Glass curtain wall cleaning robot

Abstract

The invention discloses a glass curtain wall cleaning robot which comprises a mother cabin base station, a positioning assembly is arranged on the mother cabin base station, four putting push rods are arranged in the mother cabin base station, the putting push rods are connected with four lower cleaning robots, a driving control unit is arranged on the mother cabin base station, and the driving control unit is connected with the lower cleaning robots. And when the lower cleaning robot is disconnected with the putting push rod, the driving control unit drives the lower cleaning robot to clean the to-be-operated curtain wall. The system is provided with the mother cabin base station, the mother cabin base station carries the multiple lower cleaning robots, and the multiple lower cleaning robots are synchronously put on the glass curtain wall to work, so that the curtain wall in unit area can be cleaned more quickly and effectively under the cooperative operation of the multiple lower cleaning robots; the cleaning efficiency of the building facade glass curtain wall is improved, and the coverage range of the cleaning process is expanded.

Description

Technical Field

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

[0002] With the acceleration of urbanization, there are more and more high-rise buildings. Glass curtain walls are widely used due to their advantages of beauty, light transmission and energy saving. However, dust particles in the air in cities are easily attached to the outer wall of glass with rainwater. After the water evaporates, it will remain for a long time, affecting the beauty of the glass. Therefore, glass curtain walls need to be cleaned in time.

[0003] Currently, most cleaning robots used on glass curtain walls perform cleaning operations as a single robot. However, this cleaning method requires multiple reciprocating and repositioning when cleaning large areas of glass curtain walls, resulting in low cleaning efficiency and incomplete cleaning. Summary of the invention

[0004] The object of the present invention is to provide a glass curtain wall cleaning robot to solve the technical problem in the prior art that the cleaning efficiency is low due to the independent operation of a single cleaning robot.

[0005] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0006] A glass curtain wall cleaning robot comprises a mother cabin base station, a positioning assembly is arranged on the mother cabin base station, the positioning assembly is used to fix the mother cabin base station on the front of the curtain wall to be operated, four delivery push rods are arranged in the mother cabin base station, the delivery push rods can be linearly extended and retracted along their own axis direction toward the front of the curtain wall to be operated, and the delivery push rods are detachably connected to four lower cleaning robots through a movable connection structure;

[0007] The lower cleaning robot includes a negative pressure adsorption unit, a variable torque walking unit and a cleaning unit. The mother cabin base station is provided with a drive control unit, and the drive control unit is connected to the lower cleaning robot;

[0008] When the lower cleaning robot is disconnected from the delivery push rod, the driving control unit drives the lower cleaning robot to clean the curtain wall to be worked on, and after the cleaning is completed, the delivery push rod is reconnected with the lower cleaning robot and recovered into the mother cabin base station.

[0009] As a preferred solution of the present invention, the drive control unit includes a lithium battery transformer system and a signal relay control module, the lithium battery transformer system and the signal relay control module are connected to the lower cleaning robot through a sub-machine connecting harness, the sub-machine connecting harness is curled and stored on a sub-machine harness winch, and the sub-machine harness winch is arranged inside the mother cabin base station and located on one side of the lower cleaning robot.

[0010] As a preferred solution of the present invention, a washing liquid tank is arranged at the bottom of the mother cabin base station, and a guide pipe is arranged in the washing liquid tank. The guide pipe and the sub-machine connecting harness form a three-in-one sub-machine connecting wire which is curled on the sub-machine harness winch, and the three-in-one sub-machine connecting wire is connected to the lower cleaning robot.

[0011] As a preferred solution of the present invention, the positioning assembly includes a fixed push rod arranged at the four corners inside the mother cabin base station and an electric pump air suction cup installed at the end of the fixed push rod through a universal joint.

[0012] As a preferred solution of the present invention, steel cables are connected to both sides of the mother cabin base station through fall arresters, the steel cables are connected to the first electric winch through a pulley block, the pulley block is installed on the wall body through a steel clamp, the mother cabin base station is connected to a mooring cable, and the mooring cable is connected to the second electric winch through a pulley block.

[0013] As a preferred solution of the present invention, four traction rollers are arranged on both sides of the mother cabin base station, and the four traction rollers are in contact with the curtain wall to be operated.

[0014] As a preferred solution of the present invention, the movable connection structure includes an embedding groove provided on the back shell of the lower cleaning robot and a fixing pin structure installed at the end of the delivery push rod, and the fixing pin structure is used for movably inserting into and removing from the embedding groove;

[0015] The fixing pin structure includes an outer shell body arranged at the end of the launching push rod and a connector motor arranged inside the outer shell body, the output end of the connector motor is coaxially fixedly connected with a driving gear, the driving gear is rotatably installed in the outer shell body, the driving gear is meshingly connected with a driven gear plate, the driven gear plate is rotatably installed in the outer shell body, a plurality of circular arc track grooves are arranged in a circumferential array on the disk surface of the driven gear plate, each of the circular arc track grooves is slidably connected with a sliding column, the sliding column is fixedly installed on a flat plate pin, the flat plate pin is slidably arranged on a star plate seat along its own length direction, and the star plate seat is fixedly installed in the outer shell body.

[0016] As a preferred solution of the present invention, the embedding groove includes an insertion groove opened on the back shell of the lower cleaning robot, the insertion groove is used for the outer shell to be inserted, and a plurality of inwardly recessed connecting limit grooves are arranged on the inner wall of the insertion groove, the number of the connecting limit grooves is the same as the number of the flat plate pins, and the connecting limit grooves match the end shape of the flat plate pins.

[0017] As a preferred solution of the present invention, the embedding groove includes an annular main connecting groove opened on the back shell of the lower cleaning robot, the annular main connecting groove is used for the outer shell to be inserted, an annular limiting groove is arranged inside the annular main connecting groove, the annular limiting groove and the annular main connecting groove are arranged on the same bottom surface, and the diameter of the annular limiting groove is larger than the annular main connecting groove, and the depth of the annular limiting groove is greater than the thickness of the flat plate pin.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention is provided with a mother cabin base station, which carries a plurality of lower-position cleaning robots. The plurality of lower-position cleaning robots are synchronously placed on the glass curtain wall to work, so that the curtain wall per unit area can be cleaned more quickly and effectively under the collaborative operation of a plurality of lower-position cleaning robots, thereby improving the cleaning efficiency of the glass curtain wall of the building facade and expanding the coverage of the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the cutaway structure of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the pulley block of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the connection between the fixing pin structure of the present invention and the lower cleaning robot;

[0025] Figure 5 An exploded view of the components connecting the fixing pin structure of the present invention and the lower cleaning robot;

[0026] Figure 6 For the present invention Figure 5 The enlarged view of point A in the middle;

[0027] Figure 7 An exploded view of the components of the fixing pin structure of the present invention connected to the lower cleaning robot, specifically the second embodiment;

[0028] Figure 8 It is a schematic diagram of the internal parts assembly structure of the fixing pin structure of the present invention.

[0029] The numbers in the figure represent the following:

[0030] 1. Mother cabin base station; 2. Positioning assembly; 3. Launching push rod; 4. Active connection structure; 5. Lower cleaning robot; 6. Drive control unit; 7. Sub-machine harness winch; 8. Washing liquid tank; 9. Sub-machine connection harness; 10. Fall arrester; 11. Steel cable; 12. Pulley block; 13. First electric winch; 14. Steel splint; 15. Mooring cable; 16. Second electric winch; 17. Focus roller; 18. Embedded groove; 19. Fixed pin structure; 20. Outer shell; 21. Connector motor; 22. Drive gear; 23. Driven gear plate; 24. Arc track groove; 25. Sliding column; 26. Flat pin; 27. Star plate seat; 28. Insertion groove; 29. ​​Connection limit groove; 30. Annular main connection groove; 31. Annular limit groove; 32. Fixed push rod; 33. Electric pump air suction cup. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figures 1 to 8 As shown, the present invention provides a glass curtain wall cleaning robot, including a mother cabin base station 1, on which a positioning component 2 is arranged, and the positioning component 2 is used to fix the mother cabin base station 1 on the front side of the curtain wall to be operated, and four delivery push rods 3 are arranged in the mother cabin base station 1, and the delivery push rods 3 can be linearly extended and retracted toward the front side of the curtain wall to be operated along the direction of their own axes, and the delivery push rods 3 are detachably connected to four lower cleaning robots 5 through a movable connection structure 4.

[0033] The lower cleaning robot 5 includes a negative pressure adsorption unit, a variable torque walking unit and a cleaning unit. The mother cabin base station 1 is provided with a driving control unit 6 , which is connected to the lower cleaning robot 5 .

[0034] When the lower cleaning robot 5 is disconnected from the delivery push rod 3 , the driving control unit 6 drives the lower cleaning robot 5 to clean the curtain wall to be worked on, and after the cleaning is completed, the delivery push rod 3 is reconnected with the lower cleaning robot 5 and recovered into the mother cabin base station 1 .

[0035] The device uses the mother cabin base station 1 to place multiple lower cleaning robots 5 onto the glass curtain wall for synchronous operation to clean the glass curtain wall. The lower cleaning robot 5 is a mature glass curtain wall cleaning robot in the prior art. For example, the lower cleaning robot 5 in the device can be selected from Ecovacs Winbot W2S Pro, which is connected to the drive control unit 6 through the sub-machine connection harness 9. The drive control unit 6 includes a lithium battery transformer system and a signal relay control module. The lithium battery transformer system and the signal relay control module are connected to the lower cleaning robot 5 through the sub-machine connection harness 9. The sub-machine connection harness 9 is curled and stored on the sub-machine harness winch 7. The sub-machine harness winch 7 is arranged inside the mother cabin base station 1 and is located on one side of the lower cleaning robot 5. One end of the sub-machine connection harness 9 is connected to the lower cleaning robot 5, and its main body is curled on the sub-machine harness winch 7. The other end is buried inside the mother cabin base station 1 and connected to the drive control unit 6. The water pipe is buried inside the mother cabin base station 1 together with the sub-machine connection harness 9. The lithium battery transformer system includes a lithium battery and a transformer system. The transformer system converts 220V to 24V, 12V, and 5V. The lithium battery is the power source of the whole machine, and a 20,000mah capacity can be selected. Furthermore, the whole machine can be connected to an external power source through a tethered cable 15. The lithium battery serves as a backup power source. When the external power source is cut off, it can still provide energy for the fixed push rod 32, the delivery push rod 3, and the communication control components for more than 30 minutes.

[0036] The signal relay control module can be directly connected to the ground control terminal and the slave unit, or a signal antenna can be set on the mother cabin base station 1, the signal relay control module is connected to the signal antenna, and the signal antenna is connected to the ground control terminal and the slave unit. The signal antenna can use an N-port barrel antenna, which can increase the effective communication distance to 500m.

[0037] Furthermore, the mother cabin base station 1 is rectangular in shape, and a washing liquid tank 8 is provided at the bottom of the mother cabin base station 1. The volume of the washing liquid tank 8 can be set to 8L. A washing liquid tank 8 is provided at the bottom of the mother cabin base station 1. A guide pipe is provided in the washing liquid tank 8. The guide pipe and the sub-machine connection harness 9 form a three-in-one sub-machine connection line that is curled on the sub-machine harness winch 7. The three-in-one sub-machine connection line is connected to the lower cleaning robot 5. Among them, the guide pipe and the sub-machine connection harness 9 are buried together in the mother cabin base station 1, and the main body is curled on the sub-machine harness winch 7.

[0038] An electric micro water pump is arranged in the washing liquid chamber, and the electric micro water pump is connected to the water pipe to continuously supply water to the lower cleaning robot 5. The micro water pump can be DC41B, which is connected to four water pipes through a one-to-four interface, so as to supply water to four lower cleaning robots 5 respectively. In addition, a water volume sensor can be added to the washing liquid tank 8 to monitor the water replenishment information.

[0039] The positioning assembly 2 includes fixed push rods 32 arranged at the four corners inside the mother cabin base station 1 and an electric pump air suction cup 33 rotatably mounted on the end of the fixed push rod 32 through a universal joint.

[0040] Among them, the delivery push rod 3 and the fixed push rod 32 can both be set as four-section telescopic rods, and the section close to the mother cabin base station 1 does not participate, which is to fix and drive the overall linear telescopic effect. Among them, the ends of the fixed push rod 32 and the delivery push rod 3 are connected to the electric pump air suction cup 33 and the lower cleaning robot 5 through universal joints to adapt to different curtain wall angles. The electric pump air suction cup 33 has a built-in battery and can be automatically adsorbed. In actual use, when it is confirmed that the electric pump air suction cup 33 has completed adsorption, the fixed push rod 32 can continue to push 5mm to 10mm into the curtain wall to obtain stress, reduce the vibration and shaking of the steel cable 11 caused by gravity and wind, and increase the stability of the working environment.

[0041] In addition, during the cleaning operation of the lower cleaning robot 5, the extension of the fixed push rod 32 may interfere with the lower cleaning robot 5, causing the suction cup covered area to be unable to be cleaned or triggering the lower cleaning robot to automatically avoid obstacles, etc. Therefore, the device can be solved by a sequential progressive method. The lower cleaning robot 5 and the fixed push rod 32 are used crosswise to work. Specifically, for example, the upper two lower cleaning robots 5 can be put in first, at which time the upper two fixed push rods 32 are retracted, and the lower fixed push rod 32 performs the adsorption and fixing work. After the upper two lower cleaning robots 5 complete the cleaning work, they are recovered, and the upper two fixed push rods 32 are released, and then the lower two fixed push rods 32 are retracted, and the lower two lower cleaning robots 5 are released for cleaning.

[0042] Further, such as Figure 3 As shown, the device is hoisted on the surface of the glass curtain wall by a steel cable 11 for use. The mother cabin base station 1 is connected to the steel cable 11 on both sides through the fall arrester 10, and the steel cable 11 is connected to the first electric winch 13 through the pulley block 12. The pulley block 12 is installed on the wall body through the steel clamping plate 14. The mother cabin base station 1 is connected to the mooring cable 15, and the mooring cable 15 is connected to the second electric winch 16 through the pulley block 12. Four traction rollers 17 are arranged on both sides of the mother cabin base station 1, and the four traction rollers 17 abut against the curtain wall to be operated.

[0043] Specifically, the steel clamping plate 14 is clamped on the wall table of the roof, and the pulley block 12 is fixedly installed on the steel clamping plate 14. In addition, in order to adapt to the protruding structure of the external force surface of the stairs, the pulley block 12 can be installed on the steel clamping plate 14 through an electric push rod, and the push-out stroke can be 1.35m. Two sets of electric winches and pulley blocks 12 are set on the roof table to retract and release the mooring cable 15 and the safety steel cable 11 respectively. The mooring cable 15 is directly connected to the 220V power supply to power the whole machine.

[0044] Further, such as Figures 5 to 7 As shown, the movable connection structure 4 includes an embedding groove 18 opened on the back shell of the lower cleaning robot 5 and a fixing pin structure 19 installed at the end of the delivery push rod 3, and the fixing pin structure 19 is used for movably inserting and removing from the embedding groove 18.

[0045] The fixing pin structure 19 includes an outer shell 20 arranged at the end of the launching push rod 3 and a connector motor 21 arranged inside the outer shell 20. The output end of the connector motor 21 is coaxially fixedly connected with a driving gear 22, and the driving gear 22 is rotatably installed in the outer shell 20. The driving gear 22 is meshingly connected with a driven gear plate 23, and the driven gear plate 23 is rotatably installed in the outer shell 20. There are multiple arc track grooves 24 in a circumferential array on the disk surface of the driven gear plate 23, and a sliding column 25 is slidably connected in each circular arc track groove 24. The sliding column 25 is fixedly installed on a flat plate pin 26, and the flat plate pin 26 is slidably set on a star plate seat 27 along its own length direction, and the star plate seat 27 is fixedly installed in the outer shell 20.

[0046] In this device, the distance of the extension and retraction of the delivery push rod 3 is the distance from the surface of the mother cabin base station 1 to the construction wall. This distance parameter can be measured by an infrared distance sensor installed on the mother cabin base station 1. It can also be obtained through modeling during engineering surveying.

[0047] When the launching push rod 3 launches the lower cleaning robot 5 onto the curtain wall, the lower cleaning robot 5 is fixed on the curtain wall by its own negative pressure adsorption unit. When the adsorption and fixation are completed, the connector motor 21 in the movable connection structure 4 drives the driving gear 22 to rotate, so that the flat plate latch 26 is disengaged from the embedding groove 18 of the lower cleaning robot 5, so that the launching push rod 3 is disconnected from the lower cleaning robot 5, and then the launching push rod 3 retracts and resets. At this time, the lower cleaning robot 5 can move and clean autonomously.

[0048] Afterwards, after cleaning is completed, the lower cleaning robot 5 navigates back to the initial position, and the delivery push rod 3 is extended and inserted into the embedding groove 18, and the connector motor 21 is reversed so that the flat plate latch 26 is inserted into the embedding groove 18, forming a connection between the delivery push rod 3 and the lower cleaning robot 5.

[0049] In addition, a contact point can be set at the connection position between the flat plate pin 26 and the embedded groove 18. When the contact point touches, it can be determined that the fixing pin has been inserted into the specified position. At this time, the system controls the lower cleaning robot 5 to cut off the power, release the suction, and recover it by the delivery push rod 3.

[0050] In addition, as an embodiment of the embedding groove 18, the embedding groove 18 includes an insertion groove 28 opened on the back shell of the lower cleaning robot 5, the insertion groove 28 is used for the outer shell 20 to be inserted, and a plurality of inwardly recessed connecting limit grooves 29 are arranged on the inner wall of the insertion groove 28. The number of the connecting limit grooves 29 is the same as the number of the flat plate pins 26, and the connecting limit grooves 29 match the end shape of the flat plate pins 26.

[0051] In this embodiment, when the lower cleaning robot 5 returns to the initial position after cleaning, the control system needs to control the lower cleaning robot 5 to rotate so that the setting position and angle of the connection limit groove 29 in the housing of the lower cleaning robot 5 are also consistent with the position angle when it is put in, so that the flat plate latch 26 whose position has not changed can be inserted into it. This connection method of the connection limit groove 29 and the safety latch can improve the stability of the lower cleaning robot 5 during the recovery and delivery process.

[0052] As another embodiment of the embedding groove 18, Figure 7 As shown, the embedding groove 18 includes an annular main connecting groove 30 opened on the back shell of the lower cleaning robot 5, the annular main connecting groove 30 is used for the outer shell 20 to be inserted, and an annular limiting groove 31 is arranged inside the annular main connecting groove 30. The annular limiting groove 31 and the annular main connecting groove 30 are arranged on the same bottom surface, and the diameter of the annular limiting groove 31 is larger than the annular main connecting groove 30, and the limiting groove depth of the annular limiting groove 31 is greater than the thickness of the flat plate pin 26.

[0053] Since the annular limiting groove 31 is an overall circular inward depression, its diameter is larger than the annular main connecting groove 30, and its depth is greater than the thickness of the flat plate pin 26. Therefore, when the lower cleaning robot 5 returns to the initial position after cleaning, there is no need to fine-tune its own rotation angle. The outer shell 20 can directly enter the annular main connecting groove 30 and extend the flat plate pin 26 to complete the connection with the lower cleaning robot 5.

[0054] In addition, when the device is actually used, the drone can be used to take aerial photos of the building facade to determine the facade area, working area, the special shapes of the facade decoration and decorative lines, the depth parameters of the structure, and the inclination parameters of the building structure, and modeling can be performed to determine the construction area.

[0055] Then confirm the model of the lower cleaning robot 5 to match the single effective area of ​​the construction, divide the work area into grids according to the single effective area, form XY coordinates, and form work progress visualization data in the form of fixed-point coordinates. Then generate several construction alternatives, budget execution structure (including construction time prediction), and the construction plan generates different results based on the site conditions and the different models of the lower cleaning robot 5. Mark and display the areas where work can be performed and the areas where work cannot be performed. The construction worker reviews the matching degree of the construction plan and grasps the progress of the project in a visual way such as real-time map coverage and progress bar percentage.

[0056] The operation interface can mark the water volume and consumption of construction components, such as cleanliness, humidity and other parameters, so as to achieve timely and effective adjustments.

[0057] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A glass curtain wall cleaning robot, characterized in that: The invention comprises a mother cabin base station (1), wherein a positioning component (2) is arranged on the mother cabin base station (1), wherein the positioning component (2) is used to fix the mother cabin base station (1) on the front of a curtain wall to be operated, wherein four delivery push rods (3) are arranged in the mother cabin base station (1), wherein the delivery push rods (3) can be linearly extended and retracted along their own axis direction toward the front of the curtain wall to be operated, and wherein the delivery push rods (3) are detachably connected to four lower cleaning robots (5) via a movable connection structure (4); The lower cleaning robot (5) comprises a negative pressure adsorption unit, a torque-changing walking unit and a cleaning unit; the mother cabin base station (1) is provided with a drive control unit (6), and the drive control unit (6) is connected to the lower cleaning robot (5); When the lower cleaning robot (5) is disconnected from the delivery push rod (3), the drive control unit (6) drives the lower cleaning robot (5) to clean the curtain wall to be worked on, and after the cleaning is completed, the delivery push rod (3) reconnects the lower cleaning robot (5) and recycles them into the mother cabin base station (1).

2. A glass curtain wall cleaning robot according to claim 1, characterized in that: The drive control unit (6) comprises a lithium battery transformer system and a signal relay control module, the lithium battery transformer system and the signal relay control module are connected to the lower cleaning robot (5) via a sub-machine connection harness (9), the sub-machine connection harness (9) is curled and stored on a sub-machine harness winch (7), and the sub-machine harness winch (7) is arranged inside the mother cabin base station (1) and located on one side of the lower cleaning robot (5).

3. A glass curtain wall cleaning robot according to claim 2, characterized in that: A washing liquid tank (8) is arranged at the bottom of the mother cabin base station (1), a guide tube is arranged in the washing liquid tank (8), the guide tube and the sub-machine connection harness (9) form a three-in-one sub-machine connection cable which is curled on the sub-machine harness winch (7), and the three-in-one sub-machine connection cable is connected to the lower cleaning robot (5).

4. The glass curtain wall cleaning robot according to claim 1, characterized in that: The positioning assembly (2) comprises fixed push rods (32) arranged at four corners inside the mother cabin base station (1) and an electric pump air suction cup (33) rotatably mounted on the end of the fixed push rod (32) via a universal joint.

5. The glass curtain wall cleaning robot according to claim 1, characterized in that: The mother cabin base station (1) is connected to steel cables (11) on both sides via fall arresters (10); the steel cables (11) are connected to a first electric winch (13) via a pulley block (12); the pulley block (12) is mounted on a wall body via a steel clamping plate (14); the mother cabin base station (1) is connected to a mooring cable (15); and the mooring cable (15) is connected to a second electric winch (16) via a pulley block (12).

6. The glass curtain wall cleaning robot according to claim 5, characterized in that: Four traction rollers (17) are arranged on both sides of the mother cabin base station (1), and the four traction rollers (17) are in contact with the curtain wall to be operated.

7. The glass curtain wall cleaning robot according to claim 1, characterized in that: The movable connection structure (4) comprises an embedding groove (18) provided on the back shell of the lower cleaning robot (5) and a fixing pin structure (19) installed at the end of the delivery push rod (3), wherein the fixing pin structure (19) is used for being movably inserted into and removed from the embedding groove (18); The fixing pin structure (19) comprises an outer shell (20) arranged at the end of the delivery push rod (3) and a connector motor (21) arranged inside the outer shell (20); the output end of the connector motor (21) is coaxially fixedly connected with a driving gear (22); the driving gear (22) is rotatably mounted in the outer shell (20); the driving gear (22) is meshingly connected with a driven gear plate (23); the driven gear plate (23) is rotatably mounted in the outer shell (20); a plurality of circular arc track grooves (24) are arranged in a circumferential array on the disk surface of the driven gear plate (23); a sliding column (25) is slidably connected in each of the circular arc track grooves (24); the sliding column (25) is fixedly mounted on a flat plate latch (26); the flat plate latch (26) is slidably mounted on a star plate seat (27) along its own length direction; the star plate seat (27) is fixedly mounted in the outer shell (20).

8. The glass curtain wall cleaning robot according to claim 7, characterized in that: The embedding groove (18) comprises an insertion groove (28) provided on the back shell of the lower cleaning robot (5), the insertion groove (28) being used for the outer shell (20) to be inserted, a plurality of inwardly recessed connection limit grooves (29) being provided on the inner wall of the insertion groove (28), the number of the connection limit grooves (29) being the same as the number of the flat plate latches (26), and the connection limit grooves (29) are matched in shape with the end of the flat plate latches (26).

9. The glass curtain wall cleaning robot according to claim 7, characterized in that: The embedding groove (18) comprises an annular main connecting groove (30) provided on the back shell of the lower cleaning robot (5), the annular main connecting groove (30) being used for the outer shell (20) to be inserted, an annular limiting groove (31) being arranged inside the annular main connecting groove (30), the annular limiting groove (31) and the annular main connecting groove (30) being arranged on the same bottom surface, and the diameter of the annular limiting groove (31) is larger than that of the annular main connecting groove (30), and the depth of the annular limiting groove (31) is larger than the thickness of the flat plate latch (26).

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