Glass curtain wall cleaning robot

Abstract

The invention relates to the technical field of cleaning, and provides a glass curtain wall cleaning robot which comprises a main frame and a cleaning mechanism, the cleaning mechanism comprises a cleaning front arm, a brush head roller, a sliding pin, a first air spring, a first limiting switch and a first electric cylinder, and a sliding groove is coaxially formed in the rear end of the cleaning front arm; a first sliding hole and a second sliding hole are coaxially formed in the side face of the front cleaning arm, the brush head roller is rotationally installed at the front end of the front cleaning arm, the sliding pin is installed in the first sliding hole and the second sliding hole in a sliding mode and penetrates through the front cleaning arm and the sliding groove, and the first air spring is coaxially installed in the sliding groove. The front end and the rear end of the first air spring are fixedly installed at the front end of the sliding groove and the sliding pin respectively, the first limiting switch is fixedly installed on the side face of the front cleaning arm and can make contact with the sliding pin, and the front end of the first electric cylinder is slidably installed in the sliding groove and fixedly installed on the sliding pin. The rear end of the first electric cylinder is slidably mounted on the main frame in the left-right direction. The pressure applied to the glass curtain wall can be controlled, and the glass curtain wall is not prone to being broken.

Description

Technical Field

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

[0002] With the development of urban modernization and the rise of technology companies, there are more and more high-rise buildings. Glass curtain walls are widely used due to their functions of daylighting, heat preservation, moisture prevention, and aesthetics. Especially in large office buildings, most of them use glass curtain walls for exterior wall decoration. It can be said that the application of glass curtain walls has spread to every corner of the construction industry. According to research surveys, so far, China has become the world's largest glass curtain wall application and production market. A large number of solid particles such as dust are scattered in the air, which easily makes the glass curtain wall covered with dust, resulting in a heavy glass curtain wall cleaning task.

[0003] Currently, glass curtain wall cleaning robots are usually used to perform glass curtain wall cleaning tasks. However, it is difficult to control the pressure exerted by existing glass curtain wall cleaning robots on the glass curtain wall during the cleaning task, which easily causes the glass curtain wall to break. Summary of the Invention

[0004] In view of the above-mentioned technical problems, a glass curtain wall cleaning robot is provided.

[0005] The technical means adopted by the present invention are as follows:

[0006] A glass curtain wall cleaning robot includes a main frame and a cleaning mechanism; the cleaning mechanism includes a cleaning forearm, a brush head roller, a sliding pin, a first air spring, a first limit switch, and a first electric cylinder; the axial direction of the cleaning forearm is consistent with the front-rear direction, a chute is coaxially opened at the rear end of the cleaning forearm, a first sliding hole and a second sliding hole are coaxially opened on the side surface of the cleaning forearm, the first sliding hole and the second sliding hole are symmetric about the axis of the cleaning forearm and are both connected to the chute; the axial direction of the brush head roller is consistent with the up-down direction, the brush head roller is rotatably installed at the front end of the cleaning forearm; the sliding pin is slidably installed in the first sliding hole and the second sliding hole and penetrates through the cleaning forearm and the chute; the first air spring is coaxially installed in the chute, and the front end and the rear end of the first air spring are respectively fixedly installed at the front end of the chute and the sliding pin; the first limit switch is fixedly installed on the side surface of the cleaning forearm and is located directly in front of the sliding pin, and the first limit switch can contact the sliding pin; the axial direction of the first electric cylinder is consistent with the front-rear direction, the front end of the first electric cylinder is slidably installed in the chute and fixedly installed on the sliding pin, and the rear end of the first electric cylinder can be slidably installed on the main frame along the left-right direction.

[0007] Further, the cleaning mechanism further includes a first hinge ear, a second hinge ear, a second gas spring, and a third gas spring; the axial directions of the first hinge ear and the second hinge ear are both consistent with the up-down direction, and the bottom end of the first hinge ear and the top end of the second hinge ear are respectively fixedly installed on the upper side and the lower side of the front cleaning arm; the axial directions of the second gas spring and the third gas spring are both consistent with the front-back direction, the front ends of the second gas spring and the third gas spring are respectively hinged to the top end and the bottom end of the brush head drum, and the rear ends of the second gas spring and the third gas spring are respectively hinged to the first hinge ear and the second hinge ear.

[0008] Further, the cleaning mechanism further includes a second electric cylinder, a third electric cylinder, a first scraper, and a second scraper; the axial directions of the second electric cylinder and the third electric cylinder are both consistent with the front-back direction, the rear ends of the second electric cylinder and the third electric cylinder are respectively fixedly installed on the left side and the right side of the front cleaning arm; the axial directions of the first scraper and the second scraper are both consistent with the up-down direction, and the first scraper and the second scraper are respectively fixedly installed on the front ends of the second electric cylinder and the third electric cylinder.

[0009] Further, the cleaning mechanism further includes a first motor and a conveyor belt; the housing of the first motor is fixedly installed on the front end of the front cleaning arm, the axial direction of the rotating shaft of the first motor is consistent with the up-down direction, and the conveyor belt is sleeved on the rotating shaft of the first motor and the brush head drum at the same time.

[0010] Further, the cleaning mechanism further includes a water tank and a hose; a foam storage cavity is formed in the water tank, and a foam output port connected to the foam storage cavity is formed on the water tank; the input end of the hose is connected to the foam output port, and the output end of the hose faces the brush head drum.

[0011] Further, a lead screw mechanism is further included; the lead screw mechanism includes a support base, a second motor, a lead screw shaft, a lead screw nut, a second limit switch, a slide rail, and a slider; the axial direction of the support base is consistent with the left-right direction, and the support base is fixedly installed on the main frame; the housing of the second motor is fixedly installed on the support base, and the axial direction of the rotating shaft of the second motor is consistent with the left-right direction; the lead screw shaft is coaxially and fixedly installed on the rotating shaft of the second motor; the lead screw nut is in threaded fit with the lead screw shaft; the second limit switch is coaxially and fixedly installed on the support base, and the second limit switch can contact the lead screw nut; the slide rail is coaxially and fixedly installed on the support base; the slider is slidably installed on the slide rail and fixedly installed on the lead screw nut, and the slider is fixedly installed on the rear end of the first electric cylinder.

[0012] Further, it further includes a lifting mechanism; the lifting mechanism includes a third motor, a recovery roller, and a steel cable; the housing of the third motor is fixedly installed on the main frame, and the axial direction of the rotating shaft of the third motor is consistent with the up-and-down direction; the recovery roller is coaxially and fixedly installed on the rotating shaft of the third motor; one end of the steel cable is fixedly installed on the side surface of the recovery roller.

[0013] Further, it further includes a pulley mechanism; the pulley mechanism includes a transverse pulley and a longitudinal pulley; a plurality of transverse pulleys are provided, and all the transverse pulleys are arranged in a matrix and fixedly installed on the front side surface of the main frame; a plurality of longitudinal pulleys are provided, and all the longitudinal pulleys are arranged in a matrix and fixedly installed on the bottom surface of the main frame.

[0014] Further, it further includes an inclination sensor; the inclination sensor is fixedly installed on the main frame.

[0015] Further, it further includes a camera; the camera is fixedly installed on the main frame.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] 1. In the present invention, during the process of the brush head roller contacting the glass curtain wall: if the first electric cylinder extends, the sliding pin will move in the direction close to the first limit switch under the drive of the first electric cylinder. When the sliding pin contacts the first limit switch, the first limit switch can send a signal representing excessive pressure to the staff. At this time, the staff can control the first electric cylinder to stop extending to avoid applying excessive pressure to the glass curtain wall by the brush head roller, resulting in the breakage of the glass curtain wall; if the first electric cylinder shortens, the sliding pin will move in the direction away from the first limit switch under the drive of the first air spring until it contacts the rear ends of the first sliding hole and the second sliding hole.

[0018] 2. In the present invention, by controlling the second air spring and the third air spring, the brush head roller can always be attached to the glass curtain wall.

[0019] 3. In the present invention, by controlling the second electric cylinder and the third electric cylinder, the first scraper and the second scraper can always be attached to the glass curtain wall, and then scrape off the stains on the glass curtain wall.

[0020] 4. In the present invention, by controlling the first motor, the conveyor belt is driven to rotate, and then the brush head roller is driven to rotate, so that the brush head roller can clean the glass curtain wall.

[0021] 5. In the present invention, cleaning foam can be stored in the foam storage cavity, and the cleaning foam is conveyed to the brush head roller through a hose, thereby improving the cleaning efficiency of the glass curtain wall.

[0022] 6. In the present invention, by controlling the second motor, the lead screw shaft is driven to rotate, thereby driving the lead screw nut and the slider to move in the left - right direction. Since the rear end of the first electric cylinder is fixedly installed on the slider, the lead screw mechanism can drive the cleaning mechanism to move in the left - right direction. In addition, when the lead screw nut contacts the second limit switch, the second limit switch can send a signal to the staff representing that the lead screw nut and the slider have moved to the limit position. At this time, the staff can control the second motor to stop or rotate in the reverse direction.

[0023] 7. In the present invention, one end of the steel cable that is not fixedly installed on the recovery roller is fixedly installed on the roof, and by controlling the third motor, the present invention can be raised and lowered.

[0024] 8. In the present invention, the horizontal pulley can reduce the friction between the present invention and the glass curtain wall, and the vertical pulley can reduce the friction between the present invention and the ground.

[0025] 9. In the present invention, the inclination sensor can detect whether the present invention is inclined in the horizontal direction and send the inclination signal to the staff. According to the inclination signal, the staff decides whether to adjust and correct the present invention.

[0026] 10. In the present invention, the camera can observe the cleaning degree of the glass curtain wall in real - time, record the whole cleaning process, and finally complete the cleaning of the glass curtain wall efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following - described drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is the overall structure diagram of a glass curtain wall cleaning robot in Embodiment 1 of the present invention;

[0029] Figure 2 It is the overall structure diagram of the cleaning mechanism in Embodiment 1 of the present invention;

[0030] Figure 3 It is the partial structure diagram of the cleaning mechanism in Embodiment 1 of the present invention;

[0031] Figure 4 It is the overall structure diagram of the lead screw mechanism in Embodiment 1 of the present invention;

[0032] Figure 5 It is the overall structure diagram of the lifting mechanism in Embodiment 1 of the present invention;

[0033] Figure 6 This is the overall structure diagram of the main frame in Embodiment 1 of the present invention;

[0034] In the figure: 1 - lifting mechanism; 2 - main frame; 3 - PLC control box; 4 - pulley mechanism; 5 - inclination sensor; 6 - camera; 7 - cleaning mechanism; 8 - water tank; 9 - lead screw mechanism; 101 - steel cable; 102 - third motor; 103 - housing; 201 - 40x40 aluminum profile; 202 - T-shaped connecting plate; 203 - L-shaped connecting plate; 401 - longitudinal pulley; 402 - transverse pulley; 701 - connecting piece; 702 - first electric cylinder; 703 - cleaning front arm; 704 - first hinge ear; 705 - second hinge ear; 706 - second air spring; 707 - sliding pin; 708 - first limit switch; 709 - third air spring; 710 - first motor; 711 - conveyor belt; 712 - brush head mounting frame; 713 - first scraper; 714 - brush head roller; 715 - second electric cylinder; 716 - second scraper; 717 - third electric cylinder; 718 - first air spring; 901 - support seat; 902 - second limit switch; 903 - slide rail; 904 - lead screw shaft; 905 - slider; 906 - lead screw nut; 907 - coupling; 908 - second motor. Detailed implementation manners

[0035] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0036] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. The description of at least one exemplary embodiment herein is actually only illustrative and in no way restrictive of the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of the features, steps, operations, devices, components and / or their combinations.

[0038] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0039] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are generally based on the orientation or positional relationships shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description. Without contrary explanations, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as limiting the protection scope of the present invention: the orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0040] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above" can be used here to describe the spatial positional relationships between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0041] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of distinguishing the corresponding components. Without otherwise stating, the above words have no special meanings. Therefore, it should not be construed as limiting the protection scope of the present invention.

[0042] Embodiment 1:

[0043] As Figure 1 , Figure 2 , Figure 3 and Figure 6 shown, a glass curtain wall cleaning robot includes a main frame 2 and also includes a cleaning mechanism 7; the cleaning mechanism 7 includes a cleaning front arm 703, a brush head roller 714, a sliding pin 707, a first gas spring 718, a first limit switch 708 and a first electric cylinder 702; the axial direction of the cleaning front arm 703 is the same as the front-rear direction, a chute is coaxially opened at the rear end of the cleaning front arm 703, a first sliding hole and a second sliding hole are coaxially opened on the side surface of the cleaning front arm 703, the first sliding hole and the second sliding hole are symmetric about the axis of the cleaning front arm 703 and are both connected to the chute; the axial direction of the brush head roller 714 is the same as the up-down direction, the brush head roller 714 is rotatably installed at the front end of the cleaning front arm 703; the sliding pin 707 is slidably installed in the first sliding hole and the second sliding hole and penetrates through the cleaning front arm 703 and the chute; the first gas spring 718 is coaxially installed in the chute, the front end and the rear end of the first gas spring 718 are respectively fixedly installed at the front end of the chute and on the sliding pin 707; the first limit switch 708 is fixedly installed on the side surface of the cleaning front arm 703 and is located directly in front of the sliding pin 707, and the first limit switch 708 can contact the sliding pin 707; the axial direction of the first electric cylinder 702 is the same as the front-rear direction, the front end of the first electric cylinder 702 is slidably installed in the chute and is fixedly installed on the sliding pin 707, and the rear end of the first electric cylinder 702 can be slidably installed on the main frame 2 along the left-right direction.

[0044] Specifically, the main frame 2 is composed of 40x40 aluminum profiles 201, L-shaped connecting plates 203 and T-shaped connecting plates 202.

[0045] In addition, it also includes a brush head mounting frame 712; the brush head mounting frame 712 includes a C-shaped frame and a roller shaft; the opening of the C-shaped frame faces forward, and the rear side surface of the C-shaped frame is fixedly installed at the front end of the cleaning front arm 703; the axial direction of the roller shaft is the same as the up-down direction, the roller shaft is rotatably installed in the opening of the C-shaped frame, and the brush head roller 714 is coaxially and fixedly installed on the roller shaft.

[0046] In this embodiment, as Figure 2As shown, the cleaning mechanism 7 further includes a first hinge ear 704, a second hinge ear 705, a second gas spring 706 and a third gas spring 709; the axial directions of the first hinge ear 704 and the second hinge ear 705 are both consistent with the up-down direction, and the bottom end of the first hinge ear 704 and the top end of the second hinge ear 705 are respectively fixedly installed on the upper side and the lower side of the front cleaning arm 703; the axial directions of the second gas spring 706 and the third gas spring 709 are both consistent with the front-back direction, the front ends of the second gas spring 706 and the third gas spring 709 are respectively hinged to the top end and the bottom end of the brush head drum 714, and the rear ends of the second gas spring 706 and the third gas spring 709 are respectively hinged to the first hinge ear 704 and the second hinge ear 705.

[0047] Specifically, the front ends of the second gas spring 706 and the third gas spring 709 are both hinged to a C-shaped frame.

[0048] In this embodiment, as Figure 3 As shown, the cleaning mechanism 7 further includes a second electric cylinder 715, a third electric cylinder 717, a first scraper 713 and a second scraper 716; the axial directions of the second electric cylinder 715 and the third electric cylinder 717 are both consistent with the front-back direction, the rear ends of the second electric cylinder 715 and the third electric cylinder 717 are respectively fixedly installed on the left side and the right side of the front cleaning arm 703; the axial directions of the first scraper 713 and the second scraper 716 are both consistent with the up-down direction, and the first scraper 713 and the second scraper 716 are respectively fixedly installed on the front ends of the second electric cylinder 715 and the third electric cylinder 717.

[0049] In this embodiment, as Figure 2 As shown, the cleaning mechanism 7 further includes a first motor 710 and a conveyor belt 711; the housing of the first motor 710 is fixedly installed on the front end of the front cleaning arm 703, the axial direction of the rotating shaft of the first motor 710 is consistent with the up-down direction, and the conveyor belt 711 is sleeved on the rotating shaft of the first motor 710 and the brush head drum 714 at the same time.

[0050] Specifically, the housing of the first motor 710 is fixedly installed on the rear side of the C-shaped frame.

[0051] In this embodiment, as Figure 1 and Figure 6 As shown, the cleaning mechanism 7 further includes a water tank 8 and a hose; a foam storage cavity is formed in the water tank 8, and a foam outlet connected to the foam storage cavity is formed on the water tank 8; the input end of the hose is connected to the foam outlet, and the output end of the hose faces the brush head drum 714.

[0052] In this embodiment, asFigure 1 and Figure 4 As shown in Figure 4 , it further includes a lead screw mechanism 9; the lead screw mechanism 9 includes a support base 901, a second motor 908, a lead screw shaft 904, a lead screw nut 906, a second limit switch 902, a slide rail 903 and a slider 905; the axial direction of the support base 901 is consistent with the left - right direction, and the support base 901 is fixedly installed on the main frame 2; the housing of the second motor 908 is fixedly installed on the support base 901, and the axial direction of the rotating shaft of the second motor 908 is consistent with the left - right direction; the lead screw shaft 904 is coaxially and fixedly installed on the rotating shaft of the second motor 908; the lead screw nut 906 is in threaded engagement with the lead screw shaft 904; the second limit switch 902 is coaxially and fixedly installed on the support base 901, and the second limit switch 902 can be in contact with the lead screw nut 906; the slide rail 903 is coaxially and fixedly installed on the support base 901; the slider 905 is slidably installed on the slide rail 903 and fixedly installed on the lead screw nut 906, and the slider 905 is fixedly installed on the rear end of the first electric cylinder 702.

[0053] Specifically, the lead screw shaft 904 is coaxially and fixedly installed on the rotating shaft of the second motor 908 through a coupling 907.

[0054] In addition, the rear end of the first electric cylinder 702 is fixedly installed on the slider 905 through a connecting member 701.

[0055] In this embodiment, as Figure 1 and Figure 5 shown, it further includes a lifting mechanism 1; the lifting mechanism 1 includes a third motor 102, a recovery roller and a steel cable 101; the housing of the third motor 102 is fixedly installed on the main frame 2, and the axial direction of the rotating shaft of the third motor 102 is consistent with the up - down direction; the recovery roller is coaxially and fixedly installed on the rotating shaft of the third motor 102; one end of the steel cable 101 is fixedly installed on the side surface of the recovery roller.

[0056] Specifically, it further includes a housing 103; the third motor 102 is fixedly installed on the housing 103, the recovery roller is fixedly installed inside the housing 103, the end of the steel cable 101 that is not fixedly installed on the recovery roller is located outside the housing 103, and the housing 103 is fixedly installed on the main frame 2.

[0057] In this embodiment, as Figure 1 and Figure 6As shown, it further includes a pulley mechanism 4; the pulley mechanism 4 includes a transverse pulley 402 and a longitudinal pulley 401; a plurality of the transverse pulleys 402 are provided, and all the transverse pulleys 402 are arranged in a matrix and fixedly installed on the front side of the main frame 2; a plurality of the longitudinal pulleys 401 are provided, and all the longitudinal pulleys 401 are arranged in a matrix and fixedly installed on the bottom surface of the main frame 2.

[0058] In this embodiment, as Figure 1 and Figure 6 shown, it further includes an inclination sensor 5; the inclination sensor 5 is fixedly installed on the main frame 2.

[0059] In this embodiment, as Figure 1 and Figure 6 shown, it further includes a camera 6; the camera 6 is fixedly installed on the main frame 2.

[0060] In this embodiment, as Figure 1 and Figure 6 shown, it further includes a PLC control box 3; the first air spring 718, the second air spring 706, the third air spring 709, the first limit switch 708, the second limit switch 902, the first electric cylinder 702, the second electric cylinder 715, the third electric cylinder 717, the first motor 710, the second motor 908, the third motor 102, the inclination sensor 5 and the camera 6 are all electrically connected to the PLC control box 3.

[0061] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A glass curtain wall cleaning robot, comprising a main frame (2), characterized in that, It further includes a cleaning mechanism (7); The cleaning mechanism (7) includes a cleaning front arm (703), a brush head roller (714), a sliding pin (707), a first gas spring (718), a first limit switch (708), and a first electric cylinder (702); The axial direction of the cleaning front arm (703) is the same as the front-back direction. A chute is coaxially opened at the rear end of the cleaning front arm (703). A first sliding hole and a second sliding hole are coaxially opened on the side surface of the cleaning front arm (703). The first sliding hole and the second sliding hole are symmetric about the axis of the cleaning front arm (703) and are both connected to the chute. The axial direction of the brush head roller (714) is the same as the up-down direction. The brush head roller (714) is rotatably installed at the front end of the cleaning front arm (703). The sliding pin (707) is slidably installed in the first sliding hole and the second sliding hole and penetrates through the cleaning front arm (703) and the chute. The first gas spring (718) is coaxially installed in the chute. The front end and the rear end of the first gas spring (718) are respectively fixedly installed at the front end of the chute and on the sliding pin (707). The first limit switch (708) is fixedly installed on the side surface of the cleaning front arm (703) and is located directly in front of the sliding pin (707). The first limit switch (708) can contact the sliding pin (707). The axial direction of the first electric cylinder (702) is the same as the front-back direction. The front end of the first electric cylinder (702) is slidably installed in the chute and is fixedly installed on the sliding pin (707). The rear end of the first electric cylinder (702) is slidably installed on the main frame (2) along the left-right direction.

2. The glass curtain wall cleaning robot according to claim 1, characterized in that, The cleaning mechanism (7) further includes a first hinge ear (704), a second hinge ear (705), a second gas spring (706), and a third gas spring (709); The axial directions of the first hinge ear (704) and the second hinge ear (705) are both the same as the up-down direction. The bottom end of the first hinge ear (704) and the top end of the second hinge ear (705) are respectively fixedly installed on the upper side surface and the lower side surface of the cleaning front arm (703). The axial directions of the second gas spring (706) and the third gas spring (709) are both the same as the front-back direction. The front ends of the second gas spring (706) and the third gas spring (709) are respectively hinged to the top end and the bottom end of the brush head roller (714). The rear ends of the second gas spring (706) and the third gas spring (709) are respectively hinged to the first hinge ear (704) and the second hinge ear (705).

3. The glass curtain wall cleaning robot according to claim 1, wherein, The cleaning mechanism (7) further includes a second electric cylinder (715), a third electric cylinder (717), a first scraper (713), and a second scraper (716); The axial directions of the second electric cylinder (715) and the third electric cylinder (717) are both consistent with the front-rear direction. The rear ends of the second electric cylinder (715) and the third electric cylinder (717) are respectively fixedly installed on the left side and the right side of the front cleaning arm (703); the axial directions of the first scraper (713) and the second scraper (716) are both consistent with the up-down direction. The first scraper (713) and the second scraper (716) are respectively fixedly installed on the front ends of the second electric cylinder (715) and the third electric cylinder (717).

4. A glass curtain wall cleaning robot according to claim 1, characterized in that, The cleaning mechanism (7) further includes a first motor (710) and a conveyor belt (711); The housing of the first motor (710) is fixedly installed on the front end of the front cleaning arm (703). The axial direction of the rotating shaft of the first motor (710) is consistent with the up-down direction. The conveyor belt (711) is sleeved on the rotating shaft of the first motor (710) and the brush head roller (714) at the same time.

5. The glass curtain wall cleaning robot according to claim 1, characterized in that, The cleaning mechanism (7) further includes a water tank (8) and a hose; A foam storage cavity is formed in the water tank (8). A foam output port connected to the foam storage cavity is formed on the water tank (8); the input end of the hose is connected to the foam output port, and the output end of the hose faces the brush head roller (714).

6. The glass curtain wall cleaning robot according to claim 1, characterized in that, It further includes a lead screw mechanism (9); The lead screw mechanism (9) includes a support base (901), a second motor (908), a lead screw shaft (904), a lead screw nut (906), a second limit switch (902), a slide rail (903) and a slider (905); The axial direction of the support base (901) is consistent with the left-right direction. The support base (901) is fixedly installed on the main frame (2); the housing of the second motor (908) is fixedly installed on the support base (901). The axial direction of the rotating shaft of the second motor (908) is consistent with the left-right direction; the lead screw shaft (904) is coaxially and fixedly installed on the rotating shaft of the second motor (908); the lead screw nut (906) is in threaded fit with the lead screw shaft (904); the second limit switch (902) is coaxially and fixedly installed on the support base (901). The second limit switch (902) can contact the lead screw nut (906); the slide rail (903) is coaxially and fixedly installed on the support base (901); the slider (905) is slidably installed on the slide rail (903) and fixedly installed on the lead screw nut (906). The slider (905) is fixedly installed on the rear end of the first electric cylinder (702).

7. A glass curtain wall cleaning robot according to claim 1, characterized in that, It further includes a lifting mechanism (1); The lifting mechanism (1) includes a third motor (102), a recovery roller and a steel cable (101); The housing of the third motor (102) is fixedly installed on the main frame (2). The axial direction of the rotating shaft of the third motor (102) is consistent with the up-down direction; the recovery roller is coaxially and fixedly installed on the rotating shaft of the third motor (102); one end of the steel cable (101) is fixedly installed on the side surface of the recovery roller.

8. A glass curtain wall cleaning robot according to claim 1, characterized in that, It further includes a pulley mechanism (4); The pulley mechanism (4) includes a transverse pulley (402) and a longitudinal pulley (401); A plurality of the transverse pulleys (402) are provided, and all the transverse pulleys (402) are arranged in a matrix and fixedly installed on the front side surface of the main frame (2); A plurality of the longitudinal pulleys (401) are provided, and all the longitudinal pulleys (401) are arranged in a matrix and fixedly installed on the bottom surface of the main frame (2).

9. The glass curtain wall cleaning robot according to claim 1, wherein, It further includes an inclination sensor (5); The inclination sensor (5) is fixedly installed on the main frame (2).

10. A glass curtain wall cleaning robot according to claim 1, characterized in that, It further includes a camera (6); The camera (6) is fixedly installed on the main frame (2).

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