Four-foot type adsorption curtain wall cleaning robot

Abstract

The invention discloses a four-foot type adsorption curtain wall cleaning robot which comprises a robot body, a walking device, a rotary cleaning device, a water scraping device and a water absorbing device. The device is fixed or moved on the curtain wall through the mechanical legs and the vacuum suction cups, and the four-foot type structure is high in flexibility and suitable for various curtain walls; the device integrates the functions of spraying, rotary cleaning, water scraping and water absorption, is comprehensive in function, and can replace manual cleaning.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent robots, and particularly relates to a quadruped adsorption curtain wall cleaning robot. Background Art

[0002] Glass curtain walls are widely used in urban high-rise office buildings due to their light weight, fast installation, convenient maintenance, good artistic appearance, excellent heat insulation and other properties. This has also led to the heavy work of cleaning glass curtain walls. At present, most glass curtain walls are cleaned manually. This method must use transportation tools such as aerial gondolas, hanging boards, and elevators. This not only increases the cost of cleaning work, but also greatly increases the working difficulty and danger of cleaning personnel, and the efficiency is low. Existing technologies have also emerged for cleaning using robots. The robot is adsorbed on the surface of the glass curtain wall through an adsorption device. However, for example, this robot cannot be applied to the cleaning of curtain walls with frames, and has poor flexibility and limited use. Therefore, it is very necessary to develop a quadruped adsorption curtain wall cleaning robot with high flexibility and strong adaptability. Summary of the Invention

[0003] To solve the above technical problems, the purpose of the present invention is to provide a quadruped adsorption curtain wall cleaning robot. The quadruped adsorption structure has strong flexibility, is suitable for various curtain walls, and can quickly and efficiently complete the cleaning work of the curtain walls of high-rise buildings.

[0004] The purpose of the present invention is achieved as follows. It includes a fuselage, a walking device, a rotary cleaning device, a water scraping device, and a water absorption device. A control device, a water tank, a cleaning device drive motor, and a gear set support are provided inside the fuselage. A gear set is provided on the gear set support. A mist spray head is provided at the front of the fuselage. The mist spray head is connected to a water pump in the water tank through a pipeline. The rotary cleaning device, the water scraping device, and the water absorption device are sequentially arranged at the bottom of the fuselage from front to back. The cleaning device drive motor is connected to the rotary cleaning device through a gear set; The walking device includes a base, mechanical legs, a mechanical leg rotation drive motor, a suction cup foot mounting bracket, an air extraction pump, and suction cups. A mechanical leg rotation drive motor is provided on the base. The suction cup foot mounting bracket is a Y-shaped bracket. One end of the mechanical leg is connected to the mechanical leg rotation drive motor, and the other end is connected to the suction cup foot mounting bracket. The air extraction pump is provided above the center of the suction cup foot mounting bracket. Suction cups are respectively provided at the three end portions of the suction cup foot mounting bracket. The air extraction pump is connected to the suction cups through air pipes; There are four walking devices, which are respectively located at the upper edge of the fuselage. The base of the walking device is fixedly connected to the fuselage; The control device is electrically connected to the cleaning device drive motor, the water pump, the mechanical leg rotation drive motor, and the air extraction pump respectively.

[0005] Among them, the water tank is usually filled with cleaning liquid. Under the action of the water pump, the cleaning liquid is sprayed out through pipelines and atomizing nozzles. The atomizing nozzles can be specifically inclined to facilitate spraying on the curtain wall.

[0006] It should be noted that: The control device can use common controllers in the field, such as PLC controllers, various development boards, etc. The control device controls the start and stop of the driving motors of the cleaning device, the water pump, the rotating driving motor of the mechanical leg, and the air extraction pump; specifically, the control device can integrate a wireless communication module, and manual operation can be carried out through a remote control device to remotely control the start and stop of each component; an automatic walking route can also be designed for automatic cleaning; cameras, infrared sensors and other vision devices can also be set on the body to identify the curtain wall, and existing conventional vision recognition technologies can be used to process the vision data and automatically execute the cleaning task; these control processes can be realized by using well-known technologies in the field. For example, in the prior art, components such as cameras, infrared sensors, and lidar are started to scan the surface of the curtain wall. An initial scene is generated through an image recognition algorithm, and which areas need to be cleaned are identified. The central controller controls the walking device to start, moves the robot to the area to be cleaned, and performs cleaning; as the robot moves, the vision components update the scene map; when an obstacle is detected, it can move in a "Z" - shaped path to avoid the obstacle, and the minimum obstacle avoidance distance is 10 cm.

[0007] It should be noted that: Pressure sensors common in the field can be set on the suction cups of the walking device to detect the adsorption force of the suction cups. When the adsorption force of a single suction cup ≤ 50 N and lasts for 0.5 seconds, a failure is determined. The adsorption force of the remaining suction cups is increased, and the failure information is transmitted outward through the wireless communication module so that the staff can know in time. These control and judgment processes all use conventional technologies in the field.

[0008] Preferably, the mechanical leg includes a hip base, a thigh link, a calf link, a foot connector, a hip joint drive motor, a knee joint drive motor, a planetary reducer, a rocker, a first link, a second link, a third link, and a hinged tripod. The hip joint drive motor and the knee joint drive motor are respectively arranged on both sides of the hip base. One end of the thigh link is connected to the output shaft of the hip joint drive motor through a coupling, and the hip joint drive motor drives the thigh link to rotate. The other end of the thigh link is hinged to the rod body of the calf link near the end of the calf link. The other end of the calf link is hinged to the foot connector. The knee joint drive motor is connected to one end of the rocker through a coupling, and the knee joint drive motor drives the rocker to rotate. A hinged tripod is rotatably connected to the hinged part between the thigh link and the calf link. The other two ends of the hinged tripod are respectively hinged to the end of the second link and the end of the third link. The other end of the second link is hinged to the hip base. The other end of the third link is hinged to the foot connector. One end of the first link is hinged to the rocker, and the other end is hinged to the end of the calf link. A planetary reducer is arranged in the base. The output shaft of the mechanical leg rotation drive motor is connected to the output shaft of the planetary reducer through a coupling. The output shaft of the planetary reducer is connected to the center of the bottom of the hip base, so that the mechanical leg rotation drive motor drives the hip base to rotate through the planetary reducer. The foot connector is connected to the suction cup foot mounting bracket. The mechanical leg of the present invention adopts a bionic structure design, realizing the functions of extension and rotation, enabling the suction cup to always perform translational motion without rotating relative to the bottom surface, completing translational lifting and translational lowering actions, with high stability. Especially for scenarios with obstacles, this lifting function can cross the obstacles, further enhancing flexibility.

[0009] Preferably, the rotary cleaning device is two turntables arranged side by side. A brush layer is provided at the bottom of the turntables. The gear set includes a driving gear, a first driven gear, a second driven gear, and a third driven gear. The driving gear is connected to the power output part of the cleaning device drive motor. The first driven gear, the second driven gear, and the third driven gear are all arranged on the gear set bracket. The central rotating shaft of one turntable is connected to the gear shaft of the first driven gear through a coupling, and the central rotating shaft of the other turntable is connected to the gear shaft of the second driven gear through a coupling. The third driven gear meshes with the second driven gear, and both the first driven gear and the third driven gear mesh with the driving gear. The rotary cleaning device adopts a double turntable design, and the double turntables work simultaneously to improve the cleaning effect. The transmission components are located inside the fuselage, with a compact structure and reasonable layout.

[0010] Preferably, the wiper device includes a mounting base, a first spring, and a wiper strip. The mounting base is fixed to the bottom of the fuselage. A first spring is fixedly installed in the bottom slot of the mounting base. The wiper strip is arc-shaped. A convex portion above the middle of the wiper strip is connected to the end of the first spring, and the convex portion is embedded in the slot. A notch is provided in the middle of the wiper strip. The arc-shaped wiper strip can gather the cleaning liquid towards the middle area and then discharge it through the notch, facilitating the subsequent cleaning by the water absorption device.

[0011] Preferably, the water absorption device includes a brush roller, a mounting bracket, mounting bolts, and a second spring. Both ends of the brush roller are connected to the mounting bracket. The second spring is sleeved on the mounting bolts, and the lower end of the second spring is connected to the top of the mounting bracket. The top of the mounting bolts is fixed to the bottom of the fuselage. The brush roller contacts the curtain wall to absorb the cleaning liquid. The brush roller can be made of high-density sponge.

[0012] It should be noted that: The present invention can be provided with a safety rope, which can be tied to an appropriate position of the fuselage. If the robot suddenly falls, it will be towed by the safety rope to avoid falling accidents.

[0013] Advantages of the present invention: 1. The present invention is fixed or moved on the curtain wall through mechanical legs and vacuum suction cups. The four-legged structure has high flexibility and is suitable for various curtain walls. The present invention integrates functions of spraying, rotary cleaning, water wiping, and water absorption, with comprehensive functions and can replace manual cleaning. 2. The present invention drives the rotary cleaning device to work through a transmission gear set to clean the curtain wall. The rotary disc brush rotates and cleans the water stains and stains on the curtain wall glass, while the water wiping strip and the brush roller collect the remaining sewage on the curtain wall, eliminating the need for manual cleaning, realizing the automation of curtain wall cleaning, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a three-dimensional structure schematic diagram of the present invention; Figure 2 is a schematic diagram of the internal structure of the fuselage; Figure 3 is a three-dimensional structure schematic diagram of the walking device; Figure 4 is a three-dimensional structure schematic diagram of the hip base; Figure 5 is a schematic diagram of the structure of the gear set; Figure 6 is a schematic diagram of the structure of the wiper device; Figure 7 is a schematic diagram of the structure of the water absorption device; In the figure: 1 - fuselage, 2 - traveling device, 201 - base, 202a - hip base, 202b - thigh link, 202c - calf link, 202d - foot connecting piece, 202e - hip joint drive motor, 202f - knee joint drive motor, 202g - planetary reducer, 202h - rocker, 202i - first link, 202j - second link, 202k - third link, 202l - articulated tripod, 203 - mechanical leg rotation drive motor, 204 - suction cup foot mounting bracket, 205 - air extraction pump, 206 - suction cup, 3 - rotary cleaning device, 4 - wiper device, 401 - mounting seat, 402 - first spring, 403 - wiper strip, 404 - notch, 5 - water absorption device, 501 - brush roller, 502 - mounting bracket, 503 - mounting bolt, 504 - second spring, 6 - control device, 7 - water tank, 8 - cleaning device drive motor, 9 - gear set bracket, 10 - gear set, 1001 - driving gear, 1002 - first driven gear, 1003 - second driven gear, 1004 - third driven gear, 11 - atomizing nozzle. Specific implementation manner

[0015] The present invention will be further described below in conjunction with embodiments and the accompanying drawings, but the present invention is not limited in any way. Any transformation or replacement based on the teachings of the present invention falls within the protection scope of the present invention.

[0016] Embodiment 1 As shown in the Figures 1 to 3 accompanying drawings, the four-legged adsorption curtain wall cleaning robot in this embodiment includes a fuselage 1, a traveling device 2, a rotary cleaning device 3, a wiper device 4, and a water absorption device 5. A control device 6, a water tank 7, a cleaning device drive motor 8, and a gear set bracket 9 are provided inside the fuselage 1. A gear set 10 is provided on the gear set bracket 9. An atomizing nozzle 11 is provided at the front of the fuselage 1. The atomizing nozzle 11 is connected to a water pump in the water tank 7 through a pipeline (not shown in the figure). The rotary cleaning device 3, the wiper device 4, and the water absorption device 5 are sequentially arranged from front to back at the bottom of the fuselage 1. The cleaning device drive motor 8 is connected to the rotary cleaning device 3 through the gear set 10; The traveling device 2 includes a base 201, mechanical legs, a mechanical leg rotation drive motor 203, a suction cup foot mounting bracket 204, an air extraction pump 205, and suction cups 206. A mechanical leg rotation drive motor 203 is provided on the base 201. The suction cup foot mounting bracket 204 is a Y-shaped bracket. One end of the mechanical leg is connected to the mechanical leg rotation drive motor 203, and the other end is connected to the suction cup foot mounting bracket 204. The air extraction pump 205 is provided above the center of the suction cup foot mounting bracket 204. Suction cups 206 are respectively provided at the three end parts of the suction cup foot mounting bracket 204. The air extraction pump 205 is connected to the suction cups 206 through an air pipe; There are four described walking devices 2, which are respectively located at the upper edge of the fuselage 1, and the base 201 of the walking device 2 is fixedly connected to the fuselage 1; The described control device 6 is electrically connected to the cleaning device drive motor 8, the water pump, the mechanical leg rotation drive motor 203, and the air extraction pump 205 respectively.

[0017] Embodiment 2 As shown in the attached Figure 4 As shown, the quadruped adsorption curtain wall cleaning robot in this embodiment is based on Embodiment 1. The difference from Embodiment 1 is that the mechanical leg includes a hip base 202a, a thigh connecting rod 202b, a calf connecting rod 202c, a foot connecting member 202d, a hip joint drive motor 202e, a knee joint drive motor 202f, a planetary reducer 202g, a rocker 202h, a first connecting rod 202i, a second connecting rod 202j, a third connecting rod 202k, and a hinged tripod 202l. The hip joint drive motor 202e and the knee joint drive motor 202f are respectively arranged on both sides of the hip base 202a. One end of the thigh connecting rod 202b is connected to the output shaft of the hip joint drive motor 202e through a coupling, and the hip joint drive motor 202e drives the thigh connecting rod 202b to rotate. The other end of the thigh connecting rod 202b is hinged to the rod body of the calf connecting rod 202c near the end of the calf connecting rod 202c. The other end of the calf connecting rod 202c is hinged to the foot connecting member 202d. The knee joint drive motor 202f is connected to one end of the rocker 202h through a coupling, and the knee joint drive motor 202f drives the rocker 202h to rotate. A hinged tripod 202l is rotatably connected to the hinge between the thigh connecting rod 202b and the calf connecting rod 202c. The other two ends of the hinged tripod 202l are respectively hinged to the end of the second connecting rod 202j and the end of the third connecting rod 202k. The other end of the second connecting rod 202j is hinged to the hip base 202a. The other end of the third connecting rod 202k is hinged to the foot connecting member 202d. One end of the first connecting rod 202i is hinged to the rocker 202h, and the other end is hinged to the end of the calf connecting rod 202c. The planetary reducer 202g is arranged in the base 201. The output shaft of the mechanical leg rotation drive motor 203 is connected to the output shaft of the planetary reducer 202g through a coupling. The output shaft of the planetary reducer 202g is connected to the center of the bottom of the hip base 202a, so that the mechanical leg rotation drive motor 203 drives the hip base 202a to rotate through the planetary reducer 202g. The foot connecting member 202d is connected to the suction cup foot mounting bracket 204; The working process of the mechanical leg is as follows: The mechanical leg starts in the initial safe position. When it needs to move, the air extraction pump 205 stops working, and the suction cup 206 releases pressure. The hip joint drive motor 202e drives the thigh connecting rod 202b to rotate around the motor shaft, and the knee joint drive motor 202f drives the rocker 202h to rotate. The rocker 202h drives the first connecting rod 202i to move, and the first connecting rod 202i drags the calf connecting rod 202c to rotate around the end of the thigh connecting rod 202b. The foot connecting piece 202d, the third connecting rod 202k, the articulated tripod 202l, and the calf connecting rod 202c form a parallelogram mechanism. The thigh connecting rod 202b, the second connecting rod 202j, the hip base 202a, and the articulated tripod 202l form a parallelogram mechanism. There are a total of two parallelogram mechanisms. The foot connecting piece 202d always makes a parallel movement and does not rotate relative to the bottom surface. The lifting of the foot connecting piece 202d is achieved through the cooperation of the hip joint drive motor 202e and the knee joint drive motor 202f. Subsequently, the mechanical leg rotation drive motor 203 drives the hip base 202a to rotate, rotates the mechanical leg to the target direction, and the hip joint drive motor 202e and the knee joint drive motor 202f cooperate again to extend the mechanical leg, move forward to the next adsorption point, lower the foot connecting piece 202d, the air extraction pump 205 works again, and the suction cup 206 adsorbs to complete a single-step movement. When the four mechanical legs work together, they adopt a triangular gait, that is, three mechanical legs are always in the adsorption and support state, and one mechanical leg performs the above single-step movement. The single-step movement sequence of the mechanical legs is the front left leg, the rear right leg, the front right leg, and the rear left leg. This process is cycled, and the fuselage 1 continuously moves forward. It should be noted that: during the swinging state (lifting and moving forward) of each mechanical leg, the supporting legs in the adsorption state can push the fuselage 1 forward or laterally through actions such as rotating the mechanical leg and adjusting the joint angles. The movement process does not need to wait for all legs to complete the actions, but realizes continuous movement through dynamic balance control.

[0018] Embodiment 3 As shown in the appendix Figure 5As shown in the figure, the quadruped adsorption curtain wall cleaning robot in this embodiment is based on Embodiment 2. The difference from Embodiment 2 is that the rotary cleaning device 3 is two turntables arranged side by side. A brush layer is provided at the bottom of the turntable. The gear set 10 includes a driving gear 1001, a first driven gear 1002, a second driven gear 1003, and a third driven gear 1004. The driving gear 1001 is connected to the power output part of the cleaning device driving motor 8. The first driven gear 1002, the second driven gear 1003, and the third driven gear 1004 are all arranged on the gear set bracket 9. The central rotating shaft of one turntable is connected to the gear shaft of the first driven gear 1002 through a coupling, and the central rotating shaft of the other turntable is connected to the gear shaft of the second driven gear 1003 through a coupling. The third driven gear 1004 meshes with the second driven gear 1003, and both the first driven gear 1002 and the third driven gear 1004 mesh with the driving gear 1001.

[0019] Embodiment 4 As shown in the attached Figure 6 figure, the quadruped adsorption curtain wall cleaning robot in this embodiment is based on Embodiment 3. The difference from Embodiment 3 is that the water scraping device 4 includes a mounting seat 401, a first spring 402, and a scraping strip 403. The mounting seat 401 is fixed to the bottom of the fuselage 1. A first spring 402 is fixedly arranged in the bottom slot of the mounting seat 401. The scraping strip 403 is arc-shaped. The convex part above the middle of the scraping strip 403 is connected to the end of the first spring 402, and the convex part is embedded in the slot. A notch 404 is provided in the middle of the scraping strip 403.

[0020] Embodiment 5 As shown in the attached Figure 7 figure, the quadruped adsorption curtain wall cleaning robot in this embodiment is based on Embodiment 4. The difference from Embodiment 4 is that the water absorption device 5 includes a brush roller 501, a mounting bracket 502, mounting bolts 503, and a second spring 504. Both ends of the brush roller 501 are connected to the mounting bracket 502. The second spring 504 is sleeved on the mounting bolts 503, and the lower end of the second spring 504 is connected to the top of the mounting bracket 502. The top of the mounting bolts 503 is fixed to the bottom of the fuselage 1.

[0021] Working principle and process of the present invention: The mechanical leg rotation drive motor 203 is used to control the rotation of the mechanical leg, and the air pump 205 is used to control the suction cup 206 to adsorb on the curtain wall; during the operation of the walking device 2, three walking devices 2 (i.e., 3 mechanical legs) are always in the adsorption state, and the remaining 1 walking device 2 moves to ensure the adsorption stability; when the walking device 2 moves, first rotate the mechanical leg to the appropriate orientation through the mechanical leg rotation drive motor 203, and then the air pump 205 works, and the corresponding suction cup 206 adsorbs on the glass curtain wall; the mechanical leg has a self-flexing function, and the body 1 moves forward in cooperation, and the rotation drive motor 203 works synchronously during the forward movement of the body 1. When the body 1 moves to the area to be cleaned, the atomizing nozzle 11 sprays the cleaning liquid, and the rotary cleaning device 3 rotates for cleaning. The cleaning liquid gathers and is led out to the notch 404 under the action of the scraping strip 403. The first spring 402 plays a role in pressing the scraping strip 403 against the curtain wall. The brush roller 501 is used to absorb the cleaning water led out from the notch 404 to reduce residues. The second spring 504 plays a role in pressing the brush roller 501 against the curtain wall; it realizes the automation of curtain wall cleaning without manual cleaning, improves work efficiency, and is convenient for people to use.

Claims

1. A four-legged suction curtain wall cleaning robot, comprising a body (1), a walking device (2), a rotating cleaning device (3), a wiper device (4), and a water suction device (5), characterized in that The machine body (1) is provided with a control device (6), a water tank (7), a cleaning device driving motor (8), and a gear set bracket (9); the gear set bracket (9) is provided with a gear set (10); an atomizing nozzle (11) is provided at the front of the machine body (1); the atomizing nozzle (11) is connected to a water pump in the water tank (7) through a pipeline; a rotating cleaning device (3), a wiper device (4), and a water suction device (5) are provided at the bottom of the machine body (1) in order from front to back; the cleaning device driving motor (8) is connected to the rotating cleaning device (3) through the gear set (10); The walking device (2) comprises a base (201), a mechanical leg, a mechanical leg rotation drive motor (203), a suction cup foot mounting bracket (204), an air pump (205), and a suction cup (206); the base (201) is provided with a mechanical leg rotation drive motor (203); the suction cup foot mounting bracket (204) is a Y-shaped bracket; one end of the mechanical leg is connected to the mechanical leg rotation drive motor (203), and the other end is connected to the suction cup foot mounting bracket (204); the air pump (205) is arranged on the center of the suction cup foot mounting bracket (204); suction cups (206) are respectively arranged at the three ends of the suction cup foot mounting bracket (204); and the air pump (205) is connected to the suction cup (206) via an air pipe; There are four walking devices (2), which are respectively located at the upper edge of the fuselage (1), and the base (201) of the walking device (2) is fixedly connected to the fuselage (1); The control device (6) is electrically connected to the cleaning device drive motor (8), the water pump, the mechanical leg rotation drive motor (203), and the air pump (205), respectively.

2. The four-legged adsorption curtain wall cleaning robot according to claim 1 is characterized in that The mechanical leg comprises a hip base (202a), a thigh connecting rod (202b), a calf connecting rod (202c), a foot connecting piece (202d), a hip joint drive motor (202e), a knee joint drive motor (202f), a planetary reducer (202g), a rocker (202h), a first connecting rod (202i), a second connecting rod (202j), a third connecting rod (202k), and an articulated tripod (202l). The hip joint drive motor (202e) and the knee joint drive motor (202f) are respectively arranged on the hip base (202a). ) on both sides, one end of the thigh connecting rod (202b) is connected to the output shaft of the hip joint driving motor (202e) through a coupling, and the hip joint driving motor (202e) drives the thigh connecting rod (202b) to rotate, the other end of the thigh connecting rod (202b) is hinged to the calf connecting rod (202c) rod body near the end of the calf connecting rod (202c), and the other end of the calf connecting rod (202c) is hinged to the foot connecting piece (202d), the knee joint driving motor (202f) is connected to one end of the rocker (202h) through a coupling, and the knee joint driving motor (2 02f) drives the rocker (202h) to rotate, the thigh connecting rod (202b) and the calf connecting rod (202c) are rotatably connected to the hinged portion of the articulated tripod (202l), the other two ends of the articulated tripod (202l) are respectively articulated to the ends of the second connecting rod (202j) and the third connecting rod (202k), the other end of the second connecting rod (202j) is articulated to the hip base (202a), the other end of the third connecting rod (202k) is articulated to the foot connecting piece (202d), one end of the first connecting rod (202i) is articulated to the rocker (202h), and the other end of the third connecting rod (202k) is articulated to the foot connecting piece (202d). One end is hinged to the end of the calf connecting rod (202c); a planetary reducer (202g) is provided in the base (201); the output shaft of the mechanical leg rotation drive motor (203) is connected to the output shaft of the planetary reducer (202g) via a coupling; the output shaft of the planetary reducer (202g) is connected to the bottom center of the hip base (202a), so that the mechanical leg rotation drive motor (203) drives the hip base (202a) to rotate via the planetary reducer (202g); and the foot connector (202d) is connected to the suction cup foot mounting bracket (204).

3. The four-legged adsorption curtain wall cleaning robot according to claim 1 is characterized in that The rotary cleaning device (3) comprises two rotating disks arranged side by side, and a brush layer is provided at the bottom of the rotating disks. The gear set (10) comprises a driving gear (1001), a first driven gear (1002), a second driven gear (1003), and a third driven gear (1004). The driving gear (1001) is connected to the power output part of the cleaning device driving motor (8). The first driven gear (1002), the second driven gear (1003), and the third driven gear (1004) are all arranged on a gear set bracket (9). The central rotating shaft of one of the rotating disks is connected to the gear shaft of the first driven gear (1002) through a coupling, and the central rotating shaft of the other rotating disk is connected to the gear shaft of the second driven gear (1003) through a coupling. The third driven gear (1004) is meshed with the second driven gear (1003), and the first driven gear (1002) and the third driven gear (1004) are both meshed with the driving gear (1001).

4. The four-legged suction curtain wall cleaning robot according to claim 1 is characterized in that The wiper device (4) comprises a mounting seat (401), a first spring (402), and a scraper strip (403); the mounting seat (401) is fixed to the bottom of the fuselage (1); a first spring (402) is fixedly arranged in a slot at the bottom of the mounting seat (401); the scraper strip (403) is arc-shaped; a convex portion above the middle of the scraper strip (403) is connected to an end of the first spring (402), and the convex portion is embedded in the slot; and a notch (404) is arranged in the middle of the scraper strip (403).

5. The four-legged suction curtain wall cleaning robot according to claim 1 is characterized in that The water absorbing device (5) comprises a brush roller (501), a mounting bracket (502), a mounting bolt (503), and a second spring (504); both ends of the brush roller (501) are connected to the mounting bracket (502); the second spring (504) is sleeved on the mounting bolt (503); the lower end of the second spring (504) is connected to the top of the mounting bracket (502); and the top of the mounting bolt (503) is fixed to the bottom of the machine body (1).

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