Bionic octopus adsorption type obstacle crossing and window cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, in particular to a bionic octopus adsorption type obstacle-crossing window-cleaning robot which comprises a robot body and mechanical legs, a window-cleaning unit is arranged on the robot body, a visual sensor is further arranged on the robot body, the window-cleaning unit comprises a window-cleaning disc, and the mechanical legs are arranged on the window-cleaning disc. Window wiping cloth is arranged outside the lower end of the window wiping disc, a rotating rod is arranged in the middle of the window wiping disc in a sliding mode, the degree of stains on glass is detected through assistance of a visual sensor, when the degree of the stains is light, the window wiping cloth is attached to the surface of the glass to rotate to conduct rotating wiping, and when the degree of the stains is moderate, the rotating rod rotates to conduct rotating wiping. When the degree of stains is heavy, the first electric push rod is used for assisting the window cleaning disc to press the window cleaning cloth on the glass for rotary wiping, and when the degree of the stains is heavy, the first electric push rod and the second electric push rod are used for assisting the stains on the glass to be subjected to rotary wiping force in a wave state, so that the cleaning effect of the heavy stains is better.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a bionic octopus adsorption-type obstacle-crossing window-cleaning robot. Background Art

[0002] There are more and more high-rise buildings in cities, and high-rise glass cleaning for home use will become a huge market.

[0003] With the rapid development of window cleaning robots, people have higher and higher requirements for window cleaning robots, requiring them not only to wipe the glass windows, but also to maintain the cleanliness and efficiency of the wiping.

[0004] A window cleaning robot with Chinese patent application number CN201510647458.0 includes a main unit, a walking unit for movement, a negative pressure chamber and an air pressure sensor. The window cleaning robot also includes a mop cloth for wiping. A hollow structure is provided in the middle of the mop cloth, and the inner side of the hollow structure, which has the same moving direction as the walking unit, is a triangular structure or a trapezoidal structure.

[0005] The window cleaning robot with Chinese patent application number CN201510613006.0 includes: an active machine, including an active machine body, a wiping piece located on the chassis of the active machine body, an active magnetic adsorption device and a driving device arranged in the active machine body, and the driving device drives the active machine body to move; a follower machine, including a follower machine body, a wiping piece located on the chassis of the follower machine body, and a follower magnetic adsorption device arranged in the follower machine body.

[0006] The window cleaning robots in the prior art are often less effective in cleaning stubborn stains on the window glass during window cleaning, and usually rely on the suction force generated by the fan to ensure that they are adsorbed on the window glass. In bad weather, the equipment is prone to fall off, which can easily cause safety accidents. Although the above-mentioned equipment has solved the obstacle crossing function during use, its ability to clean stubborn stains is still limited during use, and impurities adhering to the window cleaning cloth need to be manually removed for cleaning. Otherwise, the window cleaning effect will be reduced, and when the window cleaning cloth is removed for cleaning, the window cleaning efficiency of the equipment will be reduced. Summary of the Invention

[0007] In order to solve the above technical problems, the present invention provides a bionic octopus adsorption obstacle-crossing window cleaning robot.

[0008] The present invention provides a bionic octopus suction-type obstacle-crossing window-cleaning robot, comprising a robot body and mechanical legs, wherein the robot body is provided with a window-cleaning unit and a visual sensor; The window wiping unit includes a window wiping tray, a window wiping cloth is provided on the outside of the lower end of the window wiping tray, a rotating rod is slidably provided in the middle position of the window wiping tray, an auxiliary rod is provided at the lower end of the rotating rod, and a driving unit is also provided on the window wiping tray, which drives the operation of the window wiping tray and the rotating rod.

[0009] Preferably, a bottom cover is provided at the lower end of the robot body, a through hole is provided in the middle position of the bottom cover, the window cleaning disc is located in the through hole, and the window cleaning disc can move up and down and rotate, and a bracket is provided on one side of the bottom cover located inside the robot body, and two first electric push rods are provided on the bracket.

[0010] Preferably, the output end of the first electric push rod passes through the bracket, and a mounting ring is provided on the side of the window wiping disc close to the bracket. The output end of the first electric push rod is connected to the mounting ring, and the mounting ring is rotatably connected to the window wiping disc.

[0011] Preferably, a limit ring is provided in the middle position of the bracket, a motor is provided in the limit ring, a slide groove is provided on the inner side of the limit ring, a slider is provided on the side end of the motor, the slider slides and limits in the slide groove, and the output end of the motor is connected and fixed to the rotating rod.

[0012] Preferably, an auxiliary frame is further provided on the bracket, a second electric push rod is provided on the auxiliary frame, an output end of the second electric push rod passes through the auxiliary frame and is connected to the motor, a slot is provided on the window wiping disc, and the auxiliary rod is located in the slot.

[0013] Preferably, an isolation cover is provided on the upper end of the bottom cover outside the bracket, the inner side of the isolation cover is the window cleaning unit, the outer side of the isolation cover is the cleaning liquid storage area, and the bottom cover is sealed to the robot body.

[0014] Preferably, the robotic leg is a multi-joint robotic leg, and each joint of the robotic leg is provided with a driver for driving its movement, and a suction cup unit is also provided at the lower end of the robotic leg, and each suction cup unit is controlled individually.

[0015] Preferably, the suction cup unit includes a suction cup body, the lower end of the suction cup body is trumpet-shaped, a third electric push rod is provided in the suction cup body, and a piston disk is provided at the output end of the third electric push rod, and the piston disk is slidably sealed with the suction cup body.

[0016] Preferably, a handle is provided at the upper end of the robot body, a safety rope is provided at the side end of the robot body, and a water spray unit is provided at the lower end of the robot body.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. By setting up components such as mechanical legs, suction cup units and window cleaning units, and using the device to control the mechanical legs and suction cup units, the device can be adsorbed on the glass like an octopus, and can cross the obstacles between windows to enable the device to clean the next piece of glass.

[0018] 2. By setting up components such as mechanical legs, suction cup units, visual sensors and window cleaning units, the degree of stains on the glass is detected with the assistance of visual sensors. When the stain is light, the window cleaning cloth is attached to the glass surface and rotated to wipe it. When the stain is moderate, the window cleaning disc is pressed against the glass with the window cleaning cloth with the assistance of the first electric push rod to wipe it. When the stain is heavy, the stains on the glass are subjected to a wave-like rotational wiping force with the assistance of the first and second electric push rods, so that the cleaning effect of heavy stains is better.

[0019] 3. By setting up components such as mechanical legs, suction cup units, visual sensors and window cleaning units, when the equipment completes wiping light or medium stains on a piece of glass and moves across obstacles to wipe the next piece of glass, or when heavy stains have been wiped once, the equipment will control the assistance of the mechanical legs and suction cup units to make the robot body suspended in the air, and use the assistance of the first electric push rod, the second electric push rod and the motor to make the auxiliary rod and the window cleaning cloth move relative to each other, so that impurities on the window cleaning cloth can be cleaned, thereby ensuring the effect of subsequent glass wiping. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the suction cup unit of the present invention; Figure 3 is a schematic structural diagram of a window cleaning unit of the present invention; Figure 4 The present invention Figure 3 Schematic diagram of the enlarged structure at A in the middle; Figure 5 The present invention Figure 3 Schematic diagram of the enlarged structure at B in the middle; Figure 6 It is a schematic structural diagram of the rotating rod and the auxiliary rod of the present invention.

[0021] Figure numerals: 1. Robot body; 2. Mechanical legs; 3. Window cleaning unit; 4. Bottom cover; 5. Suction cup unit; 6. Handle; 7. Safety rope; 301. Window cleaning plate; 302. Window cleaning cloth; 303. Rotating rod; 304. Auxiliary rod; 305. Through hole; 306. Bracket; 307. First electric push rod; 308. Mounting ring; 309. Limiting ring; 310. Motor; 311. Slide groove; 312. Slider; 313. Auxiliary frame; 314. Second electric push rod; 315. Isolation cover; 316. Slot; 501. Suction cup body; 502. Third electric push rod; 503. Piston disc. DETAILED DESCRIPTION

[0022] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0023] like Figures 1 to 2 As shown, the present invention discloses a bionic octopus suction-type obstacle-crossing window-cleaning robot, comprising a robot body 1 and mechanical legs 2. The mechanical legs 2 are multi-joint mechanical legs, and each joint of the mechanical legs 2 is provided with a driver for driving its movement. A suction cup unit 5 is also provided at the lower end of the mechanical leg 2, and each suction cup unit 5 is controlled individually. A controller is provided in the robot body 1, and each mechanical leg 2 is controlled by the controller so that each mechanical leg 2 can move like an octopus tentacle, and the suction cup units 5 on the mechanical legs 2 can also be controlled individually, that is, the entire device can move and adsorb like an octopus. Through such control, the device can cross obstacles between windows during the window cleaning process, reducing the number of manual movements.

[0024] The suction cup unit 5 includes a suction cup body 501, the lower end of the suction cup body 501 is trumpet-shaped, a third electric push rod 502 is provided in the suction cup body 501, and a piston disk 503 is provided at the output end of the third electric push rod 502. The piston disk 503 and the suction cup body 501 are slidingly sealed. When the suction cup body 501 needs to be adsorbed on the glass, the suction cup body 501 is tightly attached to the glass with the assistance of the mechanical legs 2, and then the third electric push rod 502 is started to move the piston disk 503 in the direction close to the third electric push rod 502, thereby generating negative pressure in the suction cup body 501, and with the assistance of the negative pressure, the suction cup body 501 is firmly adsorbed on the glass.

[0025] A handle 6 is also provided at the upper end of the robot body 1, a safety rope 7 is also provided at the side end of the robot body 1, and a water spray unit is also provided at the lower end of the robot body 1. The handle 6 can be used to conveniently move the device. When the device is wiping the glass, the water spray unit can be used to spray the cleaning liquid stored in the robot body 1 on the glass, thereby making the window cleaning effect of the device better.

[0026] A window cleaning unit 3 is provided on the robot body 1, a bottom cover 4 is provided at the lower end of the robot body 1, and an isolation cover 315 is provided at the upper end of the bottom cover 4. The inner side of the isolation cover 315 is the window cleaning unit 3, and the outer side of the isolation cover 315 is the cleaning liquid storage area. The bottom cover 4 and the robot body 1 are sealed together. The isolation cover 315 is used to partition the internal space of the robot body 1, and then the respective components are installed accordingly so that they do not affect each other.

[0027] During the use of the present invention, first, the cleaning liquid is added into the robot body 1, and the robot body 1 is moved to the window to be cleaned with the help of the handle 6, the device is started, and the device is controlled with the help of the remote control. During the control process, the mechanical legs 2 around the robot body 1 are moved, so that the suction cup body 501 is tightly attached to the glass, and then the third electric push rod 502 is started to move the piston disc 503 in the direction close to the third electric push rod 502, thereby generating negative pressure in the suction cup body 501, and with the help of the negative pressure, the suction cup body 501 is firmly adsorbed to the glass, so that the entire device is adsorbed on the glass window.

[0028] Then, by controlling each mechanical leg 2, the window cleaning unit 3 on the robot body 1 is attached to the glass window, and the stains on the glass window are wiped off with the assistance of the window cleaning unit 3. In the process of the device cleaning the glass, the water spray unit can be used to spray the cleaning liquid stored in the robot body 1 on the glass in advance, so that the window cleaning effect of the device is better.

[0029] After a piece of glass is cleaned, the mechanical legs 2 and suction cup units 5 around the robot body 1 are remotely controlled so that the device can cross the obstacles between windows and re-adsorb on another window to proceed with cleaning the next window.

[0030] The conventional window cleaning robot is often less effective in cleaning stubborn stains on the window glass during window cleaning, and usually relies on the suction force generated by the fan to ensure that it is adsorbed on the window glass. In bad weather, the device is easy to fall off, which may cause safety accidents. Although the above-mentioned device has solved the obstacle-crossing function during use, its ability to clean stubborn stains is still limited during use, and impurities adhering to the window cleaning cloth 302 need to be manually removed and cleaned, otherwise, the window cleaning effect will be reduced. When the window cleaning cloth 302 is removed and cleaned, the window cleaning efficiency of the device will be reduced. In order to solve the above problems, the following solutions are proposed: like Figures 1 to 6 As shown, the window wiping unit 3 includes a window wiping tray 301, a window wiping cloth 302 is provided on the outside of the lower end of the window wiping tray 301, a rotating rod 303 is slidably provided in the middle position of the window wiping tray 301, and an auxiliary rod 304 is provided at the lower end of the rotating rod 303. A driving unit is also provided on the window wiping tray 301, and the driving unit drives the operation of the window wiping tray 301 and the rotating rod 303. The rotating rod 303 is rotated with the assistance of the driving unit. The rotation of the rotating rod 303 drives the rotation of the window wiping tray 301 with the assistance of the auxiliary rod 304, and the rotation of the window wiping tray 301 drives the rotation of the window wiping cloth 302. When the rotating window wiping cloth 302 is attached to the window glass, it can wipe the stains on the glass.

[0031] A through hole 305 is provided in the middle of the bottom cover 4, and the window cleaning disc 301 is located in the through hole 305, and the window cleaning disc 301 can move up and down and rotate. A bracket 306 is provided on one side of the bottom cover 4 located inside the robot body 1, and two first electric push rods 307 are provided on the bracket 306. The output end of the first electric push rod 307 passes through the bracket 306, and the output end of the first electric push rod 307 is connected to the mounting ring 308. After starting the first electric push rod 307, the output end of the first electric push rod 307 will drive the movement of the mounting ring 308, and then the window cleaning disc 301 is moved, so that the window cleaning disc 301 can move close to or away from the glass, thereby improving the convenience of using the equipment.

[0032] A mounting ring 308 is provided on one side of the window cleaning tray 301 close to the bracket 306. The mounting ring 308 is rotatably connected to the window cleaning tray 301. When the mounting ring 308 moves with the window cleaning tray 301, the rotation of the window cleaning tray 301 will not be affected by the mounting ring 308 because the mounting ring 308 is rotatably connected to the window cleaning tray 301.

[0033] A limit ring 309 is provided in the middle position of the bracket 306, a motor 310 is provided in the limit ring 309, a slide groove 311 is provided on the inner side of the limit ring 309, a slider 312 is provided on the side end of the motor 310, the slider 312 slides and limits in the slide groove 311, the output end of the motor 310 is connected and fixed to the rotating rod 303, an auxiliary frame 313 is also provided on the bracket 306, a second electric push rod 314 is provided on the auxiliary frame 313, the output end of the second electric push rod 314 passes through the auxiliary frame 313 and is connected to the motor 310, a slot 316 is provided on the window cleaning disc 301, the auxiliary rod 304 is located in the slot 316, after the second electric push rod 314 is started, the second electric push rod The output end of 314 will drive the motor 310 to rise and fall. When the motor 310 is rising and falling, it is limited by the slider 312 and the slide groove 311 to keep the posture of the motor 310 stable. The rising and falling of the motor 310 will also drive the rising and falling of the rotating rod 303, thereby adjusting the position of the auxiliary rod 304. After the motor 310 is started, the output end of the motor 310 can drive the rotation of the rotating rod 303. When the auxiliary rod 304 is still located in the slot 316, the rotation of the rotating rod 303 can drive the rotation of the window wiping disc 301 with the assistance of the auxiliary rod 304. Conversely, when the auxiliary rod 304 descends and disengages from the slot 316, the rotation of the rotating rod 303 cannot drive the rotation of the window wiping disc 301.

[0034] The isolation cover 315 is arranged outside the bracket 306 at the upper end of the bottom cover 4. The isolation cover 315 is used to assist in partitioning the interior of the device, reducing mutual influence and ensuring stable operation of the device.

[0035] The robot body 1 is also provided with a visual sensor, which can detect the condition and position of stains on the glass with the aid of the visual sensor.

[0036] During use of the present invention, the device is controlled by a remote control so that it is adsorbed on the window like an octopus, and the stains on the glass are detected with the assistance of a visual sensor. After the stain detection is completed, the window cleaning unit 3 is aligned with the position of the stain on the window by controlling each mechanical leg 2, and the window cleaning cloth 302 of the window cleaning unit 3 is attached to the glass surface by adjusting the mechanical legs 2.

[0037] When the stain detected by the visual sensor is a light stain, the window cleaning cloth 302 will be attached to the glass surface. At this time, the controller in the device controls the motor 310 to start. After the motor 310 is started, the output end of the motor 310 will drive the rotation of the rotating rod 303, and the rotation of the rotating rod 303 will drive the rotation of the auxiliary rod 304. At this time, the auxiliary rod 304 is still located in the card slot 316, so the auxiliary rod 304 will drive the rotation of the window cleaning disc 301, and the rotation of the window cleaning disc 301 will drive the rotation of the window cleaning cloth 302. The rotation of the window cleaning cloth 302 can wipe the stains on the glass.

[0038] When the stain detected by the visual sensor is a moderate stain, the window cleaning cloth 302 will be attached to the glass surface. At this time, the controller in the device controls the motor 310 to start. After the motor 310 is started, the output end of the motor 310 drives the rotation of the rotating rod 303, and the rotation of the rotating rod 303 drives the rotation of the auxiliary rod 304. At this time, the auxiliary rod 304 is still in the card slot 316, so the auxiliary rod 304 drives the rotation of the window cleaning disk 301, and the rotation of the window cleaning disk 301 drives the rotation of the window cleaning cloth 302. The rotation of the window cleaning cloth 302 can clean the glass. The stains are wiped off, and at the same time, the controller in the device will synchronously control the first electric push rod 307 to start. After the first electric push rod 307 is started, the output end of the first electric push rod 307 will drive the movement of the mounting ring 308, so that the window wiping disc 301 moves toward the glass, and the friction between the window wiping cloth 302 and the glass increases when the window wiping cloth 302 rotates, thereby enhancing the cleaning effect of the window wiping cloth 302. It should be noted that the depth of the card slot 316 is sufficient. When the window wiping disc 301 moves toward the glass, the cooperation between the auxiliary rod 304 and the card slot 316 is not affected.

[0039] When the stain detected by the visual sensor is a heavy stain, the window cleaning cloth 302 will be attached to the glass surface. At this time, the controller in the device controls the motor 310 to start. After the motor 310 is started, the output end of the motor 310 drives the rotation of the rotating rod 303, and the rotation of the rotating rod 303 drives the rotation of the auxiliary rod 304. At this time, the auxiliary rod 304 is still in the card slot 316, so the auxiliary rod 304 drives the rotation of the window cleaning disk 301, and the rotation of the window cleaning disk 301 drives the rotation of the window cleaning cloth 302. The rotation of the window cleaning cloth 302 can wipe the stains on the glass. At the same time, the controller in the device will also synchronously control the first electric push rod 307 to start. After the first electric push rod 307 is started, the output end of the first electric push rod 307 drives the movement of the mounting ring 308, so that the window cleaning disk 301 moves toward the glass. The auxiliary rod 304 moves in the direction of the glass, thereby increasing the friction between the window-wiping cloth 302 and the glass when it rotates, thereby enhancing the cleaning effect of the window-wiping cloth 302, and at this time the second electric push rod 314 will also be started, and the output end of the second electric push rod 314 will drive the movement of the motor 310, thereby moving the auxiliary rod 304 in the direction of the glass, and half of the auxiliary rod 304 will extend out of the slot 316. At this time, when the window-wiping disc 301 rotates in conjunction with the window-wiping cloth 302 to wipe the stains, the stains can be assisted by the auxiliary rod 304 to be in a wave state by the erasing force, that is, when the auxiliary rod 304 passes by the stain, the friction between the window-wiping cloth 302 and the glass increases, and after the auxiliary rod 304 crosses the stain, the friction between the window-wiping cloth 302 and the glass will decrease, using a pulsed force to ensure the cleaning effect of heavy stains.

[0040] When the stains on a window are light or medium, the robot body 1 will be in a suspended posture when the device uses the mechanical legs 2 and the suction cup unit 5 to assist in crossing the obstacles between the windows. At this time, the device controls the output end of the second electric push rod 314 to extend to the limit state. Therefore, the motor 310 will move to the limit distance in the direction of the window cleaning disc 301. At this time, the auxiliary rod 304 will be fully extended from the slot 316. Synchronously, the device will start the motor 310. The output end of the motor 310 will drive the rotation of the rotating rod 303, thereby rotating the auxiliary rod 304. Since the auxiliary rod 304 is located outside the slot 316 at this time, the rotation of the auxiliary rod 304 can no longer drive the rotation of the window cleaning disc 301. At this time, the auxiliary rod 304 will press against the window cleaning cloth 302. As the auxiliary rod 304 rotates, the auxiliary rod 304 and the window cleaning cloth 302 will move relative to each other. In this process, impurities on the window cleaning cloth 302 can be cleaned, thereby ensuring the effect of subsequent window cleaning.

[0041] When the window cleaning unit 3 performs a heavy stain removal, the controller of the device will directly control the mechanical legs 2 and the suction cup unit 5 to make the robot body 1 in a suspended posture, and then the window cleaning cloth 302 will be attached to the glass surface. At this time, the controller in the device controls the motor 310 to start. After the motor 310 is started, the output end of the motor 310 will drive the rotation of the rotating rod 303, and the rotation of the rotating rod 303 will drive the rotation of the auxiliary rod 304. At this time, the auxiliary rod 304 is still in the card slot 316, so the auxiliary rod 304 will drive the window cleaning The disc 301 rotates, and the rotation of the window-wiping disc 301 drives the rotation of the window-wiping cloth 302, and the rotation of the window-wiping cloth 302 can wipe the stains on the glass. At the same time, the controller in the device will also synchronously control the first electric push rod 307 to start. After the first electric push rod 307 is started, the output end of the first electric push rod 307 will drive the movement of the mounting ring 308, so that the window-wiping disc 301 moves toward the direction of the glass, so that the friction between the window-wiping cloth 302 and the glass increases when it rotates, thereby enhancing the cleaning effect of the window-wiping cloth 302.

[0042] The main functions achieved by the present invention are as follows: by setting components such as the mechanical legs 2, the suction cup unit 5 and the window cleaning unit 3, and using the device to control the mechanical legs 2 and the suction cup unit 5, the device can be adsorbed on the glass like an octopus, and can cross the obstacles between windows to enable the device to clean the next piece of glass, and use the visual sensor to detect the degree of stains on the glass. When the stain is light, the window cleaning cloth 302 is attached to the glass surface and rotated to wipe. When the stain is moderate, the window cleaning disc 301 is pressed against the glass with the window cleaning cloth 302 to rotate and wipe with the assistance of the first electric push rod 307. When the stain is heavy, With the assistance of the first electric push rod 307 and the second electric push rod 314, the stains on the glass are subjected to a wave-like rotational wiping force, so that the cleaning effect of heavy stains is better. After the equipment has completed wiping light or medium stains on a piece of glass and moves across the obstacle to wipe the next piece of glass, or after a heavy stain is wiped, the equipment will control the assistance of the mechanical legs 2 and the suction cup unit 5 to make the robot body 1 suspended in the air, and with the assistance of the first electric push rod 307, the second electric push rod 314 and the motor 310, the auxiliary rod 304 and the window cleaning cloth 302 are moved relative to each other, so that the impurities on the window cleaning cloth 302 are cleaned, thereby ensuring the effect of subsequent glass wiping.

[0043] The bionic octopus adsorption obstacle-crossing window-cleaning robot of the present invention has common mechanical installation, connection or setting methods, and can be implemented as long as it can achieve its beneficial effects.

[0044] All technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0045] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A bionic octopus suction-type obstacle-crossing window cleaning robot, comprising a robot body (1) and mechanical legs (2), characterized in that: The robot body (1) is provided with a window cleaning unit (3), and the robot body (1) is also provided with a visual sensor; The window wiping unit (3) comprises a window wiping disc (301), a window wiping cloth (302) is provided on the outside of the lower end of the window wiping disc (301), a rotating rod (303) is slidably provided in the middle position of the window wiping disc (301), an auxiliary rod (304) is provided at the lower end of the rotating rod (303), and a driving unit is further provided on the window wiping disc (301), and the driving unit drives the operation of the window wiping disc (301) and the rotating rod (303).

2. The bionic octopus suction obstacle-crossing window cleaning robot according to claim 1, characterized in that: A bottom cover (4) is provided at the lower end of the robot body (1), a through hole (305) is provided at a middle position of the bottom cover (4), the window cleaning disc (301) is located in the through hole (305), and the window cleaning disc (301) can move up and down and rotate, and a bracket (306) is provided on one side of the bottom cover (4) located inside the robot body (1), and two first electric push rods (307) are provided on the bracket (306).

3. The bionic octopus suction obstacle-crossing window cleaning robot according to claim 2, characterized in that: The output end of the first electric push rod (307) passes through the bracket (306), and a mounting ring (308) is provided on a side of the window cleaning disc (301) close to the bracket (306). The output end of the first electric push rod (307) is connected to the mounting ring (308), and the mounting ring (308) is rotatably connected to the window cleaning disc (301).

4. The bionic octopus suction obstacle-crossing window cleaning robot according to claim 2, characterized in that: A limiting ring (309) is provided in the middle position of the bracket (306), a motor (310) is provided in the limiting ring (309), a sliding groove (311) is provided inside the limiting ring (309), a slider (312) is provided at the side end of the motor (310), the slider (312) slides and limits in the sliding groove (311), and the output end of the motor (310) is connected and fixed to the rotating rod (303).

5. The bionic octopus suction obstacle-crossing window cleaning robot according to claim 4, characterized in that: An auxiliary frame (313) is further provided on the bracket (306), a second electric push rod (314) is provided on the auxiliary frame (313), an output end of the second electric push rod (314) passes through the auxiliary frame (313) and is connected to the motor (310), a slot (316) is provided on the window cleaning plate (301), and the auxiliary rod (304) is located in the slot (316).

6. The bionic octopus suction obstacle-crossing window cleaning robot according to claim 2, characterized in that: An isolation cover (315) is provided on the upper end of the bottom cover (4) outside the bracket (306); the inner side of the isolation cover (315) is the window cleaning unit (3); the outer side of the isolation cover (315) is a cleaning liquid storage area; and the bottom cover (4) is sealed to the robot body (1).

7. The bionic octopus suction obstacle-crossing window cleaning robot according to claim 1, characterized in that: The mechanical leg (2) is a multi-joint mechanical leg, and each joint of the mechanical leg (2) is provided with a driver for driving its movement. A suction cup unit (5) is also provided at the lower end of the mechanical leg (2), and each suction cup unit (5) is controlled individually.

8. The bionic octopus suction obstacle-crossing window cleaning robot according to claim 7, characterized in that: The suction cup unit (5) comprises a suction cup body (501), the lower end of the suction cup body (501) is trumpet-shaped, a third electric push rod (502) is provided in the suction cup body (501), and a piston disc (503) is provided at the output end of the third electric push rod (502), and the piston disc (503) and the suction cup body (501) are slidably sealed.

9. The bionic octopus suction obstacle-crossing window cleaning robot according to claim 1, characterized in that: The upper end of the robot body (1) is further provided with a handle (6), the side end of the robot body (1) is further provided with a safety rope (7), and the lower end of the robot body (1) is further provided with a water spray unit.

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