A robot roller brush device and a roller brush cleaning method capable of cleaning obstacles

Abstract

The application provides a robot rolling brush device capable of obstacle cleaning and a rolling brush cleaning method. The robot rolling brush device comprises a rolling brush body, an extension mechanism for realizing obstacle crossing of the rolling brush body and adjusting the distance between the rolling brush body and the cleaning surface of the curtain wall, and an adaptive mechanism for always matching the rolling brush body with the cleaning surface of the curtain wall. The extension mechanism is connected with the robot body. The adaptive mechanism is connected with the extension end of the extension mechanism and the rolling brush body. The robot rolling brush device capable of obstacle cleaning can cross obstacles and adaptively adjust according to the cleaning surface of the curtain wall, so as to match and fit the cleaning surface of the curtain wall. The robot rolling brush device capable of obstacle cleaning not only achieves the effect of one-time overall cleaning and reduces the use cost, but also greatly improves the cleaning efficiency. The robot rolling brush cleaning method capable of obstacle cleaning can clean the curtain wall and obstacles comprehensively while crossing obstacles, so as to achieve a better cleaning effect.

Description

Technical Field

[0001] This invention relates to the field of high-altitude curtain wall cleaning technology, and more specifically, to a robotic roller brush device and roller brush cleaning method capable of overcoming obstacles. Background Technology

[0002] Most existing high-altitude curtain wall cleaning robots can only clean perfectly flat glass curtain walls. When the curtain wall is not perfectly flat and has obstacles such as horizontal edges, some robots cannot pass through due to a lack of obstacle-crossing capabilities. Even robots capable of obstacle-crossing (crossing horizontal edges) cannot clean the area around the horizontal edges during obstacle-crossing because their roller brushes are fixed to the robot body. Therefore, the application of existing high-altitude curtain wall cleaning robots is limited for most glass curtain walls, which are not perfectly flat structures, and they cannot achieve a comprehensive cleaning effect.

[0003] Furthermore, existing high-altitude curtain wall cleaning robots generally have externally driven roller brushes, and the connection point between the roller brush and the drive is usually without bristles. This creates gaps that cannot be cleaned, preventing the roller brush from thoroughly cleaning the curtain wall. Currently, the solution to this problem is:

[0004] 1. For robots with the drive mechanism positioned in the middle of the roller brush, two parallel roller brushes staggered at the drive connection points are required to cover the gaps created by the drive connection. This structure not only increases the robot's size and weight but also raises its manufacturing and operating costs.

[0005] 2. For roller brushes with the drive mechanism positioned at the end, the end of the roller brush cannot clean the curtain wall due to the obstruction caused by the drive mechanism. Multiple cleaning cycles are required to cover the obstructed area, thus reducing cleaning efficiency. Furthermore, because the drive mechanism is located at the end of the roller brush, it cannot clean the left and right inner corners of the curtain wall. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings and deficiencies of existing technologies and provide a robotic roller brush device capable of obstacle-crossing cleaning. This robotic roller brush device can overcome obstacles and adaptively adjusts according to the cleaning surface of the curtain wall, making it match and fit the cleaning surface of the curtain wall. This not only achieves a one-time comprehensive cleaning effect and reduces usage costs, but also greatly improves cleaning efficiency. This invention also provides a robotic roller brush cleaning method capable of obstacle-crossing cleaning. This roller brush cleaning method can overcome obstacles while simultaneously performing comprehensive cleaning of the curtain wall and obstacles, thereby achieving a superior cleaning effect.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a robotic roller brush device capable of obstacle-crossing cleaning, characterized in that: it is connected to a robot body; the robotic roller brush device includes a roller brush body, a telescopic mechanism for enabling the roller brush body to cross obstacles and adjusting the distance between the roller brush body and the cleaning surface of the curtain wall, and an adaptive mechanism for ensuring that the roller brush body is always in contact with the cleaning surface of the curtain wall; the telescopic mechanism is connected to the robot body; the adaptive mechanism is connected to the telescopic end of the telescopic mechanism and to the roller brush body;

[0008] The adaptive mechanism includes a connecting block, a facade adaptive adjustment component, and a vertical plane adaptive adjustment component. The facade adaptive adjustment component is mounted on the connecting block and connected to the roller brush body, allowing the roller brush body to rotate adaptively, thus enabling the roller brush body to conform to the curtain wall facade or a parallel plane parallel to the curtain wall facade. The vertical plane adaptive adjustment component is connected to the telescopic end of the telescopic mechanism and is rotatably connected to the connecting block, allowing the connecting block and the roller brush body to rotate adaptively, thus enabling the roller brush body to conform to a vertical plane perpendicular to the curtain wall facade.

[0009] In the above solution, the robotic roller brush device of the present invention can achieve obstacle-crossing function through the telescopic mechanism. In addition, the roller brush body can be matched and fitted with the curtain wall facade, the parallel plane parallel to the curtain wall facade, or the vertical plane perpendicular to the curtain wall facade through the facade adaptive adjustment component and the vertical plane adaptive adjustment component. This allows the robotic roller brush device to adaptively adjust according to the cleaning surface of the curtain wall, so as to match and fit with the cleaning surface of the curtain wall. This not only achieves the effect of one-time comprehensive cleaning and reduces the cost of use, but also greatly improves the cleaning efficiency.

[0010] The facade adaptive adjustment component includes a yaw axis and a yaw axis mounting base; the yaw axis is mounted on a connecting block and is rotatably connected to the yaw axis mounting base via a bearing; the yaw axis mounting base is connected to the roller brush body, so that the roller brush body can adaptively rotate around the yaw axis via the yaw axis mounting base.

[0011] The facade adaptive adjustment component also includes a yaw axis return spring; the yaw axis return spring is symmetrically arranged on both sides of the yaw axis mounting base, one end of the yaw axis return spring is connected to the connecting block, and the other end is connected to the roller brush body.

[0012] The vertical plane adaptive adjustment component includes a horizontal roller shaft and a horizontal roller shaft mounting base; the horizontal roller shaft is fixed on the horizontal roller shaft mounting base, and the connecting block is rotatably connected to the horizontal roller shaft through a bearing, so that the roller brush body can adaptively rotate around the horizontal roller shaft through the connecting block; the adaptive mechanism also includes an adaptive mechanism mounting frame, and the horizontal roller shaft mounting base is connected to the telescopic end of the telescopic mechanism through the adaptive mechanism mounting frame.

[0013] The vertical plane adaptive adjustment assembly also includes a roll shaft return spring; the roll shaft return spring is symmetrically arranged on both sides of the roll shaft mounting base, one end of the roll shaft return spring is connected to the roll shaft mounting base, and the other end is connected to the adaptive mechanism mounting frame.

[0014] Both the facade adaptive adjustment component and the vertical adaptive adjustment component of this invention are non-powered drive structures. When an external force is applied to the brush body, the connecting block and the brush body rotate within a limited angle around the transverse roller axis, and the brush body rotates within a limited angle around the yaw axis. The yaw axis return spring and the transverse roller axis return spring generate tension. When the external force disappears, the yaw axis return spring drives the brush body to return to its original position around the yaw axis, and the transverse roller axis return spring drives the connecting block and the brush body to return to their original position around the transverse roller axis, returning the connecting block and the brush body to their initial angle.

[0015] The roller brush body includes at least one main roller brush, two auxiliary roller brushes, a dual-output motor, and a roller brush body mounting assembly; both the main roller brush and the auxiliary roller brushes are hollow structures; the dual-output motor is installed in the inner cavity of the main roller brush and the auxiliary roller brushes and is fixedly connected to the roller brush body mounting assembly; the output shafts at both ends of the dual-output motor are detachably connected to the main roller brush and the auxiliary roller brushes respectively, so as to drive the main roller brush and the auxiliary roller brushes to rotate coaxially and synchronously; the two auxiliary roller brushes are located at both ends of the main roller brush;

[0016] When there are two or more main roller brushes, the dual-output motors are installed in the inner cavities of two adjacent main roller brushes and are fixedly connected to the roller brush body mounting assembly. The output shafts at both ends of the dual-output motors are detachably connected to the two adjacent main roller brushes respectively, so as to drive the two adjacent main roller brushes to rotate synchronously on the same axis.

[0017] The main roller brush includes a main brush cylinder and several sets of main brush bristles; the several sets of main brush bristles are arranged circumferentially along the main brush cylinder; each set of main brush bristles includes a main brush bristle spiral segment one, a main brush bristle spiral segment two, and a main brush bristle inclined segment; the main brush bristle spiral segment one and the main brush bristle spiral segment two are mirror-symmetrically arranged on the main brush cylinder and connected to form a herringbone shape; the main brush bristle inclined segment is located near the two ends of the main brush cylinder and is inclined towards the ends, so that the main brush bristles of the main brush bristle inclined segment are inclined towards the auxiliary roller brush or the adjacent main roller brush.

[0018] The auxiliary roller brush includes an auxiliary brush cylinder and several sets of auxiliary brush bristles; the several sets of auxiliary brush bristles are arranged circumferentially along the auxiliary brush cylinder; each set of auxiliary brush bristles includes a first auxiliary brush bristle spiral segment, a second auxiliary brush bristle spiral segment, a first auxiliary brush bristle inclined segment, and a second auxiliary brush bristle inclined segment; the first and second auxiliary brush bristle spiral segments are mirror-symmetrically arranged on the auxiliary brush cylinder and connected to form a herringbone pattern; the first auxiliary brush bristle inclined segment is located near one end of the auxiliary brush cylinder and is inclined towards the end, so that the auxiliary brush bristles of the first auxiliary brush bristle inclined segment cover the end area of ​​the auxiliary brush cylinder; the second auxiliary brush bristle inclined segment is located near the other end of the auxiliary brush cylinder and is inclined towards the other end, so that the auxiliary brush bristles of the second auxiliary brush bristle inclined segment are inclined towards the main roller brush.

[0019] As the main roller brush rotates, the main bristles at different positions on the same spiral segment (main bristle spiral segment one and main bristle spiral segment two) gradually come into contact with the surface to be cleaned, reducing the impact on the surface. Similarly, as the auxiliary roller brush rotates, the auxiliary bristles at different positions on the same spiral segment (auxiliary bristle spiral segment one and auxiliary bristle spiral segment two) gradually come into contact with the surface to be cleaned, reducing the impact on the surface.

[0020] Furthermore, the two inclined sections of the main brush bristles and the two inclined sections of the secondary brush bristles of the present invention can guide the main brush bristles and secondary brush bristles to overlap at an incline, thereby eliminating the gaps caused by the boundary between the main brush and the secondary brush, making the entire brush body a complete cleaning area. This solves the problem that the existing brush connection drive does not have bristles, resulting in gaps in the area that cannot be cleaned. It not only achieves a one-time comprehensive cleaning effect and improves cleaning efficiency, but also eliminates the need for two parallel brush rollers, and has the advantages of small size and light weight, thereby reducing the cost of cleaning.

[0021] The robot roller brush device also includes a water-blocking mechanism for blocking the wastewater thrown out by the rotating roller brush body; the water-blocking mechanism covers the roller brush body and is located between the adaptive mechanism and the roller brush body;

[0022] The water-blocking mechanism is a water-blocking cover fixed between the adaptive mechanism and the roller brush body;

[0023] Alternatively, the water-blocking mechanism can be a rotatable water-blocking cover; during operation, the rotatable water-blocking cover unfolds to shield the main body of the roller brush, or the rotatable water-blocking cover rotates and retracts to avoid obstacles and increase the roller brush area. The water-blocking mechanism of the present invention is used to shield the wastewater thrown out by the rotating main body of the roller brush, which can effectively prevent secondary pollution of the curtain wall or cleaning surface.

[0024] The rotatable water-blocking cover includes a fixed water-blocking cover body, a movable water-blocking cover body, and a cover body elastic element; the fixed water-blocking cover body is fixed between the adaptive mechanism and the roller brush body; the movable water-blocking cover body is rotatably disposed inside or outside the fixed water-blocking cover body. When the movable water-blocking cover body is unfolded, it forms a continuous cover body with the fixed water-blocking cover body to cover the roller brush body. When the movable water-blocking cover body is rotated and retracted, it partially or completely overlaps with the fixed water-blocking cover body to increase the roller brush body's brushing area; the movable water-blocking cover body is provided with a retraction contact element, and the cover body elastic element is connected to the movable water-blocking cover body to realize the reset of the retracted movable water-blocking cover body to the unfolded state.

[0025] A robotic roller brush cleaning method capable of overcoming obstacles, characterized in that: the aforementioned robotic roller brush device capable of overcoming obstacles is used, and the robotic roller brush cleaning method is as follows:

[0026] The robot calculates the position of the curtain wall, controls the extension mechanism to extend and move the roller brush body to adjust the contact between the roller brush body and the curtain wall facade. The facade adaptive adjustment component adjusts the roller brush body to fit the curtain wall facade, and controls the rotation of the roller brush body to clean the curtain wall facade.

[0027] During the process of the robotic roller brush device descending to clean the curtain wall facade, when it encounters an obstacle, the robot roller brush device overcomes the obstacle and the main body of the roller brush cleans the obstacle by separately controlling the retraction of the telescopic mechanism, the descent of the robotic roller brush device, and the extension of the telescopic mechanism:

[0028] (1) During the retraction process of the telescopic mechanism, when the main body of the roller brush comes into contact with the lower corner of the obstacle, the vertical plane adaptive adjustment component is used to adjust the roller brush body to fit with the lower corner of the obstacle, control the rotation of the roller brush body, and achieve the cleaning of the lower corner of the obstacle by roller brush.

[0029] (2) During the descent of the robot roller brush device, when the main body of the roller brush comes into contact with the vertical surface of the obstacle, the roller brush body is adjusted by the vertical surface adaptive adjustment component to fit the vertical surface of the obstacle, and the roller brush body is controlled to rotate to achieve roller brush cleaning of the vertical surface of the obstacle.

[0030] (3) During the extension of the telescopic mechanism, when the main body of the roller brush comes into contact with the upper inner corner of the obstacle, the vertical plane adaptive adjustment component is used to adjust the roller brush body to fit with the upper inner corner of the obstacle, and the roller brush body is controlled to rotate, so as to clean the upper inner corner of the obstacle with a roller brush.

[0031] Once the main body of the roller brush comes into contact with the curtain wall facade, the adaptive adjustment component adjusts the roller brush body to fit the curtain wall facade. The robot roller brush cleaning device then resumes its descent while the telescopic mechanism remains extended, allowing the roller brush body to perform roller brush cleaning on the subsequent curtain wall facade.

[0032] The main body of the roller brush includes a main roller brush and an auxiliary roller brush coaxially connected to both ends of the main roller brush; the auxiliary roller brush is provided with an inclined section of auxiliary bristles, which is located near the end of the auxiliary roller brush and is inclined towards the end, so that the auxiliary bristles of the inclined section of auxiliary bristles cover the end area of ​​the auxiliary roller brush; this end is the end of the auxiliary roller brush away from the main roller brush.

[0033] During the process of the robot roller brush device descending to clean the curtain wall facade, when the curtain wall has a left and / or right inside corner, the secondary brush bristles covered by the end area of ​​the secondary brush roller clean the left and / or right inside corner of the curtain wall.

[0034] The advantages of the obstacle-crossing cleaning robot roller brush device of the present invention are as follows:

[0035] 1. The robot roller brush device of the present invention can overcome obstacles and clean the facade of the curtain wall and the upper and lower corners and facade of the obstacle while overcoming obstacles.

[0036] 2. The obstacle-crossing cleaning robot roller brush device of the present invention is equipped with an adaptive mechanism, which makes the roller brush body match and fit with the curtain wall facade, a parallel plane parallel to the curtain wall facade, or a vertical plane perpendicular to the curtain wall facade, so as to achieve a better cleaning effect.

[0037] 3. The obstacle-crossing cleaning robot roller brush device of this invention has a built-in drive and consists of a coaxial main roller brush and a secondary roller brush forming the roller brush area. The entire roller brush body has no gaps in its roller brush area, and a single roller brush body can clean the facade, left inner corner, and / or right inner corner of a curtain wall. This invention can also expand the cleaning area by configuring multiple coaxial main roller brushes and embedding dual-output motors between adjacent main roller brushes. This coaxial roller brush device with built-in drive has the advantages of small size and light weight, thereby reducing the cost of cleaning.

[0038] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0039] 1. The obstacle-crossing cleaning robot roller brush device of the present invention can cross obstacles and adaptively adjust according to the cleaning surface of the curtain wall, so as to match and fit the cleaning surface of the curtain wall, which not only achieves the effect of one-time comprehensive cleaning and reduces the cost of use, but also greatly improves the cleaning efficiency.

[0040] 2. The obstacle-crossing robot roller brush cleaning method of the present invention can cross obstacles while also thoroughly cleaning the curtain wall and obstacles, thereby achieving a better cleaning effect. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the obstacle-crossing cleaning robot roller brush device of the present invention and the curtain wall;

[0042] Figure 2 This is a schematic diagram of the external structure of the main body of the robot roller brush device of the present invention;

[0043] Figure 3 This is a partial schematic diagram of the internal structure of the roller brush body in the robot roller brush device of the present invention;

[0044] Figure 4 This is a schematic diagram of the adaptive mechanism in the robot roller brush device of the present invention;

[0045] Figure 5 This is a schematic diagram of the main body of the roller brush of the present invention rotating about the yaw axis;

[0046] Figure 6 This is a schematic diagram of the main body of the roller brush of the present invention rotating around the horizontal roller axis;

[0047] Figures 7(1)-7(6) This is a process diagram of the robot roller brush device of the present invention overcoming obstacles and cleaning with the roller brush;

[0048] Figure 8 This is a schematic diagram of the robot roller brush device of the present invention cleaning the left and right inside corners of a curtain wall;

[0049] Figure 9 yes Figure 2 Enlarged view of point A in the middle;

[0050] Figure 10 This is a schematic diagram of the obstacle-crossing cleaning robot roller brush device and the curtain wall in Embodiment 2;

[0051] Figure 11 This is a schematic diagram of the retracted state of the movable water-blocking cover in the robot roller brush device of Embodiment 2;

[0052] Figure 12 This is a schematic diagram of the deployed state of the movable water-blocking cover in the robot roller brush device of Embodiment 2;

[0053] Figure 13 This is a schematic diagram of the movable water-blocking cover of the robot roller brush device in Embodiment 2 when it overcomes obstacles. Figure 1 ;

[0054] Figure 14 This is a schematic diagram of the movable water-blocking cover of the robot roller brush device in Embodiment 2 when it overcomes obstacles. Figure 2 ;

[0055] Among them, 1 is the main body of the roller brush, 2 is the curtain wall, 2.1 is the facade, 2.2 is the left inner corner, 2.3 is the right inner corner, 3 is the telescopic mechanism, 3.1 is the driving component, 3.2 is the gear assembly, 3.3 is the power transmission shaft, 3.4 is the left cylindrical rack, 3.5 is the right cylindrical rack, 4 is the adaptive mechanism, 4.1 is the connecting block, 4.2 is the yaw axis, 4.3 is the yaw axis mounting base, 4.4 is the yaw axis return spring, 4.5 is the roll axis, 4.6 is the roll axis mounting base, 4.7 is the roll axis return spring, 4.8 is the adaptive mechanism mounting bracket, 5 is the main roller brush, 5.1 is the main brush roller, 5.2 is the main bristle spiral section one, 5.3 is the main bristle spiral section two, 5.4 is the main bristle inclined section, 6 is the auxiliary roller brush, 6.1 is the auxiliary brush roller, 6.2 is the auxiliary... 6.3 is the secondary brush spiral section 1; 6.4 is the secondary brush inclined section 1; 6.5 is the secondary brush inclined section 2; 7 is the dual output motor; 8 is the roller brush body mounting bracket; 9 is the roller brush body mounting base; 10 is the motor mounting base; 11 is the obstacle; 11.1 is the lower inner corner surface; 11.2 is the vertical surface; 11.3 is the upper inner corner surface; 12 is the water baffle; 13 is the fixed water baffle body; 13.1 is the main roller brush fixed water baffle body; 13.2 is the secondary roller brush fixed water baffle body; 14 is the movable water baffle body; 14.1 is the main roller brush movable water baffle body; 14.2 is the secondary roller brush movable water baffle body; 15 is the guide seat; 16 is the roller assembly; 17 is the contact element; 18 is the cover elastic element; 18.1 is the spring; 18.2 is the spring fixing seat; 19 is the bellows cover. Detailed Implementation

[0056] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0057] Example 1

[0058] like Figures 1 to 9 As shown, the obstacle-crossing cleaning robot roller brush device of the present invention is connected to the robot body. The robot roller brush device includes a roller brush body 1, a telescopic mechanism 3 for enabling the roller brush body 1 to cross obstacles and adjusting the distance between the roller brush body 1 and the cleaning surface of the curtain wall 2, and an adaptive mechanism 4 for ensuring that the roller brush body 1 is always in contact with the cleaning surface of the curtain wall 2. The telescopic mechanism 3 is connected to the robot body, and the adaptive mechanism 4 is connected to the telescopic end of the telescopic mechanism 3 and to the roller brush body 1.

[0059] The adaptive mechanism of the present invention includes a connecting block 4.1, a facade adaptive adjustment component, and a vertical plane adaptive adjustment component. The facade adaptive adjustment component is disposed on the connecting block 4.1 and connected to the roller brush body 1, so that the roller brush body 1 rotates adaptively to achieve the roller brush body 1 conforming to the curtain wall facade 2.1 or a parallel plane parallel to the curtain wall facade 2.1. The vertical plane adaptive adjustment component is connected to the telescopic end of the telescopic mechanism 3 and rotatably connected to the connecting block 4.1, so that the connecting block 4.1 and the roller brush body 1 rotate adaptively to achieve the roller brush body 1 conforming to a vertical plane perpendicular to the curtain wall facade 2.1.

[0060] Specifically, the facade adaptive adjustment component includes a yaw axis 4.2 and a yaw axis mounting base 4.3. The yaw axis 4.2 is mounted on a connecting block 4.1 and is rotatably connected to the yaw axis mounting base 4.3 via a bearing. The yaw axis mounting base 4.3 is connected to the roller brush body 1, allowing the roller brush body 1 to adaptively rotate around the yaw axis 4.2 via the yaw axis mounting base 4.3. Additionally, the facade adaptive adjustment component also includes a yaw axis return spring 4.4, which is symmetrically arranged on both sides of the yaw axis mounting base 4.3. One end of the yaw axis return spring 4.4 is connected to the connecting block 4.1, and the other end is connected to the roller brush body 1.

[0061] The vertical adaptive adjustment assembly includes a roll shaft 4.5 and a roll shaft mounting base 4.6. The roll shaft 4.5 is fixed on the roll shaft mounting base 4.6, and the connecting block 4.1 is rotatably connected to the roll shaft 4.5 via a bearing, allowing the brush body 1 to adaptively rotate around the roll shaft 4.5 via the connecting block 4.1. The adaptive mechanism 4 also includes an adaptive mechanism mounting bracket 4.8, through which the roll shaft mounting base 4.6 is connected to the telescopic end of the telescopic mechanism 3. Furthermore, the vertical adaptive adjustment assembly includes a roll shaft return spring 4.7, which is symmetrically arranged on both sides of the roll shaft mounting base 4.6. One end of the roll shaft return spring 4.7 is connected to the roll shaft mounting base 4.6, and the other end is connected to the adaptive mechanism mounting bracket 4.8.

[0062] The roller brush body 1 of this invention includes a main roller brush 5, two auxiliary roller brushes 6, a dual-output motor 7, a roller brush body mounting frame 8, a roller brush body mounting base 9, and a motor mounting base 10. In this embodiment, the roller brush body 1 is provided with a main roller brush 5. Both the main roller brush 5 and the auxiliary roller brushes 6 are hollow structures. The motor mounting base 10 is fixed on the roller brush body mounting base 9 and located within the inner cavities of the main roller brush 5 and the auxiliary roller brushes 6. The dual-output motor 7 is mounted on the motor mounting base 10, and its output shafts at both ends are detachably connected to the main roller brush 5 and the auxiliary roller brushes 6 respectively by screws for axial positioning. This allows the main roller brush 5 and the auxiliary roller brushes 6 to rotate coaxially and synchronously through torque transmitted from the shafts of the dual-output motor 7. The two auxiliary roller brushes 6 are located at both ends of the main roller brush 5. In this embodiment, the roller brush body mounting base 9 is used to connect the motor mounting base 10 and the roller brush body mounting frame 8. The roller brush body mounting frame 8 is connected to the yaw shaft mounting base 4.3.

[0063] Specifically, the main roller brush 5 includes a main brush roller 5.1 and several sets of main brush bristles; the several sets of main brush bristles are arranged circumferentially along the main brush roller 5.1; each set of main brush bristles includes a main brush bristle spiral segment 5.2, a main brush bristle spiral segment 5.3, and a main brush bristle inclined segment 5.4, wherein the main brush bristle spiral segment 5.2 and the main brush bristle spiral segment 5.3 are mirror-symmetrically arranged on the main brush roller 5.1 and connected to form a herringbone pattern. The main brush bristle inclined segment 5.4 is located near both ends of the main brush roller 5.1 and is inclined towards the ends, so that the main brush bristles of the main brush bristle inclined segment 5.4 are inclined towards the auxiliary roller brush 6.

[0064] The auxiliary roller brush 6 in this embodiment includes an auxiliary brush roller 6.1 and several sets of auxiliary brush bristles, which are arranged circumferentially along the auxiliary brush roller 6.1. Each set of auxiliary brush bristles includes a first auxiliary brush bristle spiral segment 6.2, a second auxiliary brush bristle spiral segment 6.3, a first auxiliary brush bristle inclined segment 6.4, and a second auxiliary brush bristle inclined segment 6.5. The first auxiliary brush bristle spiral segment 6.2 and the second auxiliary brush bristle spiral segment 6.3 are mirror-symmetrically arranged on the auxiliary brush roller 6.1 and connected to form a herringbone pattern. The first auxiliary brush bristle inclined segment 6.4 is located near one end of the auxiliary brush roller 6.1 and is inclined towards the end, so that the auxiliary brush bristles of the first auxiliary brush bristle inclined segment 6.4 cover the end area of ​​the auxiliary brush roller 6.1. The second auxiliary brush bristle inclined segment 6.5 is located near the other end of the auxiliary brush roller 6.1 and is inclined towards the other end, so that the auxiliary brush bristles of the second auxiliary brush bristle inclined segment 6.5 are inclined towards the main roller brush 5.

[0065] When the main roller brush 5 rotates, the main bristles at different positions on the same spiral segment (main bristle spiral segment 1 5.2 and main bristle spiral segment 2 5.3) gradually come into contact with the surface to be cleaned, reducing the impact on the surface. Similarly, when the auxiliary roller brush 6 rotates, the auxiliary bristles at different positions on the same spiral segment (auxiliary bristle spiral segment 1 6.4 and auxiliary bristle spiral segment 2 6.5) gradually come into contact with the surface to be cleaned, reducing the impact on the surface. In addition, the two inclined main bristle segments 5.4 and the two inclined auxiliary bristle segments 6.3 of the auxiliary roller brushes 6 can guide the main bristles and auxiliary bristles to overlap at an inclined angle, thus eliminating the gaps caused at the boundary between the main roller brush 5 and the auxiliary roller brush 6. This makes the entire roller brush body a complete cleaning area, solving the problem of gaps in the existing roller brush connection drive area that cannot be cleaned due to the lack of bristles. It not only achieves a one-time comprehensive cleaning effect and improves cleaning efficiency, but also eliminates the need for two parallel roller brushes, and has the advantages of small size and light weight, thereby reducing the cost of cleaning.

[0066] In this embodiment, the main brush bristles and secondary brush bristles can be installed on the main brush roller 5.1 and secondary brush roller 6.1 by means of bonding, welding, implantation, or slotting. The main brush bristles and secondary brush bristles can be made of nylon, foam, fabric, etc.

[0067] The telescopic mechanism 3 of the present invention includes a driving component 3.1, two sets of gear assemblies 3.2, a power transmission shaft 3.3, a left cylindrical rack 3.4, and a right cylindrical rack 3.5. The driving component 3.1 is connected to the two sets of gear assemblies 3.2 via the power transmission shaft 3.3. The left cylindrical rack 3.4 and the right cylindrical rack 3.5 are respectively connected to the adaptive mechanism mounting bracket 4.8. The two sets of gear assemblies 3.2 are respectively meshed with the left cylindrical rack 3.4 and the right cylindrical rack 3.5. The driving component 3.1 drives the two sets of gear assemblies 3.2 to rotate, thereby causing the left cylindrical rack 3.4 and the right cylindrical rack 3.5 to extend or retract, thus causing the adaptive mechanism and the roller brush body 1 to extend or retract. The left cylindrical rack 3.5 and the right cylindrical rack 3.5 of the present invention move synchronously in a linear motion, thereby adjusting the distance between the roller brush body 1 and the curtain wall 2. This embodiment only demonstrates the telescopic motion achieved by a cylindrical rack and pinion, but it can also be achieved through other structures such as a guide rail + rack, guide rail + synchronous belt, scissor fork, or electric cylinder.

[0068] The robot roller brush device also includes a water-blocking mechanism for blocking the wastewater thrown out by the rotating roller brush body 1. The water-blocking mechanism is a water-blocking cover 12 fixed between the adaptive mechanism 4 and the roller brush body 1. The water-blocking cover 12 is connected to the roller brush body mounting base 9 and is set on the opposite side of the main roller brush 5 and the auxiliary roller brush 6 and the adaptive mechanism 4.

[0069] The obstacle-crossing cleaning robot roller brush cleaning method of the present invention uses the above-mentioned obstacle-crossing cleaning robot roller brush device, and the robot roller brush cleaning method is as follows:

[0070] The robot body calculates the position of the curtain wall, controls the extension mechanism 3 to extend and drive the roller brush body 1 to move so as to adjust the roller brush body 1 to contact the curtain wall facade 2.1. The facade adaptive adjustment component is used to adjust the roller brush body 1 to fit the curtain wall facade 2.1. The roller brush body 1 is controlled to rotate to clean the curtain wall facade 2.1.

[0071] During the process of the robotic roller brush device descending to clean the curtain wall facade 2.1, when it encounters an obstacle 11, the robot roller brush device overcomes the obstacle and the main body of the roller brush 1 cleans the obstacle 11 by controlling the retraction of the telescopic mechanism 3, the descent of the robotic roller brush device, and the extension of the telescopic mechanism 3 respectively.

[0072] (1) During the retraction of the telescopic mechanism 3, when the roller brush body 1 contacts the lower inner corner surface 11.1 of the obstacle 11, the vertical plane adaptive adjustment component is used to adjust the roller brush body 1 to fit with the lower inner corner surface 11.1 of the obstacle 11, and the roller brush body 1 is controlled to rotate, so as to clean the lower inner corner surface 11.1 of the obstacle 11 by roller brush.

[0073] (2) During the descent of the robot roller brush device, when the roller brush body 1 contacts the vertical surface 11.2 of the obstacle 11, the roller brush body 1 is adjusted by the vertical surface adaptive adjustment component to fit the vertical surface 11.2 of the obstacle 11, and the roller brush body 1 is controlled to rotate to achieve roller brush cleaning of the vertical surface 11.2 of the obstacle 11.

[0074] (3) During the extension of the telescopic mechanism 3, when the roller brush body 1 contacts the upper inner corner surface 11.3 of the obstacle 11, the vertical plane adaptive adjustment component is used to adjust the roller brush body 1 to fit with the upper inner corner surface 11.3 of the obstacle 11, and the roller brush body 1 is controlled to rotate, so as to clean the upper inner corner surface 11.3 of the obstacle 11 by roller brush.

[0075] When the roller brush body 1 comes into contact with the curtain wall facade 2.1, the facade adaptive adjustment component adjusts the roller brush body 1 to fit the curtain wall facade 2.1; the robot roller brush cleaning device resumes its descent, and the telescopic mechanism 3 remains extended, so that the roller brush body 1 can perform roller brush cleaning on the subsequent curtain wall facade 2.1.

[0076] During the process of the robot roller brush device descending to clean the curtain wall facade 2.1, when the curtain wall has a left inner corner 2.2 and / or a right inner corner 2.3, the secondary brush bristles covered by the end area of ​​the secondary brush roller 6.1 can clean the left inner corner 2.2 and / or the right inner corner 2.3 of the curtain wall 1.

[0077] The specific method is as follows:

[0078] (1) Cleaning of curtain wall facade

[0079] Based on the robot body's calculation of the curtain wall position, the telescopic mechanism 3 extends to the designated position. After the roller brush body 1 contacts the curtain wall facade 2.1, it is adjusted by the facade adaptive adjustment component to make the roller brush body 1 fit the curtain wall facade 2.1. The robot body sprays water onto the curtain wall 2. The dual-output motors 7 inside the roller brush body 1 rotate simultaneously, driving the main roller brush 5 and the auxiliary roller brush 6 to rotate. The water baffle 12 blocks the sewage thrown out by the rotating roller brush body 1. The robot roller brush device moves downward, and the roller brush body 1 cleans the curtain wall facade 2.1 from top to bottom.

[0080] (2) Cleaning the lower inside corner

[0081] After the robot body detects the obstacle 11, it calculates the distance and stops descending when the main body of the roller brush 1 contacts the lower corner surface 11.1. The robot roller brush device adjusts itself by using the vertical adaptive adjustment component to make the main body of the roller brush 1 fit against the lower corner surface 11.1 of the obstacle 11. The main body of the roller brush 1 is then rotated to clean the root of the lower corner surface 11.1 of the obstacle 11. The telescopic mechanism 3 is then controlled to retract. During the retraction process, the main body of the roller brush 1 cleans the lower corner surface 11.1 from the inside out.

[0082] (3) Prepare to cross the obstacle

[0083] When the telescopic mechanism 3 retracts until the brush body 1 leaves the lower inner corner surface 11.1, the telescopic mechanism 3 stops retracting. Under the action of the yaw axis return spring 4.4 or the roll axis return spring 4.7, the brush body 1 is restored to the initial angle, completing the cleaning of the lower inner corner surface 11.1. At this time, it is ready to cross the obstacle.

[0084] (4) Cleaning of obstacle facades

[0085] The robot's roller brush device resumes its descent motion, while the telescopic mechanism 3 remains in a retracted state. After the roller brush body 1 contacts the horizontal obstacle facade 11.2, it is adjusted by the facade adaptive adjustment component to make the roller brush body 1 fit the obstacle facade 11.2. The roller brush body 1 is then controlled to rotate, and it cleans the obstacle facade 11.2 from top to bottom.

[0086] (5) Obstacle crossing completed

[0087] After the main body of the roller brush 1 leaves the obstacle facade 11.2, the roller brush 1 returns to its initial angle under the action of the yaw axis return spring 4.4 or the roll axis return spring 4.7, completing the cleaning of the obstacle facade 11.2, and the robot roller brush device stops its descent. At this time, the robot roller brush cleaning device has also completed obstacle crossing.

[0088] (6) Cleaning the upper inside corner

[0089] The telescopic mechanism 3 extends. When the roller brush body 1 contacts the upper inside corner surface 11.3 of the obstacle 11, the vertical adaptive adjustment component adjusts the roller brush body 1 to fit against the upper inside corner surface 11.3 of the obstacle 11. The roller brush body 1 rotates during the extension process, cleaning the upper inside corner surface 11.3 from the outside to the inside. When the roller brush body 1 contacts the curtain wall facade 2.1, the facade adaptive adjustment component adjusts the roller brush body 1 to fit against the curtain wall facade 2.1, completing the cleaning of the upper inside corner surface 11.3 of the obstacle 11.

[0090] (7) Continue cleaning the curtain wall facade.

[0091] The robot's roller brush device resumes its descent, the telescopic mechanism 3 remains extended, and the roller brush body 1 continues to clean the curtain wall facade 2.1.

[0092] The roller brush cleaning method of the present invention can also perform roller brush cleaning on the left inner corner surface 2.2 and / or the right inner corner surface 2.3 of the curtain wall. During the process of the robot roller brush device descending to perform roller brush cleaning on the curtain wall facade 2.1, the secondary brush bristles covered by the end area of ​​the secondary brush roller 6.1 can perform roller brush cleaning on the left inner corner surface 2.2 and / or the right inner corner surface 2.3 of the curtain wall, thus cleaning the dead corners generated by the left inner corner surface 2.2 and / or the right inner corner surface 2.3 of the curtain wall.

[0093] In this embodiment, the upper inner corner surface 11.3 and the lower inner corner surface 11.1 of the obstacle are vertical surfaces perpendicular to the curtain wall facade 2.1, and the facade 11.2 of the obstacle is a parallel surface parallel to the curtain wall facade 2.1.

[0094] Example 2

[0095] The only difference between this embodiment and Embodiment 1 is that the water-blocking mechanism in this embodiment is a rotatable water-blocking cover.

[0096] like Figures 10 to 14 As shown, the rotatable water-blocking cover of this embodiment includes a fixed water-blocking cover body 13, a movable water-blocking cover body 14, and a cover body elastic member 18. The fixed water-blocking cover body 13 includes a main roller brush fixed water-blocking cover body 13.1 and a secondary roller brush fixed water-blocking cover body 13.2. The main roller brush fixed water-blocking cover body 13.1 and the secondary roller brush fixed water-blocking cover body 13.2 are respectively connected to the roller brush body mounting base 9 and are located on the opposite side of the main roller brush 5 and the secondary roller brush 6 and the adaptive mechanism 4.

[0097] The movable water-blocking cover 14 is rotatably disposed inside or outside the fixed water-blocking cover 13. When the movable water-blocking cover 14 is unfolded, it forms a continuous cover with the fixed water-blocking cover 13 to cover the roller brush body 1. When the movable water-blocking cover 14 is rotated and retracted, it partially or completely overlaps with the fixed water-blocking cover 13 to increase the roller brush area of ​​the roller brush body 1. Specifically, the movable water-blocking cover 14 includes a main roller brush movable water-blocking cover 14.1 and a secondary roller brush movable water-blocking cover 14.2. The rotatable water-blocking cover also includes a guide seat 15 with a guide groove and a plurality of roller assemblies 16. The guide seat 15 is connected to the roller brush body mounting seat 9. The roller assembly 16 is respectively installed on the main roller brush movable water baffle 14.1 and the auxiliary roller brush movable water baffle 14.2. The roller assembly 16 on the main roller brush movable water baffle 14.1 and the auxiliary roller brush movable water baffle 14.2 are respectively movably connected to the guide groove of the guide seat 15, so that the main roller brush movable water baffle 14.1 can be rotatably set inside or outside the main roller brush fixed water baffle 13.1, and the auxiliary roller brush movable water baffle 14.2 can be rotatably set inside or outside the auxiliary roller brush fixed water baffle 13.2.

[0098] In addition, both the main roller brush movable water-blocking cover 14.1 and the auxiliary roller brush movable water-blocking cover 14.2 are provided with contact members 17 for retraction. The rotatable water-blocking cover also includes a bellows cover 19 that can cover the gap created when the movable water-blocking cover 14 is unfolded. The bellows cover 19 is mounted on the guide seat 15 and connected to both the main roller brush movable water-blocking cover 14.1 and the auxiliary roller brush movable water-blocking cover 14.2. The cover elastic element 18 includes a spring 18.1 and a spring fixing seat 18.2. The spring fixing seat 18.2 is connected to the roller brush body mounting bracket 8, and one end of the spring 18.1 is hinged to the spring fixing seat 18.2, while the other end is hinged to the main roller brush movable water-blocking cover 14.1. The spring 18.1 can push the retracted movable water-blocking cover 14 to rotate and return to its original position. In this embodiment, the spring 18.1 can be a nitrogen spring.

[0099] The movement process of the rotatable water shield in this embodiment is as follows:

[0100] When the contact piece 17 on the movable water-blocking cover 14 touches the upper inner corner surface 11.3 of the obstacle 11, the movable water-blocking cover 14 avoids the obstacle and transmits the force to the spring 18.1. The spring 18.1 is compressed, and at the same time, the movable water-blocking cover 14 rotates and retracts along the guide groove of the guide seat 15 towards the fixed water-blocking cover 13, thereby driving the bellows cover 18 to retract. The retracted state of the movable water-blocking cover 14 is as follows: Figure 11 As shown. At this time, the roller brush body 1 increases the roller brush area, which can clean the upper inner corner surface 11.3 of the obstacle 11, while the retracted movable water-blocking cover 14 and the fixed water-blocking cover 13 continue to play the role of blocking water.

[0101] After the main body of the roller brush 1 leaves the upper inner corner surface 11.3 of the obstacle 11, the external force on the movable water-blocking cover 14 disappears, the spring 18.1 returns to its original position and extends, pushing the movable water-blocking cover 14 to rotate and return to its original position along the guide groove of the guide seat 15, thereby causing the bellows cover 1 to unfold. The unfolded state of the movable water-blocking cover 14 is as follows: Figure 12 As shown.

[0102] like Figure 13 and Figure 14 As shown, in this embodiment, the movable water-blocking cover 14 of the water-blocking mechanism is in a retracted state when the robot roller brush device cleans the upper inner corner surface 11.3 of the obstacle 11 after it has crossed the obstacle; it is in an extended state during the rest of the process.

[0103] The other structures in this embodiment are the same as in Embodiment 1.

[0104] Example 3

[0105] The only difference between this embodiment and embodiment one is that when there are two or more main roller brushes, the motor mounting base is fixed on the roller brush body mounting base and located in the inner cavity of the adjacent main roller brush. The dual-output motor is mounted on the motor mounting base, and the output shafts at both ends are detachably connected to the two adjacent main roller brushes by screws and are axially positioned to achieve the transmission of torque through the dual-output motor shafts to drive the two adjacent main roller brushes to rotate coaxially and synchronously.

[0106] In this embodiment, the inclined sections of the main bristles of each main roller brush are located near both ends of the main brush roller and are inclined towards the ends, so that the main bristles of the inclined sections are inclined toward the adjacent main roller brushes. The inclined sections of the main bristles of adjacent main roller brushes can guide the main bristles to overlap, thereby eliminating the gaps caused by the boundary between adjacent main roller brushes, making the entire roller brush body a complete cleaning area.

[0107] This embodiment uses a structure with multiple main roller brushes connected in series, which can extend the length of the roller brush without any gaps within the length of the roller brush.

[0108] The other structures in this embodiment are the same as in Embodiment 1.

[0109] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A robotic roller brush device capable of obstacle-crossing cleaning, characterized in that: The robot roller brush device is connected to the robot body. It includes a roller brush body, a telescopic mechanism for enabling the roller brush body to overcome obstacles and adjusting the distance between the roller brush body and the cleaning surface of the curtain wall, and an adaptive mechanism for keeping the roller brush body in contact with the cleaning surface of the curtain wall. The telescopic mechanism is connected to the robot body. The adaptive mechanism is connected to the telescopic end of the telescopic mechanism and to the roller brush body. The adaptive mechanism includes a connecting block, a facade adaptive adjustment component, and a vertical plane adaptive adjustment component. The facade adaptive adjustment component is mounted on the connecting block and connected to the roller brush body, allowing the roller brush body to rotate adaptively, thus enabling the roller brush body to conform to the curtain wall facade or a parallel plane parallel to the curtain wall facade. The vertical plane adaptive adjustment component is connected to the telescopic end of the telescopic mechanism and is rotatably connected to the connecting block, allowing the connecting block and the roller brush body to rotate adaptively, thus enabling the roller brush body to conform to a vertical plane perpendicular to the curtain wall facade. The facade adaptive adjustment component includes a yaw axis and a yaw axis mounting base; the yaw axis is mounted on a connecting block and is rotatably connected to the yaw axis mounting base via a bearing; the yaw axis mounting base is connected to the roller brush body, so that the roller brush body can adaptively rotate around the yaw axis via the yaw axis mounting base. The facade adaptive adjustment component also includes a yaw axis return spring; the yaw axis return spring is symmetrically arranged on both sides of the yaw axis mounting base, one end of the yaw axis return spring is connected to the connecting block, and the other end is connected to the roller brush body; The vertical plane adaptive adjustment component includes a horizontal roller shaft and a horizontal roller shaft mounting base; the horizontal roller shaft is fixed on the horizontal roller shaft mounting base, and the connecting block is rotatably connected to the horizontal roller shaft through a bearing, so that the roller brush body can adaptively rotate around the horizontal roller shaft through the connecting block; the adaptive mechanism also includes an adaptive mechanism mounting frame, and the horizontal roller shaft mounting base is connected to the telescopic end of the telescopic mechanism through the adaptive mechanism mounting frame. The vertical plane adaptive adjustment assembly also includes a roll shaft return spring; the roll shaft return spring is symmetrically arranged on both sides of the roll shaft mounting base, one end of the roll shaft return spring is connected to the roll shaft mounting base, and the other end is connected to the adaptive mechanism mounting frame. The roller brush body includes at least one main roller brush, two auxiliary roller brushes, a dual-output motor, and a roller brush body mounting assembly; both the main roller brush and the auxiliary roller brushes are hollow structures; the dual-output motor is installed in the inner cavity of the main roller brush and the auxiliary roller brushes and is fixedly connected to the roller brush body mounting assembly, and the output shafts at both ends of the dual-output motor are detachably connected to the main roller brush and the auxiliary roller brushes respectively, so as to drive the main roller brush and the auxiliary roller brushes to rotate coaxially and synchronously; the two auxiliary roller brushes are located at both ends of the main roller brush.

2. The obstacle-crossing cleaning robot roller brush device according to claim 1, characterized in that: When there are two or more main roller brushes, the dual-output motors are installed in the inner cavities of two adjacent main roller brushes and are fixedly connected to the roller brush body mounting assembly. The output shafts at both ends of the dual-output motors are detachably connected to the two adjacent main roller brushes respectively, so as to drive the two adjacent main roller brushes to rotate synchronously on the same axis.

3. The obstacle-crossing cleaning robot roller brush device according to claim 1, characterized in that: The main roller brush includes a main brush cylinder and several sets of main brush bristles; the several sets of main brush bristles are arranged circumferentially along the main brush cylinder; each set of main brush bristles includes a main brush bristle spiral segment one, a main brush bristle spiral segment two, and a main brush bristle inclined segment; the main brush bristle spiral segment one and the main brush bristle spiral segment two are mirror-symmetrically arranged on the main brush cylinder and connected to form a herringbone shape; the main brush bristle inclined segment is located near the two ends of the main brush cylinder and is inclined towards the ends, so that the main brush bristles of the main brush bristle inclined segment are inclined towards the auxiliary roller brush or the adjacent main roller brush.

4. The obstacle-crossing cleaning robot roller brush device according to claim 1, characterized in that: The auxiliary roller brush includes an auxiliary brush cylinder and several sets of auxiliary brush bristles; the several sets of auxiliary brush bristles are arranged circumferentially along the auxiliary brush cylinder; each set of auxiliary brush bristles includes a first auxiliary brush bristle spiral segment, a second auxiliary brush bristle spiral segment, a first auxiliary brush bristle inclined segment, and a second auxiliary brush bristle inclined segment; the first and second auxiliary brush bristle spiral segments are mirror-symmetrically arranged on the auxiliary brush cylinder and connected to form a herringbone pattern; the first auxiliary brush bristle inclined segment is located near one end of the auxiliary brush cylinder and is inclined towards the end, so that the auxiliary brush bristles of the first auxiliary brush bristle inclined segment cover the end area of ​​the auxiliary brush cylinder; the second auxiliary brush bristle inclined segment is located near the other end of the auxiliary brush cylinder and is inclined towards the other end, so that the auxiliary brush bristles of the second auxiliary brush bristle inclined segment are inclined towards the main roller brush.

5. The obstacle-crossing cleaning robot roller brush device according to claim 1, characterized in that: The robot roller brush device also includes a water-blocking mechanism for blocking the wastewater thrown out by the rotating roller brush body; the water-blocking mechanism covers the roller brush body and is located between the adaptive mechanism and the roller brush body; The water-blocking mechanism is a water-blocking cover fixed between the adaptive mechanism and the roller brush body; Alternatively, the water-blocking mechanism can be a rotatable water-blocking cover; during operation, the rotatable water-blocking cover unfolds to shield the main body of the roller brush, or the rotatable water-blocking cover rotates and retracts to avoid obstacles and increase the roller brush area of ​​the main body.

6. The obstacle-crossing cleaning robot roller brush device according to claim 5, characterized in that: The rotatable water-blocking cover includes a fixed water-blocking cover body, a movable water-blocking cover body, and a cover body elastic element; the fixed water-blocking cover body is fixed between the adaptive mechanism and the roller brush body; the movable water-blocking cover body is rotatably disposed inside or outside the fixed water-blocking cover body. When the movable water-blocking cover body is unfolded, it forms a continuous cover body with the fixed water-blocking cover body to cover the roller brush body. When the movable water-blocking cover body is rotated and retracted, it partially or completely overlaps with the fixed water-blocking cover body to increase the roller brush body's brushing area; the movable water-blocking cover body is provided with a retraction contact element, and the cover body elastic element is connected to the movable water-blocking cover body to realize the reset of the retracted movable water-blocking cover body to the unfolded state.

7. A robotic roller brush cleaning method capable of overcoming obstacles, characterized in that: The robot roller brush cleaning method using the obstacle-crossing cleaning robot device as described in claim 1 is as follows: The robot calculates the position of the curtain wall, controls the extension mechanism to extend and move the roller brush body to adjust the contact between the roller brush body and the curtain wall facade. The facade adaptive adjustment component adjusts the roller brush body to fit the curtain wall facade, and controls the rotation of the roller brush body to clean the curtain wall facade. During the process of the robotic roller brush device descending to clean the curtain wall facade, when it encounters an obstacle, the robot roller brush device overcomes the obstacle and the main body of the roller brush cleans the obstacle by separately controlling the retraction of the telescopic mechanism, the descent of the robotic roller brush device, and the extension of the telescopic mechanism: (1) During the retraction process of the telescopic mechanism, when the main body of the roller brush comes into contact with the lower corner of the obstacle, the vertical plane adaptive adjustment component is used to adjust the roller brush body to fit with the lower corner of the obstacle, control the rotation of the roller brush body, and achieve the cleaning of the lower corner of the obstacle by roller brush. (2) During the descent of the robot roller brush device, when the main body of the roller brush comes into contact with the vertical surface of the obstacle, the roller brush body is adjusted by the vertical surface adaptive adjustment component to fit the vertical surface of the obstacle, and the roller brush body is controlled to rotate to achieve roller brush cleaning of the vertical surface of the obstacle. (3) During the extension of the telescopic mechanism, when the main body of the roller brush comes into contact with the upper inner corner of the obstacle, the vertical plane adaptive adjustment component is used to adjust the roller brush body to fit with the upper inner corner of the obstacle, and the roller brush body is controlled to rotate, so as to clean the upper inner corner of the obstacle with a roller brush. Once the main body of the roller brush comes into contact with the curtain wall facade, the adaptive adjustment component adjusts the roller brush body to fit the curtain wall facade. The robot roller brush cleaning device then resumes its descent while the telescopic mechanism remains extended, allowing the roller brush body to perform roller brush cleaning on the subsequent curtain wall facade.

8. The obstacle-crossing robotic roller brush cleaning method according to claim 7, characterized in that: The main body of the roller brush includes a main roller brush and an auxiliary roller brush coaxially connected to both ends of the main roller brush; the auxiliary roller brush is provided with an inclined section of auxiliary bristles, which is located near the end of the auxiliary roller brush and is inclined towards the end, so that the auxiliary bristles of the inclined section of auxiliary bristles cover the end area of ​​the auxiliary roller brush; this end is the end of the auxiliary roller brush away from the main roller brush. During the process of the robot roller brush device descending to clean the curtain wall facade, when the curtain wall has a left and / or right inside corner, the secondary brush bristles covered by the end area of ​​the secondary brush roller clean the left and / or right inside corner of the curtain wall.

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