A moored high-pressure six-axis curtain wall cleaning drone

Abstract

The present invention discloses a moored high-pressure six-axis curtain wall cleaning drone, belonging to the technical field of curtain wall cleaning equipment, which comprises: a six-axis drone; a water storage bin vertically installed below the center of the six-axis drone, with a rotary joint installed below the water storage bin; 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 bin; an atomizing and foaming unit installed below the six-axis drone and on one side of the water storage bin, and an integrated water bin is fixed on one side of the flushing device; using a six-axis drone as the main frame layout, the mainly set atomizing and foaming unit can automatically adjust the atomizing and foaming angle, and evenly spray or strongly centrifugally eject the foam water agent through the foaming disc, forming a flushing of the stains on the curtain wall surface; the flushing device can directly eject high-pressure water through the alloy direct injection rod to achieve an efficient cleaning effect on the curtain wall.

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 unmanned aerial vehicle (UAV). 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 conservation. After being used for a period of time, the glass curtain wall will be affected by dust, rainwater, etc., and dirt will be generated, affecting its beauty. Traditional curtain wall cleaning relies on high-altitude hanging baskets or spider man operations, which have potential safety hazards, low efficiency and are restricted by weather.

[0003] In the prior art of UAV cleaning, for example, in the invention patent with the publication number 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 adaptability of the surface 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 easily causes the unstable pose of the UAV.

[0004] Therefore, it is necessary to provide a tethered high-pressure six-axis curtain wall cleaning UAV to solve the problems raised in the above background art. Summary of the Invention

[0005] To achieve the above object, the present invention provides the following technical solution: A tethered high-pressure six-axis curtain wall cleaning UAV, which includes: a six-axis UAV, with spring landing gears symmetrically installed below it; a water storage tank, vertically installed below the center of the six-axis UAV, a transfer pipe is installed below the water storage tank, and the lower end of the transfer pipe is connected with a water delivery belt; a high-definition camera, installed above the fuselage of the six-axis UAV; a flushing device, fixed below the fuselage of the six-axis UAV, and the flushing device is communicated with the water storage tank; an atomizing and foaming unit, installed below the six-axis UAV 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 communicated with the integrated water tank, and is used for spraying a foam water agent on the surface of the curtain wall.

[0006] Preferably, the flushing device includes: a flange plate horizontally arranged under the fuselage of the hexacopter drone, with connecting rods vertically fixed at the four corners of the flange plate, and the upper ends of the connecting rods are fixed to the hexacopter drone; a built-in pump fixed on the upper end surface of the flange plate, a pressure-resistant pipe vertically connected in the flange plate, the lower end of the pressure-resistant pipe extends into and is connected to the water storage bin, and its upper end is communicated with the water inlet end of the built-in pump; an alloy direct injection rod obliquely arranged under the fuselage of the hexacopter drone, and one end of the alloy direct injection rod is connected to the water discharge end of the built-in pump through a universal pipe.

[0007] Preferably, a water inlet pipe is vertically arranged under the integrated water bin, and the other end of the water inlet pipe is connected to the water storage bin. A water delivery pump is fixed on the hexacopter drone on one side of the flushing device. The water delivery pump is serially fixed between the water inlet pipe and the integrated water bin, and a drain pipe is fixed in the integrated water bin. The lower end of the drain pipe is communicated with the water discharge port of the water delivery pump; a detergent dosing device is fixed on one side of the integrated water bin away from the drain pipe; a corrugated pipe is arranged under the integrated water bin, the upper end of the corrugated pipe is connected to the integrated water bin through a centrifugal pump, and its lower end is connected to the atomizing and foaming unit.

[0008] Preferably, the atomizing and foaming unit includes: a fixing frame vertically connected to the lower end surface of the integrated water bin, and the fixing frame is arranged in 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; water guide seats are arranged in a plurality of arranged forms, and each water guide seat is horizontally fixed in the hood; main shafts are arranged in two symmetrically left and right, and the two main shafts are vertically rotatably connected to the hood through bearings; foaming discs are uniformly distributed along the axial direction of the main shafts, and the foaming discs are arranged in one-to-one correspondence with the water guide seats.

[0009] Preferably, a first bevel gear is fixed on the lower end surface of each main shaft, a coupling is horizontally rotatably connected to the lower end surface 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 surface of the hood, and the output end of the driving part is connected to one of the main shafts through a transmission belt.

[0010] Preferably, two vertically arranged liquid guide channels are distributed left and right in the hood, and a liquid delivery cavity is opened in each water guide seat. Both liquid guide channels are communicated with the liquid delivery 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 communicated with the liquid delivery cavity; a number of branch holes are opened in the direct current channels, and each branch hole is arranged opposite to each foaming disc.

[0011] Preferably, the liquid delivery chamber is arranged as an arc structure and is distributed concentrically with the main axis, and the branch holes of each direct current channel are distributed equidistantly along the radial direction of the main axis; a conduit is also slidably arranged in the direct current channel through a limit spring, and a node hole is opened in the conduit.

[0012] 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.

[0013] 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.

[0014] 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

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a structural schematic diagram of the flushing device in the present invention;

[0017] Figure 3 It is a structural schematic diagram of the integrated water tank in the present invention;

[0018] Figure 4 It is a structural schematic diagram of the atomizing and foaming unit in the present invention;

[0019] Figure 5 The schematic upward view structure of the hood in the present invention;

[0020] Figure 6 The schematic structure diagram of the liquid guiding channel and the positioning seat in the present invention;

[0021] Figure 7 The schematic distribution diagram of the liquid delivery cavity structure in the present invention;

[0022] Figure 8 is Figure 6 The enlarged schematic diagram of the structure at A in

[0023] In the figure: 1. Six-axis UAV; 11. Spring landing gear; 12. Water storage bin; 13. Water delivery belt; 14. High-definition camera; 2. Flushing device; 21. Flange; 22. Connecting rod; 23. Built-in pump; 24. Alloy direct injection rod; 3. Integrated water bin; 31. Water 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 guiding seat; 45. Liquid guiding channel; 46. Liquid delivery cavity; 47. Channel port; 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. DC channel; 71. Split hole; 72. Duct; 73. Joint hole. Detailed implementation mode

[0024] Please refer to Figures 1-8 , in the embodiment of the present invention, a tethered high-pressure six-axis curtain wall cleaning UAV, which includes:

[0025] 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 impact resistance (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 belt 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 belt 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.

[0026] In this embodiment, the flushing device 2 includes: a flange plate 21, which is horizontally arranged below the fuselage of the six-axis drone 1. Four corner positions of the flange plate 21 are vertically fixed with connecting rods 22, and the upper ends of the connecting rods 22 are fixed to the six-axis drone 1, thus forming a stable installation frame structure; an internal pump 23, fixed on the upper end surface of the flange plate 21. A pressure-resistant pipe is vertically connected in the flange plate 21, and 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 internal pump 23. The internal 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, inclined below the fuselage of the six-axis drone 1. One end of the alloy direct injection rod 24 is connected to the water outlet end of the internal 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.

[0027] As a preferred embodiment, a water inlet pipe 31 is vertically arranged below the integrated water storage tank 3, and 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 storage tank 3, and a drain pipe 34 is fixed in the integrated water storage tank 3. The lower end of the drain pipe 34 is connected to the drain port of the water supply pump 32, so that a part of the clean water in the water storage tank 12 is conveyed to the integrated water storage tank 3 by the water supply pump 32; a detergent dispensing device 33 is fixed on one side of the integrated water storage tank 3 away from the drain pipe 34 for dispensing a certain concentration of detergent into the clean water in the integrated water storage tank 3; a corrugated pipe 35 is arranged below the integrated water storage tank 3. The upper end of the corrugated pipe 35 is connected to the integrated water storage 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 below the six-axis drone 1 horizontally sprays the foam water agent along the surface of the curtain wall during the horizontal flight of the six-axis drone 1. 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 sprayed foam water agent on the surface of the curtain wall, so as to realize the surface cleaning of the curtain wall.

[0028] 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 storage tank 3, and the fixing frame 41 is set as an L-shaped structure; a machine cover 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 machine cover 42; wherein, the fixing frame 41 is cast from magnesium alloy, the machine cover 42 is a carbon fiber honeycomb sandwich structure, and the total weight is < 3.5 kg. When the telescopic guide rod 43 is telescopically adjusted, it can dynamically adjust the installation angle of the machine cover 42, so that the machine cover 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 water 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), and solve the stain dead corners that cannot be processed in traditional vertical spraying; water guide seats 44 are arranged in a row, and each water guide seat 44 is horizontally fixed in the machine cover 42; main shafts 5 are two symmetrically arranged on the left and right. The two main shafts 5 are vertically rotatably connected to the machine cover 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 water agent on their surfaces onto the surface of the curtain wall during the rotational movement.

[0029] In this embodiment, a first bevel gear 51 is fixedly installed on the lower end surface of the main shaft 5. A coupling 52 is horizontally rotatably connected to the lower end surface of the machine cover 42. Both ends of the coupling 52 are meshed and driven with the first bevel gears 51 through bevel gears; thus, during the rotation of the coupling 52, the two foam spraying discs 6 distributed left and right can rotate in opposite directions, so that the foam water agent can be centrifugally sprayed from the gap between the two foam spraying discs 6. A driving part 53 is fixedly installed on the lower end surface of the machine cover 42, and the output end of the driving part 53 is connected to one of the main shafts 5 through a transmission belt.

[0030] In this embodiment, two vertically arranged liquid guide channels 45 are distributed left and right in the machine cover 42, and a liquid delivery cavity 46 is formed in each water guide seat 44. The two liquid guide channels 45 are communicated with the liquid delivery cavity 46 through channel openings 47. A plurality of direct current channels 7 are arranged in an arc shape in the water guide seat 44, and each direct current channel 7 is communicated with 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 spraying 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 seat 44 through each channel opening 47, and then be vertically sprayed and distributed on the surface of the foam spraying disc 6 through the sub-holes 71 in each direct current channel 7 in the liquid delivery cavity 46. The foam spraying 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 initial velocity of the high-foam water centrifugally thrown out is high, the wind resistance is strong, the amount of high-pressure water is reduced, and the comprehensive cleaning efficiency is further improved.

[0031] As a preferred embodiment, the liquid delivery cavity 46 is arranged in an arc structure and is concentrically distributed with the main shaft 5, and the branch holes 71 of each direct flow channel 7 are equidistantly distributed along the radial direction of the main shaft 5; a conduit 72 is slidably arranged in the direct flow channel 7 through a limiting spring, and a stepped hole 73 is formed in the conduit 72. It should be noted that, without external force, the stepped hole 73 on the conduit 72 is staggered from the branch hole 71, and at this time each direct flow channel 7 is in a sealed state. When the foam water agent is gradually fed into each liquid delivery cavity 46 by the centrifugal pump 36, the conduit 72 can gradually slide radially as the water pressure increases, so that the stepped hole 73 is docked with the branch hole 71, so that the foam water agent is sprayed on the surface of the foam throwing disc 6 through the branch hole 71; as the pumping pressure of the foam water agent increases, the stepped hole 73 is docked with the branch hole 71 close to the center of the circle. At this time, the foam water agent is distributed around the center of the foam throwing disc 6 (close to 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, the pumping pressure of the foam water agent is specifically adjusted 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 of the foam throwing disc 6 (far from the center of the circle). At this time, the path is short, and due to the large centrifugal force, it is quickly thrown to the outside, 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 larger momentum per unit area, significantly improving the flushing intensity for the curtain wall.

[0032] In this embodiment, the foam throwing disc 6 is composed of a combination of a plurality of leaf plates distributed in a circumference, and each leaf plate is rotatably connected to the main shaft 5 through a rotating shaft; an inner shaft 61 is coaxially and rotatably connected in the main shaft 5, and 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 two 63 fixed on each leaf plate; a sleeve 64 is slidably connected below the main shaft 5. An inner arc groove is formed on the side wall of the 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. It should be noted that the sleeve 64 only makes a vertical sliding movement axially relative to the main shaft 5, so it rotates synchronously with the main shaft 5. When the sleeve 64 slides up and down for adjustment, it can drive the inner shaft 61 to make a circumferential deflection 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 disc 62 and the bevel gear two 63.

[0033] There is a positioning seat 65 below the hood 42. A sliding disk 66 is slidably connected to the positioning seat 65, and the lower end of the shaft sleeve 64 is rotatably connected to the sliding disk 66; a top shaft is rotatably connected to the positioning seat 65. One end of the top shaft abuts against the sliding disk 66, and a pulse cylinder 67 is hinged to 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 disk 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 blades on the foam-spraying disk 6 to deflect rapidly, further enabling the foam water agent on the surface of the foam-spraying disk 6 to be efficiently diffused, further enhancing the atomization effect and saving the consumption of the foam water agent.

[0034] The above is only the 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 of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A moored high-pressure six-axis curtain wall cleaning drone, characterized in that, It includes: A six-axis drone (1) with spring landing gears (11) symmetrically installed below it; A water storage bin (12) vertically installed below the center of the six-axis drone (1). A transfer pipe is installed below the water storage bin (12), and the lower end of the transfer pipe is connected to a water delivery belt (13); A high-definition camera (14) installed above the fuselage of the six-axis drone (1); 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 bin (12); An atomizing and foaming unit (4) installed below the six-axis drone (1) and on one side of the water storage bin (12). An integrated water bin (3) is fixed on one side of the flushing device (2), and the atomizing and foaming unit (4) is connected to the integrated water bin (3) for spraying foam water agent on the curtain wall surface; The atomizing and foaming unit (4) includes: A fixing frame (41) vertically connected to the lower end face of the integrated water bin (3), and the fixing frame (41) is set to 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); Water guide seats (44), arranged in multiple numbers, and each water guide seat (44) is horizontally fixed in the hood (42); Two main shafts (5), symmetrically arranged left and right, and the two main shafts (5) are vertically rotatably connected to the hood (42) through bearings; Foaming disks (6) are evenly distributed along the axial direction of the main shaft, and the foaming disks (6) are arranged in one-to-one correspondence with the water guide seats (44); Conical gears one (51) are fixed on the lower end faces of the main shafts (5). A coupling shaft (52) is horizontally rotatably connected to the lower end face of the hood (42), and both ends of the coupling shaft (52) are meshed and driven with the conical gears one (51) through bevel gears; A driving part (53) is fixed on the lower end face 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; Two vertically arranged liquid guide channels (45) are distributed left and right in the hood (42), and a liquid delivery cavity (46) is opened in each water guide seat (44). Both liquid guide channels (45) are connected to the liquid delivery cavity (46) through channel openings (47); A plurality of direct current channels (7) are arranged in an arc in the water guide seat (44), and each direct current channel (7) is connected to the liquid delivery cavity (46); A number of sub-holes (71) are opened in the direct current channel (7), and each sub-hole (71) is distributed facing each foaming disk (6); The foaming disk (6) is composed of a number of leaf plates distributed in a circle. Each leaf plate is rotatably connected to the main shaft (5) through a rotating shaft. An inner shaft (61) is coaxially rotatably connected in the main shaft (5), and a number of conical gear disks (62) are distributed on the inner shaft (61). The conical gear disks (62) are connected and driven with the leaf plates through conical gears two (63) fixed on each leaf plate; A shaft sleeve (64) is slidably connected below the main shaft (5). An inner arc groove is opened 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.

2. The tethered high-pressure six-axis curtain wall cleaning drone according to claim 1, characterized in that, The flushing device (2) includes: The flange (21) is horizontally arranged below the fuselage of the six-axis drone (1). At the four corner positions of the flange (21), connecting rods (22) are vertically fixed, and the upper ends of the connecting rods (22) are fixed to the six-axis drone (1). The built-in pump (23) is fixed on the upper end surface of the flange (21). A pressure-resistant pipe is vertically connected inside 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 alloy direct injection rod (24) is obliquely arranged below the fuselage of the six-axis drone (1). One end of the alloy direct injection rod (24) is connected to the water discharge end of the built-in pump (23) through a universal pipe.

3. The tethered high-voltage six-axis curtain wall cleaning drone according to claim 1, wherein 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 supply pump (32) is fixed on one side of the six-axis drone (1) where the flushing device (2) is located. The water supply pump (32) is serially fixed between the water inlet pipe (31) and the integrated water tank (3). And a drain pipe (34) is fixed inside the integrated water tank (3). The lower end of the drain pipe (34) is communicated with the water discharge port of 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). A corrugated pipe (35) is arranged below 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).

4. A tethered high-voltage six-axis curtain wall cleaning drone according to claim 1, characterized in that, The liquid delivery chamber (46) is arranged in an arc structure and is concentric with the main shaft (5). The branch holes (71) of each direct flow channel (7) are equidistantly distributed along the radial direction of the main shaft (5). A conduit (72) is also slidably arranged in the direct flow channel (7) through a limit spring, and a sectional hole (73) is formed in the conduit (72).

5. The tethered high-pressure six-axis curtain wall cleaning drone according to claim 1, wherein There is a positioning seat (65) below the machine cover (42). A sliding disk (66) is slidably connected to the positioning seat (65). The lower end of the shaft sleeve (64) is rotatably connected to the sliding disk (66). A top shaft is rotatably connected to the positioning seat (65). One end of the top shaft abuts against the sliding disk (66). And a pulse cylinder (67) is hinged 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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