Curtain wall cleaning robot

Abstract

The invention relates to the technical field of curtain wall cleaning, in particular to a curtain wall cleaning robot. The equipment comprises a first executing mechanism, a second executing mechanism and an angle adjusting mechanism, the angle adjusting mechanism comprises a first support, a second support and an angle adjusting motor; one end of the first support is connected with the first executing mechanism, and the other end of the first support is connected with a shell of the angle adjusting motor. When the curtain wall cleaning robot is used, the included angle between the first executing mechanism and the second executing mechanism is adjustable under the action of the angle adjusting motor, and therefore the curtain wall cleaning robot can be attracted to two planes forming a curtain wall at the same time. When the first executing mechanism and the second executing mechanism are adsorbed to the first face, the first executing mechanism and the second executing mechanism can be driven by the angle adjusting motor to be adsorbed to the first face and the second face correspondingly, then the first executing mechanism and the second executing mechanism are adsorbed to the second face to achieve conversion of working planes, and therefore the problem that a curtain wall cleaning robot is difficult to clean a multi-plane curtain wall is solved.

Description

Technical Field

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

[0002] Curtain wall is a common exterior wall decoration material in modern buildings. With the improvement of construction technology and the continuous expansion of curtain wall area, the traditional manual cleaning method can no longer meet the needs. Therefore, curtain wall cleaning robots have become an updated solution. They mostly use the principle of negative pressure chamber adsorption to climb and walk on the surface of the curtain wall, and use brushes or vacuum cleaners to clean the dirt and dust on the curtain wall.

[0003] However, since some curtain walls are composed of multiple planes, and curtain wall robots in the prior art are mostly suitable for single-plane environments, it is difficult for curtain wall cleaning robots to clean multi-plane curtain walls. Summary of the invention

[0004] The invention provides a curtain wall cleaning robot to solve the problem that the curtain wall cleaning robot is difficult to clean multi-plane curtain walls.

[0005] In order to solve the above technical problems, the technical solution provided by the present invention is:

[0006] A curtain wall cleaning robot:

[0007] It includes a first actuating mechanism, a second actuating mechanism and an angle adjustment mechanism;

[0008] The angle adjustment mechanism comprises a first support, a second support and an angle adjustment motor;

[0009] One end of the first support is connected to the first actuator, and the other end is connected to the housing of the angle adjustment motor; one end of the second support is connected to the second actuator, and the other end is connected to the output shaft of the angle adjustment motor;

[0010] The angle adjustment motor drives the second support and the first support to rotate relative to each other, so that the angle between the first actuator and the second actuator changes.

[0011] Furthermore, the angle adjustment mechanism also includes a first push rod and a second push rod; one end of the first push rod is connected to the first actuator, and the other end is connected to the first support; one end of the second push rod is connected to the second actuator, and the other end is connected to the second support; the first push rod drives the first support to move to change the distance between the angle adjustment motor and the first actuator; the second push rod drives the second support to move to change the distance between the angle adjustment motor and the second actuator.

[0012] Furthermore, the first actuator and the second actuator both include an adsorption structure; the adsorption structure includes an adsorption frame, an adsorption fan and a track unit; the adsorption frame is provided with adsorption holes; the adsorption fan is connected to the adsorption frame; the track unit is hinged to the adsorption frame; the adsorption fan draws out the air between the adsorption frame and the curtain wall through the adsorption holes, so that the adsorption structure is adsorbed on the curtain wall.

[0013] Furthermore, the crawler unit includes a trapezoidal frame, a follower roller and a circulating belt; the follower roller is rotatably mounted on the trapezoidal frame; the circulating belt is sleeved on the trapezoidal frame, and the follower roller tensions and fixes the circulating belt.

[0014] Furthermore, the crawler unit also includes a lifting support and a guide rod; the lifting support is hinged to the adsorption frame; the guide rod is connected to the trapezoidal frame, the guide rod is inserted into the lifting support, and is slidably connected to the lifting support; the lifting support moves away from the curtain wall along the guide rod to increase the rotation speed of the adsorption fan.

[0015] Furthermore, the track unit also includes a constant pressure spring; one end of the constant pressure spring abuts against the trapezoidal frame, and the other end abuts against the lifting support; when the adsorption force between the adsorption structure and the curtain wall decreases, the constant pressure spring pushes the lifting support away from the curtain wall along the guide rod by restoring the deformation.

[0016] Furthermore, the crawler unit also includes a sensing element; the sensing element is connected to the trapezoidal frame and is located between the lifting support and the trapezoidal frame; the sensing element is used to detect the distance between the lifting support and the trapezoidal frame, and control the rotation speed of the adsorption fan according to the distance.

[0017] Furthermore, the first actuator and the second actuator both include a cleaning drive structure; the cleaning drive structure includes a cleaning frame, a spray device and a drive unit; the cleaning frame is connected to the adsorption frame; the spray device and the drive unit are both installed on the cleaning frame; the spray device sprays cleaning liquid onto the surface of the curtain wall, and the drive unit cleans the dirt on the surface of the curtain wall by friction with the assistance of the cleaning liquid, and at the same time drives the first actuator and the second actuator to move.

[0018] Furthermore, the driving unit includes a first driving motor, a second driving motor, a first rotating rod, a second rotating rod, a first cleaning roller and a second cleaning roller; the first driving motor is connected to the cleaning frame, and the driving end is transmission-connected to the first rotating rod; the first rotating rod is plugged into the first cleaning roller; the second driving motor is connected to the cleaning frame, and the driving end is transmission-connected to the second rotating rod; the second rotating rod is plugged into the second cleaning roller; the first driving motor and the second driving motor respectively drive the first cleaning roller and the second cleaning roller, so that the first cleaning roller and the second cleaning roller rotate in the same direction or in the opposite direction.

[0019] Furthermore, the driving unit also includes the series support pin; the first rotating rod and the second rotating rod are both provided with embedded holes; the two embedded holes are both plugged into the series support pin and are rotationally connected to the series support pin.

[0020] The beneficial effects of the curtain wall cleaning robot in the present invention are analyzed as follows:

[0021] The device comprises a first actuator, a second actuator and an angle adjustment mechanism; the angle adjustment mechanism comprises a first support, a second support and an angle adjustment motor; one end of the first support is connected to the first actuator, and the other end is connected to the housing of the angle adjustment motor; one end of the second support is connected to the second actuator, and the other end is connected to the output shaft of the angle adjustment motor; the angle adjustment motor drives the second support and the first support to rotate relative to each other, so that the angle between the first actuator and the second actuator changes.

[0022] When the curtain wall cleaning robot provided by the present invention is in use, the angle between the first actuator and the second actuator is adjustable through the action of the angle adjustment motor, so that it can be simultaneously adsorbed on two planes constituting the curtain wall. When the first actuator and the second actuator are adsorbed on the first surface, the two can be driven by the angle adjustment motor to be respectively adsorbed on the first surface and the second surface, and then both adsorbed on the second surface to achieve the conversion of the working plane, thereby solving the problem that the curtain wall cleaning robot is difficult to clean multi-plane curtain walls. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic structural diagram of a curtain wall cleaning robot provided in an embodiment of the present invention;

[0025] Figure 2 A schematic structural diagram of an angle adjustment mechanism in a curtain wall cleaning robot provided in an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the assembly structure of the adsorption structure and the cleaning drive structure in the curtain wall cleaning robot provided in an embodiment of the present invention;

[0027] Figure 4 A schematic structural diagram of a crawler unit in a curtain wall cleaning robot provided in an embodiment of the present invention;

[0028] Figure 5 An exploded schematic diagram of the three-dimensional structure of a cleaning drive structure in a curtain wall cleaning robot provided in an embodiment of the present invention;

[0029] Figure 6 A schematic exploded view of the three-dimensional structure of a driving unit in a curtain wall cleaning robot provided in an embodiment of the present invention.

[0030] icon:

[0031] 100-angle adjustment mechanism; 110-first support; 120-second support; 130-angle adjustment motor; 140-first push rod; 150-second push rod; 200-adsorption structure; 210-adsorption frame; 211-adsorption hole; 220-adsorption fan; 230-track unit; 231-trapezoidal frame; 232-follow-up roller; 233-circulating belt; 234-lifting support; 235-guide rod; 236-constant pressure spring; 237-sensing element; 300-cleaning drive structure; 310-cleaning frame; 320-spraying device; 330-drive unit; 331-first drive motor; 332-second drive motor; 333-first rotating rod; 334-second rotating rod; 335-first cleaning roller; 336-second cleaning roller; 337-serial support pin. DETAILED DESCRIPTION

[0032] Since some curtain walls are composed of multiple planes, and curtain wall robots in the prior art are mostly suitable for single-plane environments, it is difficult for curtain wall cleaning robots to clean multi-plane curtain walls.

[0033] In view of this, the present solution provides a curtain wall cleaning robot, comprising a first actuator, a second actuator and an angle adjustment mechanism 100 .

[0034] The following combination Figure 1-Figure 6 The structure and shape of the curtain wall cleaning robot provided in this embodiment are described in detail:

[0035] The angle adjustment mechanism 100 includes a first support 110, a second support 120 and an angle adjustment motor 130; one end of the first support 110 is connected to the first actuator, and the other end is connected to the housing of the angle adjustment motor 130; one end of the second support 120 is connected to the second actuator, and the other end is connected to the output shaft of the angle adjustment motor 130; the angle adjustment motor 130 drives the second support 120 and the first support 110 to rotate relative to each other, so that the angle between the first actuator and the second actuator changes.

[0036] In this embodiment, the angle between the first actuator and the second actuator is adjustable through the action of the angle adjustment motor 130, so that they can be simultaneously adsorbed on two planes constituting the curtain wall. When the first actuator and the second actuator are adsorbed on the first surface, they can be driven by the angle adjustment motor 130 to be respectively adsorbed on the first surface and the second surface, and then both adsorbed on the second surface to achieve the conversion of the working plane, thereby solving the problem that the curtain wall cleaning robot is difficult to clean multi-plane curtain walls.

[0037] In addition, when the curtain wall angle is less than 180°, the angle adjustment motor 130 drives the second support 120 to rotate so that the second actuator is separated from the first surface. After the second actuator rotates to be parallel to the second surface, the first actuator drives the second actuator to move toward the second surface through the angle adjustment mechanism 100. After the second actuator is adhered to the second surface, the second actuator moves along the second surface. During this process, the angle adjustment motor 130 drives the first support 110 to rotate so that the first actuator is adhered to the second surface.

[0038] In addition, when the curtain wall angle is greater than 180°, the moving first actuator drives the second actuator to separate from the first surface through the angle adjustment mechanism 100, and then the angle adjustment motor 130 drives the second support 120 to rotate so that the second actuator is adhered to the second surface, and then the angle adjustment motor 130 drives the first support 110 to rotate, and at the same time the second actuator moves along the second surface, so that the first actuator is gradually adhered to the second surface.

[0039] The shape and structure of the angle adjustment mechanism 100 are described in more detail:

[0040] The angle adjustment mechanism 100 further includes a first push rod 140 and a second push rod 150; one end of the first push rod 140 is connected to the first actuator, and the other end is connected to the first support 110; one end of the second push rod 150 is connected to the second actuator, and the other end is connected to the second support 120. The first push rod 140 drives the first support 110 to move to change the distance between the angle adjustment motor 130 and the first actuator; the second push rod 150 drives the second support 120 to move to change the distance between the angle adjustment motor 130 and the second actuator.

[0041] In this embodiment, the operator determines the rotation position according to the angle between the two surfaces of the curtain wall. After the rotation position is determined, the first push rod 140 drives the angle adjustment motor 130 to move through the first support 110. During this process, the second push rod 150 drives the second support 120 to move to maintain a set distance between the first actuator and the second actuator. After the angle adjustment motor 130 moves to the set rotation position, it drives the first actuator and the second actuator to rotate along the set rotation position; at the same time, the cleaning drive structure 300 in the first actuator is fully fitted with the combination position of the first surface and the second surface, thereby avoiding cleaning dead corners in the curtain wall.

[0042] In addition, the first push rod 140 and the second push rod 150 are extended and retracted synchronously, so that the first cleaning structure and the second cleaning structure move toward or away from each other, thereby adjusting the distance between the first cleaning structure and the second actuator to decrease or increase.

[0043] Regarding how the first actuator and the second actuator adsorb to the curtain wall surface during operation, both the first actuator and the second actuator include an adsorption structure 200 .

[0044] Specifically, the adsorption structure 200 includes an adsorption frame 210, an adsorption fan 220 and a track unit 230; the adsorption frame 210 is provided with an adsorption hole 211; the adsorption fan 220 is connected to the adsorption frame 210; the track unit 230 is hinged to the adsorption frame 210; the adsorption fan 220 draws out the air between the adsorption frame 210 and the curtain wall through the adsorption hole 211, so that the adsorption structure 200 is adsorbed on the curtain wall.

[0045] In order to improve the operating efficiency of the adsorption fan 220:

[0046] The adsorption fan 220 is installed in the adsorption hole 211, so that the adsorption fan 220 drives the air into the adsorption hole 211, and then the air is discharged from the outlet of the adsorption hole 211 through the adsorption fan 220, avoiding the air from being driven by the adsorption fan 220 when the adsorption hole 211 is blocked, thereby improving the operation efficiency of the adsorption fan 220.

[0047] To reduce the noise during the operation of the adsorption structure 200:

[0048] Two adsorption fans 220 are arranged in the adsorption hole 211, and the propellers of the two adsorption fans 220 are on the same axis, so that the adsorption structure 200 has a lower rotation speed of the propellers of the adsorption fans 220 while obtaining the same adsorption force, thereby reducing the noise during the operation of the adsorption structure 200.

[0049] In order to further increase the adsorption force between the adsorption structure 200 and the curtain wall, the track unit 230 includes a trapezoidal frame 231, a follower roller 232 and a circulating belt 233. The material of the circulating belt 233 includes but is not limited to rubber and silicone.

[0050] Specifically, the follower roller 232 is rotatably installed on the trapezoidal frame 231 ; the circulating belt 233 is sleeved on the trapezoidal frame 231 , and the follower roller 232 tightens and fixes the circulating belt 233 .

[0051] In this embodiment, the adsorption fan 220 draws out the air between the adsorption frame 210 and the curtain wall through the adsorption holes 211, so that the adsorption frame 210 transmits the adsorption force to the track unit 230, thereby adsorbing and fixing the adsorption structure 200 to the curtain wall.

[0052] In addition, during the process of adsorption and fixation between the crawler unit 230 and the curtain wall, the trapezoidal frame 231 abuts the circulating belt 233 against the surface of the curtain wall through the follower roller 232. At the same time, during the movement of the first actuator or the second actuator, the curtain wall drives the follower roller 232 to rotate through the circulating belt 233. The rotating follower roller 232 guides the circulating belt 233 to circulate around the trapezoidal frame 231, so that part of the circulating belt 233 always abuts against the surface of the curtain wall. Since the curtain wall is mostly made of glass, metal or plastic, it has van der Waals attraction with rubber; and the smooth surface curtain wall is in close contact with the contact surface of the circulating belt 233 to generate adhesion; at the same time, the circulating belt 233 complements the concave and convex surface of the curtain wall through its own material elasticity. The cooperation of the three makes the circulating belt 233 adhere to the curtain wall, thereby improving the fixing ability of the adsorption structure 200.

[0053] In addition, when the angle passing through the curtain wall is less than 180°, the angle adjustment mechanism 100 drives the second actuator to separate from the first surface, so that the adsorption structure 200 rotates with the angle adjustment motor 130 as the center. During this process, the inclined adsorption fan 220 on the second actuator drives the air to be discharged through the adsorption hole 211, and the reaction force generated by the discharged air provides support for the second actuator. After the second actuator is adsorbed on the second surface, the angle adjustment mechanism 100 drives the first actuator to separate from the first surface and fit into the second surface. During this process, the inclined adsorption fan 220 on the first actuator drives the air to be discharged through the adsorption hole 211, and the reaction force generated by the discharged air provides support for the first actuator, thereby improving the stability of the curtain wall cleaning robot in the process of crossing the curtain wall angle.

[0054] In addition, when the angle passing through the curtain wall is greater than 180°, the first actuator drives the second actuator to separate from the first surface through the angle adjustment mechanism 100. During this process, the adsorption fan 220 drives the air to be discharged through the adsorption hole 211, and the reaction force generated by the discharged air provides support for the second actuator. Then the angle adjustment mechanism 100 drives the second actuator to fit with the second surface. During this process, the adsorption fan 220 gradually tilts, and the supporting force transmitted to the second actuator by the adsorption fan 220 gradually turns into the adsorption force between it and the second surface. Then the second actuator moves along the second surface, and at the same time, the angle adjustment mechanism 100 drives the first actuator to gradually fit with the second surface. During this process, the adsorption fan 220 first provides support for the first actuator, and the subsequent supporting force is gradually transformed into the adsorption force between the first actuator and the second surface, thereby improving the stability of the curtain wall cleaning robot in the process of crossing the curtain wall angle.

[0055] In order to prevent the adsorption structure 200 from having insufficient adsorption force, the track unit 230 further includes a lifting support 234 and a guide rod 235 .

[0056] Specifically, the lifting support 234 is hinged to the adsorption frame 210; the guide rod 235 is connected to the trapezoidal frame 231, the guide rod 235 is inserted into the lifting support 234, and is slidably connected to the lifting support 234; the lifting support 234 moves away from the curtain wall along the guide rod 235 to increase the rotation speed of the adsorption fan 220.

[0057] In order to achieve the function of moving the lifting support 234 away from the curtain wall when the adsorption force is insufficient, the track unit 230 further includes a constant pressure spring 236 .

[0058] Specifically, one end of the constant pressure spring 236 abuts against the trapezoidal frame 231, and the other end abuts against the lifting support 234; when the adsorption force between the adsorption structure 200 and the curtain wall decreases, the constant pressure spring 236 restores its deformation and pushes the lifting support 234 away from the curtain wall along the guide rod 235.

[0059] In order to realize the function of increasing the rotation speed of the adsorption fan 220 by moving the lifting support 234 away from the curtain wall along the guide rod 235 , the crawler unit 230 further includes a sensing element 237 .

[0060] Specifically, the sensing element 237 is connected to the trapezoidal frame 231 and is located between the lifting support 234 and the trapezoidal frame 231; the sensing element 237 is used to detect the distance between the lifting support 234 and the trapezoidal frame 231, and control the rotation speed of the adsorption fan 220 according to the distance.

[0061] In order to realize the function of the sensor element 237 controlling the speed of the adsorption fan 220 according to the distance:

[0062] The types of the sensing element 237 include but are not limited to distance sensors. The sensing element 237 determines whether the adsorption force between the adsorption structure 200 and the curtain wall is within a set range by detecting the distance between the lifting support 234 and the trapezoidal frame 231. When the adsorption force is lower than the set range, the sensing element 237 controls the speed of the adsorption fan 220 to increase, thereby increasing the adsorption force between the adsorption structure 200 and the curtain wall. When the adsorption force exceeds the set range, the sensing element 237 controls the speed of the adsorption fan 220 to decrease, thereby reducing the adsorption force between the adsorption structure 200 and the curtain wall, thereby avoiding damage to the curtain wall caused by excessive adsorption force.

[0063] In this embodiment, when the adsorption force between the adsorption structure 200 and the curtain wall decreases, the constant pressure spring 236 restores its deformation, causing the lifting support 234 to move away from the curtain wall along the guide rod 235. During the movement of the lifting support 234, the sensing element 237 is triggered. The sensing element 237 controls the speed of the adsorption fan 220 to increase, thereby driving the air between the adsorption structure 200 and the curtain wall to be discharged through the adsorption hole 211 at an accelerated speed, so that the adsorption force between the adsorption structure 200 and the curtain wall continues to increase. As the adsorption force continues to increase, the lifting support 234 moves toward the curtain wall along the guide rod 235. During the movement of the lifting support 234, the sensing element 237 is closed, thereby controlling the speed of the adsorption fan 220 to stop increasing.

[0064] In addition, when passing through the curtain wall angle, the first actuator or the second actuator is separated from the first surface, and the constant pressure spring 236 recovers the deformation, so that the distance between the lifting support 234 and the trapezoidal frame 231 increases to the upper limit, and the sensing element 237 controls the adsorption fan 220 to increase to the rated maximum speed according to the detection distance, so that the adsorption structure 200 provides support force to the first actuator or the second actuator at the maximum rated power. After the first actuator or the second actuator is attached to the second surface, the distance between the lifting support 234 and the trapezoidal frame 231 decreases, and the sensing element 237 controls the speed of the adsorption fan 220 to gradually decrease according to the detection distance, so that the adsorption force between the adsorption structure 200 and the second surface is gradually reduced from the maximum rated adsorption force to the set range.

[0065] Regarding how the first actuator and the second actuator move along the curtain wall and clean the curtain wall during operation, both the first actuator and the second actuator include a cleaning drive structure 300 .

[0066] Specifically, the cleaning drive structure 300 includes a cleaning frame 310, a spray device 320 and a drive unit 330; the cleaning frame 310 is connected to the adsorption frame 210; the spray device 320 and the drive unit 330 are both installed on the cleaning frame 310; the spray device 320 sprays cleaning liquid onto the surface of the curtain wall, and the drive unit 330 cleans the dirt on the surface of the curtain wall by friction with the assistance of the cleaning liquid, and at the same time drives the first actuator and the second actuator to move.

[0067] In order to spray the cleaning liquid onto the curtain wall surface, the shape and structure of the spray device 320 are as follows:

[0068] The spray device 320 includes a spray manifold, a spray branch connected to the spray pipe, and a cleaning nozzle connected to the spray branch; a winch device placed on the top of the curtain wall inputs cleaning liquid into the spray manifold, and the winch device is responsible for providing power to the curtain wall cleaning robot. After the curtain wall cleaning robot is accidentally separated from the curtain wall, the winch device hoists the curtain wall cleaning robot to prevent the curtain wall cleaning robot from falling. Then the cleaning liquid in the spray manifold is sprayed from the output end of the cleaning nozzle through the spray branch, and then sprayed onto the surface of the curtain wall.

[0069] Regarding the shape and structure of the driving unit 330, specifically:

[0070] The driving unit 330 includes a first driving motor 331, a second driving motor 332, a first rotating rod 333, a second rotating rod 334, a first cleaning roller 335 and a second cleaning roller 336; the first driving motor 331 is connected to the cleaning frame 310, and the driving end is transmission-connected to the first rotating rod 333; the first rotating rod 333 is plugged into the first cleaning roller 335; the second driving motor 332 is connected to the cleaning frame 310, and the driving end is transmission-connected to the second rotating rod 334; the second rotating rod 334 is plugged into the second cleaning roller 336; the first driving motor 331 and the second driving motor 332 respectively drive the first cleaning roller 335 and the second cleaning roller 336, so that the first cleaning roller 335 and the second cleaning roller 336 rotate in the same direction or in the opposite direction.

[0071] In order to reduce the wear speed of the first rotating rod 333 and the second rotating rod 334 , the driving unit 330 further includes a series supporting pin 337 .

[0072] Specifically, the driving unit 330 further includes a series support pin 337 ; both the first rotating rod 333 and the second rotating rod 334 are provided with embedded holes; both embedded holes are plugged into the series support pin 337 and are rotationally connected to the series support pin 337 .

[0073] In this embodiment, the spray device 320 sprays cleaning liquid onto the surface of the curtain wall. At the same time, the first drive motor 331 and the second drive motor 332 drive the first cleaning roller 335 and the second cleaning roller 336 to rotate in the same direction through the first rotating rod 333 and the second rotating rod 334 respectively. The rotating first cleaning roller 335 and the second cleaning roller 336 peel off impurities on the surface of the curtain wall with the assistance of the cleaning liquid. During this process, the friction force generated by the first cleaning roller 335 and the second cleaning roller 336 and the curtain wall drives the first actuator and the second actuator to move.

[0074] In addition, when the curtain wall cleaning robot turns, the output shafts of the first drive motor 331 and the second drive motor 332 rotate in opposite directions, and then the first rotating rod 333 and the second rotating rod 334 respectively drive the first cleaning roller 335 and the second cleaning roller 336 to rotate in opposite directions, thereby driving the first actuator and the second actuator to turn; during this process, the first rotating rod 333 and the second rotating rod 334 are connected by the series support pin 337, so that the first rotating rod 333 and the second rotating rod 334 are supported without affecting each other's rotation, thereby reducing the wear rate of the first rotating rod 333 and the second rotating rod 334.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A curtain wall cleaning robot, characterized in that: It comprises a first actuating mechanism, a second actuating mechanism and an angle adjustment mechanism (100); The angle adjustment mechanism (100) comprises a first support (110), a second support (120) and an angle adjustment motor (130); One end of the first support (110) is connected to the first actuator, and the other end is connected to the housing of the angle adjustment motor (130); one end of the second support (120) is connected to the second actuator, and the other end is connected to the output shaft of the angle adjustment motor (130); The angle adjustment motor (130) drives the second support (120) and the first support (110) to rotate relative to each other, so that the angle between the first actuator and the second actuator changes.

2. The curtain wall cleaning robot according to claim 1, characterized in that: The angle adjustment mechanism (100) further comprises a first push rod (140) and a second push rod (150); One end of the first push rod (140) is connected to the first actuator, and the other end is connected to the first support (110); one end of the second push rod (150) is connected to the second actuator, and the other end is connected to the second support (120); The first push rod (140) drives the first support (110) to move so as to change the distance between the angle adjustment motor (130) and the first actuator; the second push rod (150) drives the second support (120) to move so as to change the distance between the angle adjustment motor (130) and the second actuator.

3. The curtain wall cleaning robot according to claim 2, characterized in that: The first actuator and the second actuator both include an adsorption structure (200); The adsorption structure (200) comprises an adsorption frame (210), an adsorption fan (220) and a crawler unit (230); The adsorption frame (210) is provided with adsorption holes (211); the adsorption fan (220) is connected to the adsorption frame (210); the crawler unit (230) is hinged to the adsorption frame (210); The adsorption fan (220) draws out the air between the adsorption frame (210) and the curtain wall through the adsorption holes (211), so that the adsorption structure (200) is adsorbed on the curtain wall.

4. The curtain wall cleaning robot according to claim 3, characterized in that: The crawler unit (230) comprises a ladder frame (231), a follower roller (232) and a circulating belt (233); The follower roller (232) is rotatably mounted on the trapezoidal frame (231); the circulating belt (233) is sleeved on the trapezoidal frame (231), and the follower roller (232) tensions and fixes the circulating belt (233).

5. The curtain wall cleaning robot according to claim 4, characterized in that: The crawler unit (230) further comprises a lifting support (234) and a guide rod (235); The lifting support (234) is hinged to the adsorption frame (210); the guide rod (235) is connected to the trapezoidal frame (231), and the guide rod (235) is inserted into the lifting support (234) and is slidably connected to the lifting support (234); The lifting support (234) moves away from the curtain wall along the guide rod (235) so that the rotation speed of the adsorption fan (220) increases.

6. The curtain wall cleaning robot according to claim 5, characterized in that: The crawler track unit (230) further includes a constant pressure spring (236); One end of the constant pressure spring (236) abuts against the trapezoidal frame (231), and the other end abuts against the lifting support (234); When the adsorption force between the adsorption structure (200) and the curtain wall decreases, the constant pressure spring (236) pushes the lifting support (234) away from the curtain wall along the guide rod (235) by restoring its deformation.

7. The curtain wall cleaning robot according to claim 6, characterized in that: The crawler unit (230) further includes a sensing element (237); The sensing element (237) is connected to the ladder frame (231) and is located between the lifting support (234) and the ladder frame (231); The sensing element (237) is used to detect the distance between the lifting support (234) and the trapezoidal frame (231), and to control the rotation speed of the adsorption fan (220) according to the distance.

8. The curtain wall cleaning robot according to claim 7, characterized in that: The first actuator and the second actuator both include a cleaning drive structure (300); The cleaning drive structure (300) comprises a cleaning frame (310), a spray device (320) and a drive unit (330); The cleaning frame (310) is connected to the adsorption frame (210); the spray device (320) and the driving unit (330) are both installed on the cleaning frame (310); The spray device (320) sprays cleaning liquid onto the surface of the curtain wall, and the driving unit (330) cleans dirt on the surface of the curtain wall through friction with the assistance of the cleaning liquid, while driving the first actuator and the second actuator to move.

9. The curtain wall cleaning robot according to claim 8, characterized in that: The driving unit (330) comprises a first driving motor (331), a second driving motor (332), a first rotating rod (333), a second rotating rod (334), a first cleaning roller (335) and a second cleaning roller (336); The first driving motor (331) is connected to the cleaning frame (310), and the driving end is transmission-connected to the first rotating rod (333); the first rotating rod (333) is plugged into the first cleaning roller (335); The second driving motor (332) is connected to the cleaning frame (310), and the driving end is transmission-connected to the second rotating rod (334); the second rotating rod (334) is plugged into the second cleaning roller (336); The first driving motor (331) and the second driving motor (332) drive the first cleaning roller (335) and the second cleaning roller (336) respectively, so that the first cleaning roller (335) and the second cleaning roller (336) rotate in the same direction or in opposite directions.

10. The curtain wall cleaning robot according to claim 9, characterized in that: The driving unit (330) further comprises the series support pin (337); Both the first rotating rod (333) and the second rotating rod (334) are provided with embedded holes; both of the embedded holes are plugged into the series support pin (337) and are rotationally connected to the series support pin (337).

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