Outdoor window multi-axis moving cleaning robot

Abstract

The invention relates to the technical field of outdoor window cleaning, and particularly discloses an outdoor window multi-axis moving cleaning robot which comprises a supporting plate, a sliding groove is formed in one side of the top end of the supporting plate, a displacement frame is movably connected in the sliding groove in a penetrating mode, and the two sides of the top end of the displacement frame are sleeved with mooring ropes; cleaning robots are installed at the ends, away from the displacement frame, of the two cables, a positioning frame is installed on one side of the bottom end of the supporting plate, the displacement frame comprises a displacement rod, a driving structure, a base plate and an adjusting structure, and the base plate is installed in the middle of the top end of the displacement rod; the top end and the bottom end of the robot body are each provided with two third mounting bases. The outdoor window cleaning robot is not limited to single-layer private window cleaning any more, large-area outer wall windows can be cleaned, the cleaning range and efficiency are effectively improved, and compared with a traditional household outdoor window cleaning robot or a hanging basket device only capable of vertically ascending and descending, the coverage rate of a cleanable area is greatly increased.

Description

Technical Field

[0001] The invention belongs to the technical field of outdoor window cleaning, and in particular relates to a multi-axis mobile cleaning robot for outdoor windows. Background Art

[0002] The main function of outdoor window cleaning robots is to clean window glass efficiently and safely in an automated way. They can automatically detect the distance to the corners of the window, plan the window-cleaning path, and firmly adhere to the glass with their own vacuum pump or fan device, and remove dirt on the glass with the rag or other cleaning tools on the body.

[0003] In the Chinese patent with publication number CN211484324U, a household intelligent window cleaning robot based on STM32 single chip microcomputer is mentioned, including a robot, a power cord interface is provided on the top upper side of the robot, an exhaust port is provided at the middle position of the top of the robot, wheels are provided at the four corners of the bottom of the robot, a fan installation slot is provided at the middle position of the bottom of the robot, a handle is provided on the top of the robot, an infrared sensing module installation hole is provided on the side of the robot, a cleaning cloth installation area is symmetrically provided on the upper and lower sides of the bottom of the robot, a fan air inlet hole is provided in the middle of the bottom of the robot, a fan is provided inside the robot, an infrared sensing module is provided on the upper right side of the fan, a DC reduction motor is provided on the lower right side of the fan, a printed circuit board is provided at the bottom of the fan, and a fan fixing plate is provided in the middle position of the bottom shell of the robot. This utility model can automatically clean windows and replace manual operation, with high intelligence and strong practicality;

[0004] The window cleaning robot is set as a household model during use. For some windows that are far away or divided into small areas, it cannot be cleaned due to the length of the power cord, the window structure, etc., and the cleaning area is small. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, an object of the present invention is to provide an outdoor window multi-axis mobile cleaning robot to solve the problem that the robot can only clean the windows of one's own home, resulting in a small cleaning area.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A multi-axis mobile cleaning robot for outdoor windows, comprising:

[0008] Support plate;

[0009] A sliding groove is provided on one side of the top end of the support plate, a displacement frame is movably inserted and connected in the sliding groove, cables are sleeved on both sides of the top end of the displacement frame, and cleaning robots are installed on the ends of the two cables away from the displacement frame, and a positioning frame is installed on one side of the bottom end of the support plate;

[0010] Cylinders are installed on both sides of the bottom end of the displacement frame, and first mounting seats are installed on the output ends of the two cylinders, and the other end of the first mounting seat is installed together with the displacement frame;

[0011] The displacement frame includes a displacement rod, a driving structure, a pad and an adjustment structure. The pad is installed at the middle of the top of the displacement rod. The driving structure is fixedly connected to the top of the pad. Two limit slots are provided at both ends of the displacement rod. Two adjustment structures are provided, and the two adjustment structures are respectively installed in two adjacent limit slots. The displacement rod is installed at the top of the slider.

[0012] The cleaning robot includes a robot body, a propeller and a hanging ring seat, two third mounting seats are installed at the top and bottom ends of the robot body, and suction cups are commonly installed between the four third mounting seats and the robot body, the propeller is installed in the middle of one end of the robot body, the hanging ring seat is installed in the middle of the top of the robot body, and the hanging ring seat is installed together with the cable.

[0013] Preferably, first support rods are provided on both sides of the top of the displacement frame, and support wheels are installed in the two first support rods, the two support wheels are movably connected with two cables respectively, a control box is installed at one end of the positioning frame, and the bottom ends of the two first mounting seats are fixedly connected with second support rods, and the bottom ends of the second support rods are fixedly connected with universal wheels.

[0014] Preferably, the driving structure includes a second mounting seat, a first rotating wheel, a first gear, a first motor and a driving gear. Two of the first rotating wheel and the first gear are provided, and the two first rotating wheels are respectively mounted on both sides of the second mounting seat. The first gear is respectively fixedly connected to one end of the two first rotating wheels. The driving gear is movably connected to one end of the second mounting seat. The first motor is mounted on the other end of the second mounting seat. The second mounting seat is fixedly connected to the top of the pad.

[0015] Preferably, the output end of the first motor is fixedly connected to one end of one of the first gears, the two first rotating wheels are respectively sleeved with two cables, and the two first gears are respectively meshed and connected to the two ends of the driving gear.

[0016] Preferably, the adjustment structure includes a sliding seat, a fixed seat, a limiting wheel, a supporting seat, a fixed plate, a second rotating wheel and a connecting seat, a plurality of pulleys are installed at equal distances on both sides of the inner wall of the sliding seat, the fixed seat is fixedly connected to the top of the sliding seat, the limiting wheel is movably connected to both sides of the inner wall of the fixed seat, the supporting seat is fixedly connected to the bottom end of the inner wall of the fixed seat, two fixing plates are provided, and the two fixing plates are fixedly connected to one end of the sliding seat, the second rotating wheel is movably connected between the two fixing plates, the connecting seat is fixedly connected to one end of the two fixing plates, and the sliding seat is movably connected to the outer surface of the displacement rod.

[0017] Preferably, the limiting wheel, the supporting seat and the second rotating wheel are all movably connected with the cable through insertion, and one side of the bottom end of the supporting seat is fixedly connected to the top end of the connecting seat.

[0018] Preferably, the slide seat is mounted on one end of the first mounting seat, and the pulleys are movably inserted and connected in the limiting groove.

[0019] Preferably, the bottom ends of the universal wheels are in the same horizontal plane as the bottom end of the positioning frame.

[0020] Preferably, the positioning frame includes a connecting plate, a second gear, a chain, a second motor and a bracket. Two of the second gear and the bracket are provided, and the two second gears are movably connected to both sides of one end of the connecting plate. The chain is sleeved on the outer surfaces of the two second gears, and the second motor is installed at the other end of the connecting plate. The two brackets are respectively installed on both sides of one end of the connecting plate, and the connecting plate is fixedly connected to the bottom end of the support plate.

[0021] Preferably, the output end of the second motor passes through one end of the connecting plate and is fixedly connected to one of the second gears, and the second gears are meshed with a chain, and the top end of the chain is fixedly connected to the bottom end of the slider.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) By setting a positioning frame, a first motor, a first gear and a cleaning robot to achieve movement in the X-axis and Y-axis directions, the cleaning of the robot is no longer limited to cleaning a single layer of private windows, but can be used to clean large areas of exterior wall windows, thereby effectively improving the cleaning range and efficiency. Compared with traditional household outdoor window cleaning robots or hanging basket devices that can only be lifted vertically, the coverage of the cleanable area is greatly improved.

[0024] (2) The X-axis movement is achieved by using the second gear, chain and second motor, which reduces the need to install multiple cleaning robots due to the limited cleaning range, thereby reducing the equipment purchase cost and resource waste. At the same time, it avoids the substantial increase in the cost of the hanging basket fixing device and the motor caused by the use of excessive counterweights to solve the cable sway problem.

[0025] (3) By setting up a cylinder and an adjustment device to achieve movement in the Z-axis direction, the device can clean buildings with protruding structures, overcoming the limitation that some existing cleaning robots can only move close to windows and cannot cope with special building structures. This improves the versatility and practicality of the device and makes it adaptable to a variety of building structures.

[0026] (4) During the descent process, the distance between the glass and the glass can be increased by moving in the Z-axis direction, which effectively reduces the probability of breaking the glass or leaving scratches on the glass, reduces potential damage to the building's glass, and ensures the integrity and safety of the building's appearance.

[0027] (5) A gyroscope is installed inside the cleaning robot, and a propeller is set at one end of the cleaning robot, so that the cleaning robot can perform posture perception and control, motion detection and tracking when it is suspended in the air. When encountering emergencies such as strong winds, weak suction cups, and disconnected safety ropes, it can judge and start the propeller to generate reverse thrust according to the preset threshold, reduce the swing amplitude or descent speed, and greatly improve the safety of the cleaning robot when working at high altitudes. Compared with the traditional method of relying on adding counterweights to solve the problem of cable swing, it reduces the risk of damage to the glass caused by the shaking of the counterweight and the risk of falling objects from high altitudes, and at the same time reduces the high-risk hidden dangers caused by manual high-altitude operations.

[0028] (6) The cleaning robot can use its own laser radar to automatically identify the surrounding environment and perform 3D modeling to achieve automatic cleaning, reducing human intervention and improving the intelligence of cleaning. It can also be manually operated through remote control or mechanical buttons on the main body to meet the needs of different users and usage scenarios, providing a variety of operation methods to facilitate users to flexibly control the operation process of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 One of the three-dimensional diagrams of the present invention;

[0030] Figure 2 This is the second stereogram of the present invention;

[0031] Figure 3 is a three-dimensional diagram of the displacement frame of the present invention;

[0032] Figure 4 A three-dimensional diagram of the driving structure of the present invention;

[0033] Figure 5 A three-dimensional diagram of the adjustment structure of the present invention;

[0034] Figure 6 for Figure 1 sectional view of;

[0035] Figure 7is a three-dimensional diagram of the positioning frame of the present invention;

[0036] In the figure: 1, support plate; 2, sliding groove; 3, displacement frame; 4, slider; 5, first support rod; 6, support wheel; 7, cable; 8, cleaning robot; 9, cylinder; 10, second support rod; 11, universal wheel; 12, first mounting seat; 13, control box; 14, positioning frame; 31, displacement rod; 32, driving structure; 33, limit groove; 34, pad; 35, adjustment structure; 321, second mounting seat; 322, first rotating wheel; 323, first gear ; 324, the first motor; 325, the driving gear; 351, the sliding seat; 352, the pulley; 353, the fixed seat; 354, the limiting wheel; 355, the supporting seat; 356, the fixing plate; 357, the second rotating wheel; 358, the connecting seat; 81, the robot body; 82, the third mounting seat; 83, the suction cup; 84, the propeller; 85, the lifting ring seat; 141, the connecting plate; 142, the second gear; 143, the chain; 144, the second motor; 145, the bracket. DETAILED DESCRIPTION

[0037] 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.

[0038] Embodiment 1:

[0039] See also Figure 1 - Figure 7 As shown, an outdoor window multi-axis mobile cleaning robot comprises:

[0040] Support plate 1;

[0041] A sliding groove 2 is provided on one side of the top of the support plate 1, and a displacement frame 3 is movably inserted and connected in the sliding groove 2. Cables 7 are sleeved on both sides of the top of the displacement frame 3, and cleaning robots 8 are installed at the ends of the two cables 7 away from the displacement frame 3. A positioning frame 14 is installed on one side of the bottom end of the support plate 1;

[0042] Cylinders 9 are installed on both sides of the bottom end of the displacement frame 3, and first mounting seats 12 are installed on the output ends of the two cylinders 9, and the other end of the first mounting seat 12 is installed together with the displacement frame 3;

[0043] The displacement frame 3 includes a displacement rod 31, a driving structure 32, a pad 34 and an adjustment structure 35. The pad 34 is installed at the middle of the top of the displacement rod 31. The driving structure 32 is fixedly connected to the top of the pad 34. Two limit grooves 33 are provided at both ends of the displacement rod 31. Two adjustment structures 35 are provided, and the two adjustment structures 35 are respectively installed in two adjacent limit grooves 33. The displacement rod 31 is installed at the top of the slider 4.

[0044] The cleaning robot 8 includes a robot body 81, a propeller 84 and a lifting ring seat 85. Two third mounting seats 82 are installed at the top and bottom ends of the robot body 81, and a suction cup 83 is commonly installed between the four third mounting seats 82 and the robot body 81. The propeller 84 is installed in the middle of one end of the robot body 81, and the lifting ring seat 85 is installed in the middle of the top of the robot body 81. The lifting ring seat 85 is installed together with the cable 7.

[0045] As can be seen from the above, the positioning frame 14 is started, and the slider 4 can be driven to move through the positioning frame 14, and the slider 4 drives the displacement rod 31 fixedly connected thereto to move, and the displacement rod 31 thereby drives the cleaning robot 8 to move through the cable 7, thereby realizing the movement of the cleaning robot 8 in the X-axis direction, and the cylinder 9 is started, and the output end of the cylinder 9 extends and drives the first mounting seat 12 fixedly connected thereto to move, and the first mounting seat 12 pushes the adjustment structure 35 to slide on the surface of the displacement rod 31, so as to adjust the position as needed, and the driving structure 32 can be used to adjust the height of the cleaning robot 8 through the cable 7. A gyroscope is installed in the cleaning robot 8, and the gyroscope can perform posture perception and control, motion detection and tracking of the cleaning robot 8 in a suspended state. When the cleaning robot 8 descends, When it reaches the specified height, if there is still some distance from the window, the gyroscope and propeller 84 start working, and the propeller 84 propels the robot body 81 to the window surface, and the suction cup 83 on the robot body 81 works and adsorbs on the window. If a strong wind suddenly occurs, the suction cup 83 is not firmly adsorbed and the cable 7 is disconnected, causing the robot body 81 to swing greatly or drop rapidly, the gyroscope can make a judgment based on the preset threshold in the program, and start the propeller 84 to generate reverse thrust to reduce the swing amplitude or the descent speed, thereby greatly improving safety. The device can automatically identify the surrounding environment and perform 3D modeling through the laser radar of the cleaning robot 8, thereby realizing automatic cleaning, and can also be manually operated through a remote control or a mechanical button on the main body.

[0046] For details about the above, refer to Figure 2 and Figure 6As shown, first support rods 5 are provided on both sides of the top of the displacement frame 3, and support wheels 6 are installed in the two first support rods 5, and the two support wheels 6 are movably connected with two cables 7 respectively, a control box 13 is installed at one end of the positioning frame 14, and the bottom ends of the two first mounting seats 12 are fixedly connected with second support rods 10, and the bottom ends of the second support rods 10 are fixedly connected with universal wheels 11;

[0047] The bottom ends of the universal wheels 11 are in the same horizontal plane as the bottom ends of the positioning frames 14;

[0048] The driving structure 32 includes a second mounting seat 321, a first rotating wheel 322, a first gear 323, a first motor 324 and a driving gear 325. Two first rotating wheels 322 and two first gears 323 are provided, and the two first rotating wheels 322 are respectively mounted on both sides of the second mounting seat 321. The first gears 323 are respectively fixedly connected to one end of the two first rotating wheels 322. The driving gear 325 is movably connected to one end of the second mounting seat 321. The first motor 324 is mounted on the other end of the second mounting seat 321. The second mounting seat 321 is fixedly connected to the top of the pad 34.

[0049] As can be seen from the above, the first motor 324 is started, and the output end of the first motor 324 drives the first gear 323 fixedly connected thereto to rotate, and the first gear 323 drives another first gear 323 to rotate via the driving gear 325 meshingly connected thereto, so that as the first gear 323 rotates, the cable 7 can be wound or unwound, and when the cable 7 moves, it drives the cleaning robot 8 to rise and fall, thereby realizing the movement of the cleaning robot 8 in the Y-axis direction, so that the cleaning robot 8 is not limited to the cleaning of a single layer of private windows.

[0050] Preferably, the output end of the first motor 324 is fixedly connected to one end of one of the first gears 323 , the two first rotating wheels 322 are respectively sleeved with the two cables 7 , and the two first gears 323 are respectively meshed and connected to the two ends of the driving gear 325 .

[0051] As can be seen from the above, the first rotating wheel 322 and the cable 7 are sleeved together, so that when the first rotating wheel 322 rotates, the cable 7 can be driven to be retracted or extended.

[0052] Embodiment 2:

[0053] refer to Figure 3 and Figure 5As shown, the adjustment structure 35 includes a sliding seat 351, a fixed seat 353, a limiting wheel 354, a supporting seat 355, a fixed plate 356, a second rotating wheel 357 and a connecting seat 358. A plurality of pulleys 352 are evenly installed on both sides of the inner wall of the sliding seat 351. The fixed seat 353 is fixedly connected to the top of the sliding seat 351. The limiting wheel 354 is movably connected to both sides of the inner wall of the fixed seat 353. The supporting seat 355 is fixedly connected to the bottom end of the inner wall of the fixed seat 353. Two fixing plates 356 are provided, and the two fixing plates 356 are fixedly connected to one end of the sliding seat 351. The second rotating wheel 357 is movably connected between the two fixing plates 356. The connecting seat 358 is fixedly connected to one end of the two fixing plates 356. The sliding seat 351 is movably connected to the outer surface of the displacement rod 31.

[0054] As can be seen from the above, when the cylinder 9 is started, the output end of the cylinder 9 extends and drives the first mounting seat 12 fixedly connected thereto to be displaced, and the first mounting seat 12 pushes the second mounting seat 351 fixedly connected thereto to slide on the outer surface of the displacement rod 31, and causes the pulley 352 to slide in the limiting groove 33. When moving, the slide 351 drives the fixed plate 356 and the fixed seat 353 fixed thereto to be displaced, and the fixed seat 353 and the fixed plate 356 respectively drive the limiting wheel 354 and the second rotating wheel 357 to be displaced, thereby driving the cable 7 to move, and the cable 7 drives the cleaning robot 8 to be displaced, so that the cleaning robot 8 moves in the Z-axis direction, so that the device can normally perform cleaning operations on buildings with protruding structures. At the same time, during the descent process, the distance between the device and the glass can be increased by moving in the Z-axis direction, thereby reducing the probability of breaking the glass or leaving scratches.

[0055] Preferably, the limiting wheel 354, the supporting seat 355 and the second rotating wheel 357 are all movably connected with the cable 7, and one side of the bottom end of the supporting seat 355 is fixedly connected to the top end of the connecting seat 358;

[0056] The slide seat 351 is installed at one end of the first installation seat 12 , and the pulleys 352 are movably inserted and connected in the limiting grooves 33 .

[0057] As can be seen from the above, by setting the limiting wheel 354, the support seat 355 and the second rotating wheel 357, the cable 7 can be limited, the stability of the cable 7 is improved, and the support seat 355 is connected to the support seat 355, so that the support seat 355 can be supported by the connecting seat 358.

[0058] Embodiment three:

[0059] refer to Figure 1 , Figure 2 and Figure 7As shown, the positioning frame 14 includes a connecting plate 141, a second gear 142, a chain 143, a second motor 144 and a bracket 145. Two second gears 142 and two brackets 145 are provided, and the two second gears 142 are movably connected to both sides of one end of the connecting plate 141, the chain 143 is sleeved on the outer surfaces of the two second gears 142, the second motor 144 is installed at the other end of the connecting plate 141, and the two brackets 145 are respectively installed on both sides of one end of the connecting plate 141. The connecting plate 141 is fixedly connected to the bottom end of the support plate 1.

[0060] As can be seen from the above, when the second motor 144 is started, the output end of the second motor 144 drives the second gear 142 fixedly connected thereto to rotate, thereby driving the chain 143 meshing with it to rotate through the second gear 142, and the chain 143 drives the slider 4 fixedly connected thereto to slide in the sliding groove 2, and the slider 4 drives the displacement frame 3 fixedly connected thereto to displace, and the displacement frame 3 drives the cleaning robot 8 to displace through the cable 7, thereby realizing the movement of the cleaning robot 8 in the X-axis direction, effectively increasing the cleaning area and reducing costs.

[0061] Preferably, the output end of the second motor 144 passes through one end of the connecting plate 141 and is fixedly connected to one of the second gears 142 . The second gears 142 are meshedly connected to the chain 143 , and the top end of the chain 143 is fixedly connected to the bottom end of the slider 4 .

[0062] As can be seen from the above, the output end of the second motor 144 is fixedly connected to the second gear 142. Therefore, when the second motor 144 is started, the second gear 142 can be driven to rotate, and because the second gear 142 is meshed with the chain 143, the chain 143 can be moved and drive the slider 4 to move.

[0063] Furthermore, the present invention is designed and applied in outdoor window cleaning. When in use, the second motor 144 is started, and the output end of the second motor 144 drives the second gear 142 fixedly connected thereto to rotate, thereby driving the chain 143 meshingly connected thereto to rotate through the second gear 142, and the chain 143 drives the slider 4 fixedly connected thereto to slide in the sliding groove 2, and the slider 4 drives the displacement frame 3 fixedly connected thereto to move, and the displacement frame 3 drives the cleaning robot 8 to move through the cable 7, thereby realizing the movement of the cleaning robot 8 in the X-axis direction, effectively increasing the cleaning area and reducing the cost;

[0064] The first motor 324 is started, and the output end of the first motor 324 drives the first gear 323 fixedly connected thereto to rotate. The first gear 323 drives another first gear 323 to rotate through the driving gear 325 meshing with it, so that as the first gear 323 rotates, the cable 7 can be wound or unwound. When the cable 7 moves, it drives the cleaning robot 8 to move up and down, thereby realizing the movement of the cleaning robot 8 in the Y-axis direction, so that the cleaning robot 8 is not limited to cleaning a single layer of private windows;

[0065] Start the cylinder 9, the output end of the cylinder 9 extends and drives the first mounting seat 12 fixedly connected thereto to move, the first mounting seat 12 pushes the second mounting seat 351 fixedly connected thereto to slide on the outer surface of the displacement rod 31, and makes the pulley 352 slide in the limiting groove 33, the slide seat 351 drives the fixed plate 356 and the fixed seat 353 fixed thereto to move when moving, the fixed seat 353 and the fixed plate 356 drive the limiting wheel 354 and the second rotating wheel 357 to move respectively, thereby driving the cable 7 to move, the cable 7 drives the cleaning robot 8 to move, and the cleaning robot 8 moves in the Z-axis direction, so that the device can normally clean the building with protruding structures, and at the same time, during the descent process, the distance between the device and the glass can be increased by moving in the Z-axis direction, thereby reducing the probability of breaking the glass or leaving scratches;

[0066] A gyroscope is installed in the cleaning robot 8, which can sense and control the posture, detect and track the motion of the cleaning robot 8 in the suspended state. When the cleaning robot 8 descends to a specified height, if there is still a distance from the window, the gyroscope and the propeller 84 start to work, and the propeller 84 propels the robot body 81 to the surface of the window, and the suction cup 83 on the robot body 81 works and is adsorbed on the window.

[0067] If a strong wind suddenly occurs, the suction cup 83 is not firmly attached, the cable 7 is disconnected, and the robot body 81 swings greatly or drops rapidly, the gyroscope can judge according to the preset threshold in the program, start the propeller 84 to generate reverse thrust to reduce the swing amplitude or the drop speed, greatly improving safety. The device can automatically identify the surrounding environment and perform 3D modeling through the laser radar of the cleaning robot 8, thereby realizing automatic cleaning, and can also realize manual operation through remote control or mechanical buttons on the body;

[0068] This device is no longer limited to cleaning single-layer private windows, but can clean large-area exterior wall windows, effectively improving the cleaning range and efficiency. Compared with traditional household outdoor window cleaning robots 8 or hanging basket devices that can only be lifted vertically, it greatly improves the coverage of the cleanable area.

[0069] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-axis mobile cleaning robot for outdoor windows, characterized in that: include: Support plate (1); A sliding groove (2) is provided on one side of the top end of the support plate (1), a displacement frame (3) is movably inserted and connected in the sliding groove (2), cables (7) are sleeved on both sides of the top end of the displacement frame (3), and a cleaning robot (8) is installed at one end of the two cables (7) away from the displacement frame (3), and a positioning frame (14) is installed on one side of the bottom end of the support plate (1); Cylinders (9) are installed on both sides of the bottom end of the displacement frame (3), and first mounting seats (12) are installed on the output ends of the two cylinders (9), and the other end of the first mounting seat (12) is installed together with the displacement frame (3); The displacement frame (3) comprises a displacement rod (31), a driving structure (32), a pad (34) and an adjustment structure (35); the pad (34) is mounted at the middle of the top end of the displacement rod (31); the driving structure (32) is fixedly connected to the top end of the pad (34); two limit grooves (33) are provided at both ends of the displacement rod (31); two adjustment structures (35) are provided, and the two adjustment structures (35) are respectively mounted in two adjacent limit grooves (33); the displacement rod (31) is mounted at the top end of the slider (4); The cleaning robot (8) comprises a robot body (81), a propeller (84) and a lifting ring seat (85); two third mounting seats (82) are installed at the top and bottom ends of the robot body (81); and a suction cup (83) is installed between the four third mounting seats (82) and the robot body (81); the propeller (84) is installed at the middle of one end of the robot body (81); the lifting ring seat (85) is installed at the middle of the top of the robot body (81); and the lifting ring seat (85) is installed together with the cable (7).

2. The outdoor window multi-axis mobile cleaning robot according to claim 1, characterized in that: First support rods (5) are provided on both sides of the top of the displacement frame (3), and support wheels (6) are installed in the two first support rods (5), and the two support wheels (6) are movably connected to two cables (7) respectively. A control box (13) is installed at one end of the positioning frame (14), and the bottom ends of the two first mounting seats (12) are fixedly connected to second support rods (10), and the bottom ends of the second support rods (10) are fixedly connected to universal wheels (11).

3. The outdoor window multi-axis mobile cleaning robot according to claim 1, characterized in that: The driving structure (32) comprises a second mounting seat (321), a first rotating wheel (322), a first gear (323), a first motor (324) and a driving gear (325); two first rotating wheels (322) and two first gears (323) are provided, and the two first rotating wheels (322) are respectively mounted on both sides of the second mounting seat (321); the first gears (323) are respectively fixedly connected to one end of the two first rotating wheels (322); the driving gear (325) is movably connected to one end of the second mounting seat (321); the first motor (324) is mounted on the other end of the second mounting seat (321); and the second mounting seat (321) is fixedly connected to the top of the pad (34).

4. The outdoor window multi-axis mobile cleaning robot according to claim 3, characterized in that: The output end of the first motor (324) is fixedly connected to one end of one of the first gears (323), the two first rotating wheels (322) are respectively sleeved with two cables (7), and the two first gears (323) are respectively meshed and connected to the two ends of the driving gear (325).

5. The outdoor window multi-axis mobile cleaning robot according to claim 1, characterized in that: The adjusting structure (35) comprises a sliding seat (351), a fixed seat (353), a limiting wheel (354), a supporting seat (355), a fixed plate (356), a second rotating wheel (357) and a connecting seat (358); a plurality of pulleys (352) are evenly installed on both sides of the inner wall of the sliding seat (351); the fixed seat (353) is fixedly connected to the top of the sliding seat (351); and the limiting wheel (354) is movably connected to both sides of the inner wall of the fixed seat (353). The support seat (355) is fixedly connected to the bottom end of the inner wall of the fixed seat (353), two fixed plates (356) are provided, and the two fixed plates (356) are fixedly connected to one end of the slide seat (351), the second rotating wheel (357) is movably connected between the two fixed plates (356), the connecting seat (358) is fixedly connected to one end of the two fixed plates (356), and the slide seat (351) is movably connected to the outer surface of the displacement rod (31).

6. The outdoor window multi-axis mobile cleaning robot according to claim 5, characterized in that: The limiting wheel (354), the supporting seat (355) and the second rotating wheel (357) are all movably connected to the cable (7) through interlacing, and one side of the bottom end of the supporting seat (355) is fixedly connected to the top end of the connecting seat (358).

7. The outdoor window multi-axis mobile cleaning robot according to claim 5, characterized in that: The sliding seat (351) is mounted on one end of the first mounting seat (12), and the pulleys (352) are movably inserted and connected in the limiting grooves (33).

8. The outdoor window multi-axis mobile cleaning robot according to claim 2, characterized in that: The bottom ends of the universal wheels (11) are located at the same horizontal plane as the bottom end of the positioning frame (14).

9. The outdoor window multi-axis mobile cleaning robot according to claim 1, characterized in that: The positioning frame (14) comprises a connecting plate (141), a second gear (142), a chain (143), a second motor (144) and a bracket (145); two second gears (142) and two brackets (145) are provided, and the two second gears (142) are respectively movably connected to the two sides of one end of the connecting plate (141); the chain (143) is sleeved on the outer surfaces of the two second gears (142); the second motor (144) is installed at the other end of the connecting plate (141); the two brackets (145) are respectively installed at the two sides of one end of the connecting plate (141); and the connecting plate (141) is fixedly connected to the bottom end of the support plate (1).

10. The outdoor window multi-axis mobile cleaning robot according to claim 9, characterized in that: The output end of the second motor (144) passes through one end of the connecting plate (141) and is fixedly connected to one of the second gears (142); the second gears (142) are meshedly connected to the chain (143); the top end of the chain (143) is fixedly connected to the bottom end of the slider (4).

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