxially connected, and the second synchronous pulley 4 and the fourth synchronous pulley 9 are connected by a third synchronous belt 10 to synchronize the rotational speeds of the first synchronous pulley 3, the second synchronous pulley 4, the third synchronous pulley 8, and the fourth synchronous pulley 9.

[0079] The components of the second lifting device are arranged in a mirror image of the first lifting device, and will not be described in detail here. The rotational speeds of the first and second geared motors 40 and 41 of the first lifting device, and the third and fourth geared motors 46 and 47 of the second lifting device, can be kept synchronized by the control system. Compared to ropes, synchronous belts have the advantages of smaller elastic deformation and no slippage. Therefore, when the rotational speeds of the first, second, third, and fourth geared motors 40 and 41, 46, and 47 are kept consistent, the robot can achieve stable up-and-down movement as a whole.

[0080] The first and second fixed adsorption devices are arranged on the first and second sides of the robot body. The components of the first and second fixed adsorption devices can be identical and arranged in a mirror image.

[0081] Figure 4 A schematic diagram of a fixed adsorption device according to one embodiment of the present invention is shown. Figure 4 As shown, the first fixed adsorption device includes a first suction cup 36, a second suction cup 39, a first telescopic cylinder 34, a first telescopic rod 35, a second telescopic cylinder 37, and a second telescopic rod 38. Similar to the first fixed adsorption device, the second adsorption device includes a third suction cup 48, a fourth suction cup 49, and corresponding telescopic rods and telescopic cylinders.

[0082] In the first fixed adsorption device, the first telescopic cylinder 34 is connected to the first suction cup 36 via the first telescopic rod 35, and the second telescopic cylinder 37 is connected to the second suction cup 39 via the second telescopic rod 38. When the cleaning robot for high-altitude facade cleaning is in operation, the first telescopic cylinder 34 and the second telescopic cylinder 37 drive the first telescopic rod 35 and the second telescopic rod 38 to extend and contact the glass curtain wall. The first suction cup 36 and the second suction cup 39 expel air and adhere to the glass curtain wall. When the cleaning robot needs to move up and down, the first suction cup 36 and the second suction cup 39 release the glass curtain wall, and the first telescopic cylinder 34 and the second telescopic cylinder 37 drive the first telescopic rod 35 and the second telescopic rod 38 to retract. The robot then moves up and down, and after reaching the designated position, repeats the action of extending the telescopic rod and adhering the suction cup to the glass curtain wall. The actions performed by the third suction cup 48, the fourth suction cup 49, and the corresponding telescopic rods and cylinders of the second adsorption device are similar to those of the first adsorption device and will not be described further here.

[0083] After the cleaning robot is assembled on the ground, all synchronous wheels rotate synchronously during operation, causing the cleaning robot to move to the highest point of the building. The first suction cup 36, the second suction cup 39, the third suction cup 48, and the fourth suction cup 49 extend along the corresponding telescopic rods and adhere to the glass curtain wall. The XYZ three-axis moving module and the cleaning device then begin to work.

[0084] Figure 6 A schematic diagram of the YZ direction motion frame of an XYZ three-axis motion module according to one embodiment of the present invention is shown. Figure 1 and Figure 6 As shown, the XYZ three-axis moving module includes an upper frame 12, an X-axis lead screw 51, a first lead screw nut 14, a third servo motor 55, a motion platform 18, a Y-axis lead screw 20, a second lead screw nut 28, a second servo motor 54, a feed frame 21, a Z-axis lead screw 15, a third lead screw nut, and a first servo motor 53.

[0085] The upper frame 12 is provided with a first lead screw nut 14, and the X-axis lead screw 51 passes through the first lead screw nut 14 and is connected to the third servo motor 55. The third servo motor 55 can drive the X-axis lead screw 51 to rotate, so that the first lead screw nut 14 moves in the X-axis direction, thereby causing the XYZ three-axis moving module to move in the X-axis direction.

[0086] The motion platform 18 is provided with a second lead screw nut 28, and the Y-axis lead screw 20 passes through the second lead screw nut 28 and is connected to the second servo motor 54. The second servo motor 54 can drive the Y-axis lead screw 20 to rotate, so that the second lead screw nut 28 moves in the Y-axis direction, thereby causing the XYZ three-axis motion module to move in the Y-axis direction.

[0087] The feed frame 21 is provided with a third lead screw nut, and the Z-axis lead screw 15 passes through the third lead screw nut and is connected to the first servo motor 53. The first servo motor 53 can drive the Z-axis lead screw 15 to rotate, so that the third lead screw nut moves in the Z-axis direction, thereby causing the XYZ three-axis moving module to move in the Z-axis direction.

[0088] The cleaning device is arranged on the motion platform 18 and may include a high-pressure water jet device, a disc brush device, and a cleaning cloth. When the cleaning robot is attached to the glass curtain wall by the fixed suction device, the XYZ three-axis movement module enables the cleaning device to move in the XYZ directions, thereby cleaning a large area. For example, the XYZ three-axis movement module can make the cleaning device start from the upper left corner, move to the right, reach the rightmost end of the robot, move down a certain distance, and then move to the left to clean. When it reaches the leftmost side, it moves down a certain distance again and then starts moving to the right. This continues until the XYZ three-axis movement module reaches the lower right corner of the robot or cleans the entire area currently covered by the robot.

[0089] Once the cleaning robot has covered its current area, the suction cups of the fixed adsorption device retract, and the synchronous wheel of the lifting device rotates, causing the cleaning robot to move downwards a distance no greater than the total width previously cleaned. After the robot has moved downwards, the suction cups extend again and adhere to the glass curtain wall. The motion platform 18 of the XYZ three-axis motion module moves to the upper left corner of the cleaning robot, initiating the next round of cleaning. Furthermore, during the cleaning process, if the robot encounters obstacles such as protrusions, the suction cups will retract to overcome them.

[0090] When the robot moves to the ground, the entire row of curtain walls has been cleaned. The synchronous belt fixed on the roof is then moved to the left or right to start cleaning the next row, until the entire glass curtain wall is cleaned.

[0091] Although various embodiments of the invention have been described above, it should be understood that they are presented by way of example only and not as limitations. It will be apparent to those skilled in the art that various combinations, modifications, and alterations can be made without departing from the spirit and scope of the invention. Therefore, the breadth and scope of the invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should be defined solely by the appended claims and their equivalents.

Claims

1. A cleaning robot for high-rise building facade cleaning, characterized in that, include: Main framework; A lifting device configured to move the main frame vertically via a timing belt; A fixed adsorption device is configured to adsorb and fix the main frame to the glass curtain wall; The three-axis moving module is configured to drive the cleaning device to move in the X-axis, Y-axis and Z-axis directions within the main frame; as well as A cleaning device configured to clean glass curtain walls; The lifting device includes: A first lifting device is arranged on a first side of the main frame; and The second lifting device is arranged on the second side of the main frame opposite to the first side; the first lifting device includes a first synchronous belt, a second synchronous belt, a first synchronous pulley, a second synchronous pulley, a third synchronous pulley, and a fourth synchronous pulley; the second lifting device includes a fourth synchronous belt and a fifth synchronous belt; the second synchronous pulley is coaxially connected to the first synchronous pulley; the fourth synchronous pulley is coaxially connected to the third synchronous pulley; the fourth synchronous pulley and the second synchronous pulley are connected by the third synchronous belt to synchronize the rotational speeds of the first synchronous pulley, the second synchronous pulley, the third synchronous pulley, and the fourth synchronous pulley.

2. The cleaning robot for high-altitude facade cleaning according to claim 1, characterized in that, The first synchronous belt has its first end fixed to the rooftop and its second end connected to a heavy object to taut and tighten it vertically. The first synchronous belt passes sequentially from its first end through a first tensioning pulley, a first synchronous pulley, and a second tensioning pulley. The second synchronous belt has its first end fixed to the rooftop and its second end connected to a heavy object to taut and tighten it vertically. The second synchronous belt passes sequentially through a third tensioning pulley, a third synchronous pulley, and a fourth tensioning pulley. The first lifting device further includes: A first geared motor is configured to drive the first synchronous pulley to rotate, wherein the first synchronous belt remains stationary while the first synchronous pulley rotates; and The second geared motor is configured to drive the third synchronous pulley to rotate, wherein the second synchronous belt remains stationary while the third synchronous pulley rotates.

3. The cleaning robot for high-altitude facade cleaning according to claim 2, characterized in that, The first and second geared motors of the first and second lifting devices are configured to maintain synchronized rotational speeds via a control system.

4. The cleaning robot for high-altitude facade cleaning according to claim 1, characterized in that, The fixed adsorption device includes: A first fixed adsorption device is arranged on a first side of the main frame; and The second fixed adsorption device is arranged on the second side of the main frame opposite to the first side.

5. The cleaning robot for high-altitude facade cleaning according to claim 4, characterized in that, At least one of the first fixed adsorption device and the second fixed adsorption device includes: The first telescopic cylinder is configured to drive the first telescopic rod to extend or retract. A first telescopic rod is provided with a first suction cup, wherein the first suction cup is configured to adhere to the glass curtain wall when the first telescopic rod is extended; The second telescopic cylinder is configured to drive the second telescopic rod to extend or retract; and A second telescopic rod is provided with a second suction cup, wherein the second suction cup is configured to adhere to the glass curtain wall when the second telescopic rod is extended.

6. The cleaning robot for high-altitude facade cleaning according to claim 5, characterized in that, The first fixed adsorption device and / or the second fixed adsorption device are configured to perform the following actions: When the cleaning device cleans the glass curtain wall, the first telescopic rod and the second telescopic rod extend, and the first suction cup and the second suction cup adhere to the glass curtain wall to fix the main frame to the glass curtain wall. as well as When the lifting device moves the main frame vertically via a synchronous belt, the first telescopic rod and the second telescopic rod retract.

7. The cleaning robot for high-altitude facade cleaning according to claim 6, characterized in that, The first fixed adsorption device and / or the second fixed adsorption device are further configured to perform the following actions: When the cleaning device encounters an obstacle on the glass curtain wall, it retracts the first and second telescopic rods to overcome the obstacle.

8. The cleaning robot for high-altitude facade cleaning according to claim 1, characterized in that, The three-axis motion module includes: X-axis motion device, comprising: The upper frame is equipped with the first lead screw nut. An X-axis lead screw passes through the first lead screw nut and is connected to a third servo motor; and The third servo motor is configured to drive the X-axis lead screw to rotate so that the first lead screw nut moves in the X-axis direction, thereby causing the three-axis moving module to move in the X-axis direction; Y-axis motion device, comprising: A motion platform, on which a second lead screw nut is installed; A Y-axis lead screw passes through the second lead screw nut and is connected to the second servo motor; and A second servo motor is configured to drive the Y-axis lead screw to rotate, causing the second lead screw nut to move in the Y-axis direction, thereby causing the three-axis motion module to move in the Y-axis direction; and Z-axis motion device, comprising, The feed frame is equipped with a third lead screw nut. A Z-axis lead screw, which passes through the third lead screw nut and is connected to the third servo motor; and The third servo motor is configured to drive the Z-axis lead screw to rotate so that the third lead screw nut moves in the Z-axis direction, thereby causing the three-axis moving module to move in the Z-axis direction.

9. The cleaning robot for high-altitude facade cleaning according to claim 8, characterized in that, The cleaning device is arranged on the moving platform, and the cleaning device includes a high-pressure water jet device, a disc brush device, and a rag.

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