Mooring type high-pressure six-axis curtain wall cleaning unmanned aerial vehicle

Abstract

The invention discloses a mooring type high-pressure six-axis curtain wall cleaning unmanned aerial vehicle, and belongs to the technical field of curtain wall cleaning equipment. The water storage bin is vertically mounted below the center of the six-axis unmanned aerial vehicle, and a transfer pipe is mounted below the water storage bin; the high-definition camera is mounted above the fuselage of the six-axis unmanned aerial vehicle; the flushing device is fixed below the fuselage of the six-axis unmanned aerial vehicle, and the flushing device is communicated with the water storage bin; the atomizing and foam throwing unit is installed below the six-axis unmanned aerial vehicle and located on one side of the water storage bin, and an integrated water bin is fixed to one side of the flushing device; a six-axis unmanned aerial vehicle is adopted as the main rack layout, the atomization foam throwing angle can be automatically adjusted through the mainly-arranged atomization foam throwing unit, a foam water agent is evenly sprayed in a large area or centrifugally thrown out in a high-strength mode through a foam throwing disc, and stains on the surface of a curtain wall are flushed; the flushing device can linearly spray out high-pressure water through an alloy direct spray rod, and the efficient cleaning effect on the curtain wall is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of curtain wall cleaning equipment, and specifically relates to a tethered high-pressure six-axis curtain wall cleaning drone. Background Art

[0002] A glass curtain wall is a lightweight wall on the periphery of a building with a protective and decorative effect. The glass curtain wall is not only beautiful in appearance but also convenient for lighting and energy saving. After being used for a period of time, the glass curtain wall will be affected by dust, rain, etc., and will generate dirt, affecting its beauty; traditional curtain wall cleaning relies on high-altitude hanging baskets or spider man operations, which have safety hazards, low efficiency and are restricted by the weather; In the existing technology of drone cleaning, such as the invention patent with the publication number of CN119174561A, it uses a cleaning cotton and a water scraping cotton to be in contact with the curtain wall at the same time, so as to clean the sprayed curtain wall from top to bottom through the rotating cleaning cotton. However, due to the certain curvature and concave-convex decoration of the glass curtain wall, the surface adaptability of the cleaning cotton is poor, and this cleaning method can only remove the surface floating dust, and is ineffective for stubborn stains such as oxide layers and solidified bird droppings, and the cleaning effect is average; secondly, the reaction force generated by the contact between the cleaning cotton and the curtain wall is likely to cause the unstable pose of the drone.

[0003] Therefore, it is necessary to provide a tethered high-pressure six-axis curtain wall cleaning drone to solve the problems raised in the above background art. Summary of the Invention

[0004] To achieve the above object, the present invention provides the following technical solution: A tethered high-pressure six-axis curtain wall cleaning drone, which includes: a six-axis drone, with spring landing gears symmetrically installed below it; a water storage tank, vertically installed below the center of the six-axis drone, a transfer pipe is installed below the water storage tank, and a water delivery belt is connected to the lower end of the transfer pipe; a high-definition camera, installed above the fuselage of the six-axis drone; a flushing device, fixed below the fuselage of the six-axis drone, and the flushing device is connected to the water storage tank; an atomizing and foaming unit, installed below the six-axis drone and on one side of the water storage tank, an integrated water tank is fixed on one side of the flushing device, and the atomizing and foaming unit is connected to the integrated water tank, and is used to spray foam water agent on the surface of the curtain wall.

[0005] Preferably, the flushing device includes: a flange plate, which is horizontally arranged below the fuselage of the six-axis drone, and connecting rods are vertically fixed at the four corners of the flange plate, and the upper ends of the connecting rods are fixed to the six-axis drone; an internal pump, fixed on the upper end surface of the flange plate, a pressure-resistant pipe is vertically connected in the flange plate, the lower end of the pressure-resistant pipe extends into and is connected to the water storage tank, and its upper end is communicated with the water inlet end of the internal pump; an alloy direct injection rod, which is obliquely arranged below the fuselage of the six-axis drone, and one end of the alloy direct injection rod is connected to the water discharge end of the internal pump through a universal pipe.

[0006] Preferably, a water inlet pipe is vertically arranged below the integrated water tank, the other end of the water inlet pipe is connected to the water storage tank, a water supply pump is fixed on one side of the six-axis drone where the flushing device is located, the water supply pump is serially fixed between the water inlet pipe and the integrated water tank, and a drain pipe is fixed in the integrated water tank. The lower end of the drain pipe is connected to the drain outlet of the water supply pump; a detergent dispensing device is fixed on one side of the integrated water tank away from the drain pipe; a corrugated pipe is arranged below the integrated water tank, the upper end of the corrugated pipe is connected to the integrated water tank through a centrifugal pump, and the lower end thereof is connected to the atomizing and foaming unit.

[0007] Preferably, the atomizing and foaming unit includes: a fixing frame vertically connected to the lower end face of the integrated water tank, and the fixing frame is set to be an L-shaped structure; a hood rotatably connected to one side of the fixing frame, a telescopic guide rod is horizontally hinged on the fixing frame, and the output end of the telescopic guide rod is connected to the hood; a water guide seat, which is a plurality of arranged in a row, and each water guide seat is horizontally fixed in the hood; a main shaft, which is two symmetrically arranged left and right, and the two main shafts are vertically rotatably connected to the hood through bearings; a foaming disc, which is evenly distributed along the axial direction of the main shaft, and the foaming disc is arranged in one-to-one correspondence with the water guide seat.

[0008] Preferably, a first bevel gear is fixed on the lower end face of each main shaft, a coupling is horizontally rotatably connected to the lower end face of the hood, and both ends of the coupling are meshed and driven with each first bevel gear through bevel gears; a driving part is fixed on the lower end face of the hood, and the output end of the driving part is connected to one of the main shafts through a transmission belt.

[0009] Preferably, two vertically arranged liquid guide channels are distributed left and right in the hood, and a liquid supply cavity is formed in each water guide seat. Both liquid guide channels are connected to the liquid supply cavity through channel openings; a plurality of direct current channels are arranged in an arc in the water guide seat, and each direct current channel is connected to the liquid supply cavity; a number of sub-holes are formed in the direct current channel, and each sub-hole is arranged opposite to each foaming disc.

[0010] Preferably, the liquid supply cavity is set to be an arc-shaped structure and is concentric with the main shaft, and the sub-holes of each direct current channel are equidistantly distributed along the radial direction of the main shaft; a conduit is also slidably arranged in the direct current channel through a limiting spring, and a section hole is formed in the conduit.

[0011] Preferably, the frothing plate is composed of a combination of a plurality of circumferentially distributed blades, each of the blades is rotatably connected to the main shaft via a rotating shaft; an inner shaft is coaxially rotatably connected within the main shaft, a plurality of bevel gear plates are distributed on the inner shaft, and the bevel gear plates are connected to the blades for transmission via bevel gears fixed on each of the blades; a shaft sleeve is slidably connected below the main shaft, an inner arc groove is provided on the side wall of the shaft sleeve, and an axle pin is fixed on the inner shaft, and the axle pin is slidably connected to the inner arc groove.

[0012] Preferably, there is a positioning seat under the hood, and a sliding plate is slidably connected to the positioning seat, and the lower end of the sleeve is rotatably connected to the sliding plate; a top shaft is rotatably connected to the positioning seat, one end of the top shaft is in abutment contact with the sliding plate, and a pulse cylinder is hinged on the positioning seat, and the output end of the pulse cylinder is connected to the other end of the top shaft.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: a six-axis UAV is used as the main frame layout in the present invention, which has a higher load capacity and stability, wherein the UAV curtain wall cleaning adopts a water retention method to transport ground water to the water storage tank, and the atomizing foaming unit mainly arranged therein can automatically adjust the atomizing foaming angle according to the stains on the curtain wall surface, and by controlling the pumping pressure of the centrifugal pump, the sub-holes at different diameter positions above the foaming plate are connected with the node holes, so that the node holes close to or far from the center position of the foaming plate can spray the foam water agent on the surface of the foaming plate, so that the foam water agent is evenly sprayed over a large area or centrifugally thrown out with high intensity through the foaming plate, so as to form a targeted flushing of the stains on the curtain wall surface; the flushing device also arranged can spray high-pressure water in a straight line through the alloy direct spray rod, so as to facilitate the final cleaning of the curtain wall surface, thereby achieving an efficient cleaning effect of the curtain wall without direct contact with the curtain wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the flushing device in the present invention; Figure 3 It is a structural schematic diagram of the integrated water tank in the present invention; Figure 4 It is a structural schematic diagram of the atomizing and foaming unit in the present invention; Figure 5 It is a bottom view structural schematic diagram of the hood in the present invention; Figure 6 It is a schematic diagram of the structure of the liquid guide channel and the positioning seat in the present invention; Figure 7 It is a schematic diagram of the structural distribution of the liquid delivery cavity in the present invention; Figure 8 for Figure 6Schematic enlarged view of the structure at A in the [original context, not specified in the question, might be a Chinese term for a particular area]; In the figure: 1. Six-axis drone; 11. Spring landing gear; 12. Water storage tank; 13. Water delivery hose; 14. High-definition camera; 2. Flushing device; 21. Flange; 22. Connecting rod; 23. Built-in pump; 24. Alloy direct injection rod; 3. Integrated water tank; 31. Inlet pipe; 32. Water delivery pump; 33. Detergent dosing device; 34. Drain pipe; 35. Bellows; 36. Centrifugal pump; 4. Atomizing and foaming unit; 41. Fixed frame; 42. Hood; 43. Telescopic guide rod; 44. Water guide seat; 45. Liquid guide channel; 46. Liquid delivery chamber; 47. Channel opening; 5. Main shaft; 51. First bevel gear; 52. Coupling; 53. Driving part; 6. Foaming disc; 61. Inner shaft; 62. Bevel gear disc; 63. Second bevel gear; 64. Bush; 65. Positioning seat; 66. Sliding disc; 67. Pulse cylinder; 7. Direct flow channel; 71. Sub-holes; 72. Conduit; 73. Section holes. Detailed implementation

[0015] Please refer to Figures 1-8 , in the embodiment of the present invention, a tethered high-pressure six-axis curtain wall cleaning drone includes: A six-axis drone 1, with spring landing gears 11 symmetrically installed below it. The spring landing gears 11 are mainly made of alloy, and the key stress-bearing parts are reinforced with carbon fiber (such as T800-grade carbon fiber), reducing the overall weight while ensuring the anti-impact ability (such as landing buffering) (weight reduction of about 30% compared to the all-metal structure); and the present invention selects the six-axis drone 1 as the main frame layout, which has a higher payload and stability compared to the four-axis drone; a water storage tank 12, vertically installed below the center of the six-axis drone 1, directly fixed below the center of gravity of the drone to avoid affecting flight stability due to uneven load. A transfer pipe is installed below the water storage tank 12, and the lower end of the transfer pipe is connected to a water delivery hose 13, which can be docked with a ground high-pressure pump; for example, when operating at an altitude of 200 meters, the ground high-pressure pump continuously supplies water to the water storage tank 12 through the water delivery hose 13, and the single-operation time is not limited by the water tank capacity; a high-definition camera 14, installed above the fuselage of the six-axis drone 1, capable of identifying and obtaining the stain images on the curtain wall surface, which can be roughly classified into stain types such as dust, oil film, and bird droppings; a flushing device 2, fixed below the fuselage of the six-axis drone 1, and the flushing device 2 is connected to the water storage tank 12; an atomizing and foaming unit 4, installed below the six-axis drone 1 and on one side of the water storage tank 12. An integrated water tank 3 is fixed on one side of the flushing device 2, and the atomizing and foaming unit 4 is connected to the integrated water tank 3, used for spraying foam water agent on the curtain wall surface, and the atomizing and foaming unit 4 can be adjusted in real time according to the stain type to achieve wide-area coverage or high-pressure flushing of the curtain wall surface.

[0016] In this embodiment, the flushing device 2 includes: a flange 21, which is horizontally arranged under the fuselage of the six-axis drone 1. At the four corner positions of the flange 21, connecting rods 22 are vertically fixed. The upper ends of the connecting rods 22 are fixed to the six-axis drone 1, thus forming a stable installation frame structure; a built-in pump 23, which is fixed on the upper end surface of the flange 21. A pressure-resistant pipe is vertically connected in the flange 21. The lower end of the pressure-resistant pipe extends into and is connected to the water storage tank 12, and its upper end is communicated with the water inlet end of the built-in pump 23. The built-in pump 23 can pump the clear water in the water storage tank 12 under high pressure through the pressure-resistant pipe; an alloy direct injection rod 24, which is obliquely arranged under the fuselage of the six-axis drone 1. One end of the alloy direct injection rod 24 is connected to the drainage end of the built-in pump 23 through a universal pipe. The water column ejected from the nozzle of the alloy direct injection rod 24 is parallel to the axis of the alloy direct injection rod 24, forming a concentrated water column without diffusion to enhance the cleaning pressure.

[0017] As a preferred embodiment, a water inlet pipe 31 is vertically arranged under the integrated water tank 3. The other end of the water inlet pipe 31 is connected to the water storage tank 12. A water supply pump 32 is fixed on the six-axis drone 1 on one side of the flushing device 2. The water supply pump 32 is serially fixed between the water inlet pipe 31 and the integrated water tank 3. A drain pipe 34 is fixed in the integrated water tank 3. The lower end of the drain pipe 34 is connected to the drainage port of the water supply pump 32, so that a part of the clear water in the water storage tank 12 is transported to the integrated water tank 3 through the water supply pump 32; a detergent dispensing device 33 is fixed on one side of the integrated water tank 3 away from the drain pipe 34, which is used to dispense a certain concentration of detergent into the clear water in the integrated water tank 3; a corrugated pipe 35 is arranged under the integrated water tank 3. The upper end of the corrugated pipe 35 is connected to the integrated water tank 3 through a centrifugal pump 36, and its lower end is connected to the atomizing and foaming unit 4. That is to say, when cleaning the curtain wall, the six-axis drone 1 can hover near the wall, and the distance between it and the curtain wall is approximately 0.8 m. Then, the atomizing and foaming unit 4 under the six-axis drone 1 horizontally sprays the foam water agent along the surface of the curtain wall when the six-axis drone 1 is flying horizontally. When reaching the edge position of the curtain wall, the six-axis drone 1 descends a certain height and flies in the reverse direction, thus forming a snake-shaped flight trajectory. During this process, the flushing device 2 synchronously flushes the foam water agent sprayed on the surface of the curtain wall, so as to realize the surface cleaning of the curtain wall.

[0018] In this embodiment, the atomizing and foaming unit 4 includes: a fixing frame 41 vertically connected to the lower end surface of the integrated water tank 3, and the fixing frame 41 is arranged in an L-shaped structure; a hood 42 rotatably connected to one side of the fixing frame 41, a telescopic guide rod 43 is horizontally hinged on the fixing frame 41, and the output end of the telescopic guide rod 43 is connected to the hood 42; wherein, the fixing frame 41 is cast from magnesium alloy, the hood 42 is a carbon fiber honeycomb sandwich structure with a total weight < 3.5 kg. When the telescopic guide rod 43 is adjusted in terms of extension and retraction, it can dynamically adjust the installation angle of the hood 42 so that the hood 42 is set to be inclined or horizontal. On the one hand, it can effectively change the vertical spraying distance between the atomizing and foaming unit 4 and the flushing device 2, extend the surface retention time of the foam aqueous agent, and the dissolution rate of the oxide layer is increased by 40%. On the other hand, it can clean the gaps between the curtain walls at an oblique angle (which can be adapted to special-shaped structures such as horizontal decorative strips and hollow grids), solving the stain dead corners that cannot be handled in traditional vertical spraying; water guide seats 44 are arranged in a plurality, and each of the water guide seats 44 is horizontally fixed in the hood 42; main shafts 5 are two symmetrically arranged left and right, and the two main shafts 5 are vertically rotatably connected to the hood 42 through bearings; foaming discs 6 are evenly distributed along the axial direction of the main shaft, and the foaming discs 6 are arranged in one-to-one correspondence with the water guide seats 44. The foaming discs 6 can centrifugally spray the foam aqueous agent on their surfaces onto the curtain wall surface during rotational motion.

[0019] In this embodiment, bevel gears one 51 are fixed to the lower end surfaces of the main shafts 5, a coupling 52 is horizontally rotatably connected to the lower end surface of the hood 42, and both ends of the coupling 52 are meshed and driven with the bevel gears one 51 through bevel gears; thus, during the rotation of the coupling 52, the two foaming discs 6 distributed left and right can rotate in opposite directions so that the foam aqueous agent can be centrifugally sprayed from the gap between the two foaming discs 6; a driving part 53 is fixed to the lower end surface of the hood 42, and the output end of the driving part 53 is connected to one of the main shafts 5 through a transmission belt.

[0020] In this embodiment, two vertically arranged liquid guide channels 45 are distributed left and right inside the hood 42, and a liquid delivery cavity 46 is formed in each water guide base 44. The two liquid guide channels 45 are both connected to the liquid delivery cavity 46 through a channel port 47. A plurality of direct current channels 7 are arranged in an arc distribution inside the water guide base 44, and each direct current channel 7 is connected to the liquid delivery cavity 46. A number of sub-holes 71 are formed in the direct current channel 7, and each sub-hole 71 is arranged opposite to each foam throwing disc 6. Specifically, the centrifugal pump 36 pumps the foam water agent into the two liquid guide channels 45. At this time, the foam water agent can flow into the liquid delivery cavity 46 of each water guide base 44 through each channel port 47, and then is vertically sprayed downward through the sub-holes 71 in each direct current channel 7 in the liquid delivery cavity 46 and distributed on the surface of the foam throwing disc 6. The foam throwing disc 6 centrifugally throws it out at high speed. Such a setting can improve the spraying range of the foam water agent compared with the traditional spray pipe, and the high-foam water centrifugally thrown out has a high initial velocity and strong wind resistance, reducing the consumption of high-pressure water and further improving the comprehensive cleaning efficiency.

[0021] As a preferred embodiment, the liquid delivery cavity 46 is arranged in an arc structure and is concentric with the main shaft 5, and the sub-holes 71 of each direct current channel 7 are equidistantly distributed along the radial direction of the main shaft 5. A conduit 72 is slidably arranged in the direct current channel 7 through a limiting spring, and a section hole 73 is formed in the conduit 72. It should be noted that without external force, the section hole 73 on the conduit 72 is staggered from the sub-hole 71, and at this time each direct current channel 7 is in a sealed state. When the foam water agent is gradually fed into each liquid delivery cavity 46 through the centrifugal pump 36, the conduit 72 can slide radially gradually as the water pressure increases, so that the section hole 73 is docked with the sub-hole 71, so that the foam water agent can be sprayed on the surface of the foam throwing disc 6 through the sub-hole 71. As the pumping pressure of the foam water agent increases, the section hole 73 is docked with the sub-hole 71 near the center of the circle. At this time, the foam water agent is distributed around the center of the foam throwing disc 6 (near the center of the circle). The water flow needs to move from near the center of the circle to the edge, and the path is long. During this process, as the radius increases, the centrifugal force gradually increases, and the water flow is continuously accelerated, but the overall diffusion speed is slow, thus forming a relatively wide diffusion zone, covering a large area, but the impact force per unit area is small (due to the low speed), resulting in a weak flushing intensity for the curtain wall. Therefore, during the operation of the atomizing foam throwing unit 4, specifically adjust the pumping pressure of the foam water agent according to the type of stain. When the pumping pressure of the foam water agent is small, the foam water agent is distributed at the edge position (far from the center of the circle) of the foam throwing disc 6. At this time, the path is short, and due to the large centrifugal force, it is quickly thrown outward, and the diffusion range is relatively concentrated, mainly acting on the outer area of the disc surface of the foam throwing disc 6, with a stronger impact force and a greater momentum per unit area, significantly improving the flushing intensity for the curtain wall.

[0022] In this embodiment, the foam-spraying disc 6 is composed of a combination of a number of leaf plates distributed in a circumferential manner. Each of the leaf plates is rotatably connected to the main shaft 5 through a rotating shaft. An inner shaft 61 is rotatably connected coaxially inside the main shaft 5. A plurality of bevel gear discs 62 are distributed on the inner shaft 61. The bevel gear discs 62 are connected and driven to the leaf plates through bevel gears II 63 fixed on each of the leaf plates. A shaft sleeve 64 is slidably connected below the main shaft 5. An inner arc groove is formed on the side wall of the shaft sleeve 64, and a shaft pin is fixed on the inner shaft 61. The shaft pin is slidably connected to the inner arc groove. It should be noted that the shaft sleeve 64 only makes a vertical sliding movement axially relative to the main shaft 5. Therefore, it rotates synchronously with the main shaft 5. When the shaft sleeve 64 slides up and down for adjustment, it can drive the inner shaft 61 to deflect circumferentially through the sliding action of the shaft pin and the inner arc groove, so as to dynamically change the installation angle of the leaf plates under the meshing drive of the bevel gear discs 62 and the bevel gears II 63.

[0023] There is a positioning seat 65 below the machine cover 42. A sliding disc 66 is slidably connected to the positioning seat 65. The lower end of the shaft sleeve 64 is rotatably connected to the sliding disc 66. A top shaft is rotatably connected to the positioning seat 65. One end of the top shaft abuts against the sliding disc 66. A pulse cylinder 67 is hinged on the positioning seat 65. The output end of the pulse cylinder 67 is connected to the other end of the top shaft. In particular, during continuous operation, the pulse cylinder 67 drives the sliding disc 66 to slide axially back and forth at a high frequency through the top shaft. At this time, the shaft sleeve 64 slides synchronously, causing the leaf plates in the foam-spraying disc 6 to deflect quickly, further enabling the foam water agent on the surface of the foam-spraying disc 6 to be efficiently diffused, further enhancing the atomization effect, and saving the consumption of the foam water agent.

[0024] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A tethered high-pressure six-axis curtain wall cleaning drone, characterized in that: It includes: A six-axis drone (1) having spring landing gear (11) symmetrically mounted below the drone; A water storage tank (12) is vertically mounted below the center of the six-axis drone (1), a transfer tube is mounted below the water storage tank (12), and a water supply belt (13) is connected to the lower end of the transfer tube; A high-definition camera (14) mounted above the fuselage of the six-axis drone (1); A flushing device (2) is fixed below the fuselage of the six-axis drone (1), and the flushing device (2) is connected to the water storage tank (12); The atomizing and spraying unit (4) is installed below the six-axis drone (1) and is located on one side of the water storage tank (12). An integrated water tank (3) is fixed to one side of the flushing device (2). The atomizing and spraying unit (4) is connected to the integrated water tank (3) and is used to spray the foam water agent onto the surface of the curtain wall.

2. A tethered high-pressure six-axis curtain wall cleaning drone according to claim 1, characterized in that: The flushing device (2) comprises: A flange (21) is horizontally arranged below the fuselage of the six-axis drone (1), and connecting rods (22) are vertically fixed at the four corners of the flange (21), and the upper ends of the connecting rods (22) are fixed to the six-axis drone (1); A built-in pump (23) is fixed to the upper end surface of the flange (21), a pressure-resistant pipe is vertically connected to the flange (21), the lower end of the pressure-resistant pipe extends into and is connected to the water storage tank (12), and the upper end thereof is in communication with the water inlet end of the built-in pump (23); An alloy direct spray rod (24) is obliquely arranged below the fuselage of the six-axis UAV (1), and one end of the alloy direct spray rod (24) is connected to the drainage end of the built-in pump (23) via a universal pipe.

3. The tethered high-pressure six-axis curtain wall cleaning drone according to claim 1, characterized in that: A water inlet pipe (31) is vertically arranged below the integrated water tank (3), the other end of the water inlet pipe (31) is connected to the water storage tank (12), a water pump (32) is fixed on one side of the flushing device (2) on the six-axis drone (1), the water pump (32) is fixed in series between the water inlet pipe (31) and the integrated water tank (3), and a drain pipe (34) is fixed in the integrated water tank (3), the lower end of the drain pipe (34) is connected to the drain outlet of the water pump (32); A detergent dispensing device (33) is fixed on a side of the integrated water tank (3) away from the discharge pipe (34); a bellows (35) is provided below the integrated water tank (3); the upper end of the bellows (35) is connected to the integrated water tank (3) via a centrifugal pump (36), and the lower end is connected to the atomizing and foaming unit (4).

4. The tethered high-pressure six-axis curtain wall cleaning drone according to claim 1, characterized in that: The atomizing and foaming unit (4) comprises: A fixing frame (41) vertically connected to the lower end surface of the integrated water tank (3), wherein the fixing frame (41) is configured as an L-shaped structure; A machine cover (42) is rotatably connected to one side of the fixing frame (41); a telescopic guide rod (43) is horizontally hinged on the fixing frame (41); and an output end of the telescopic guide rod (43) is connected to the machine cover (42); A plurality of water guide seats (44) are arranged in an array, and each of the water guide seats (44) is horizontally fixed in the hood (42); Two main shafts (5) are symmetrically arranged on the left and right, and the two main shafts (5) are vertically rotatably connected to the hood (42) via bearings; The frothing plates (6) are evenly distributed along the axial direction of the main shaft, and the frothing plates (6) are arranged in one-to-one correspondence with the water guide seats (44).

5. The tethered high-pressure six-axis curtain wall cleaning drone according to claim 4, characterized in that: The lower end surface of the main shaft (5) is fixed with a bevel gear (51), the lower end surface of the hood (42) is horizontally rotatably connected with a coupling shaft (52), and both ends of the coupling shaft (52) are meshed with the bevel gears (51) through bevel gears for transmission; A driving part (53) is fixed to the lower end surface of the hood (42), and an output end of the driving part (53) is connected to one of the main shafts (5) via a transmission belt.

6. The tethered high-pressure six-axis curtain wall cleaning drone according to claim 4, characterized in that: Two vertically arranged liquid guide channels (45) are distributed on the left and right sides of the hood (42), and each of the water guide seats (44) is provided with a liquid delivery cavity (46), and the two liquid guide channels (45) are connected to the liquid delivery cavity (46) through a channel opening (47); A plurality of straight flow channels (7) are arranged in an arc shape in the water guide seat (44), and each of the straight flow channels (7) is connected to the liquid delivery chamber (46); a plurality of branch holes (71) are provided in the straight flow channel (7), and each of the branch holes (71) is distributed opposite to each of the foaming plates (6).

7. The tethered high-pressure six-axis curtain wall cleaning drone according to claim 6, characterized in that: The liquid delivery chamber (46) is configured as an arc-shaped structure and is cocentrically distributed with the main axis (5), and the sub-holes (71) of each of the direct flow channels (7) are equidistantly distributed along the radial direction of the main axis (5); A guide tube (72) is also slidably arranged in the direct current channel (7) via a limit spring, and a node hole (73) is provided in the guide tube (72).

8. The tethered high-pressure six-axis curtain wall cleaning drone according to claim 4, characterized in that: The frothing plate (6) is composed of a plurality of circumferentially distributed blades, each of which is rotationally connected to the main shaft (5) via a rotating shaft; an inner shaft (61) is coaxially rotatably connected to the main shaft (5), and a plurality of bevel gear plates (62) are distributed on the inner shaft (61); the bevel gear plates (62) are connected to the blades for transmission via bevel gears (63) fixed to each of the blades; A shaft sleeve (64) is slidably connected below the main shaft (5), an inner arc groove is provided on the side wall of the shaft sleeve (64), and a shaft pin is fixed on the inner shaft (61), and the shaft pin is slidably connected to the inner arc groove.

9. The tethered high-pressure six-axis curtain wall cleaning drone according to claim 8, characterized in that: A positioning seat (65) is provided below the hood (42), a sliding plate (66) is slidably connected to the positioning seat (65), and the lower end of the shaft sleeve (64) is rotatably connected to the sliding plate (66); A top shaft is rotatably connected to the positioning seat (65), one end of the top shaft is in contact with the sliding plate (66), and a pulse cylinder (67) is hingedly connected to the positioning seat (65), the output end of the pulse cylinder (67) is connected to the other end of the top shaft.

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