Roller type obstacle crossing cleaning robot

Abstract

The invention provides a roller type obstacle crossing cleaning robot. Comprising a case; the multiple telescopic assemblies are fixedly installed in the four corners of the machine box correspondingly; and two cleaning assemblies. According to the roller type obstacle crossing cleaning robot, through mutual cooperation of the telescopic assembly, the sweeping assembly, the guide assembly, the air blowing assembly and other structures, when the cleaning robot encounters a curtain wall steel structure obstacle, the top telescopic assembly is started firstly, so that a rubber roller and a sweeping roller abut against a curtain wall, and a machine box is driven to be obliquely away from the curtain wall; then the case is driven to move upwards by means of the synergistic effect of the guide rope assembly and the driving assembly till the top rubber rolling wheel and the cleaning roller span the steel structure, then the top telescopic assembly shrinks to enable the case to return and continues to move upwards till the bottom cleaning roller reaches the position of the steel structure, and the bottom telescopic assembly extends again to enable the bottom of the case to be away from the curtain wall; overall obstacle crossing is completed in cooperation with the guide rope assembly, it is ensured that the cleaning process is not interrupted, and the cleaning efficiency and effect are improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and in particular to a roller-type obstacle-crossing cleaning robot. Background Technology

[0002] In the field of modern architecture, glass curtain walls have become an important choice for many buildings due to their beautiful appearance, good lighting effect and energy-saving advantages. However, after a period of use, glass curtain walls will be affected by dust, rain and other factors and accumulate dirt. This will not only affect the aesthetics of the building, but may also damage its performance. Therefore, curtain wall cleaning is an important maintenance task and is crucial to maintaining the appearance and performance of the building. Curtain wall cleaning robots, as a type of automated equipment specifically designed for cleaning the exterior walls of high-rise buildings, can efficiently and safely complete the cleaning of glass curtain walls.

[0003] Most existing cleaning robots use suction cups to adhere to the surface of curtain walls for positioning. However, glass curtain walls typically have steel structures to limit the glass, which can hinder the movement of the cleaning robot. When the cleaning robot encounters a steel structure, the suction cup method cannot flexibly overcome the obstacle, resulting in the robot's movement being obstructed and unable to complete the cleaning of the entire curtain wall smoothly, affecting cleaning efficiency and effectiveness. In addition, traditional suction cup cleaning robots may become unstable due to changes in suction force during obstacle crossing, posing a safety hazard.

[0004] Therefore, it is necessary to provide a roller-type obstacle-crossing cleaning robot to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides a roller-type obstacle-crossing cleaning robot, which solves the problem that existing cleaning robots rely on suction cups for adsorption, making it difficult to cross obstacles such as curtain wall steel structures, resulting in obstructed movement, low cleaning efficiency, and safety hazards.

[0006] To solve the above-mentioned technical problems, the present invention provides a roller-type obstacle-crossing cleaning robot, comprising:

[0007] Chassis;

[0008] Multiple telescopic components are fixedly installed inside the four corners of the chassis.

[0009] Two cleaning components are respectively disposed at the moving ends of the four telescopic components;

[0010] Four guiding components are respectively disposed at both ends of one side of the two cleaning components;

[0011] A rope guide assembly is disposed on the inner side of the chassis;

[0012] A drive assembly is disposed on the side of the guide rope assembly, and the drive assembly is used to drive the guide rope assembly to rotate;

[0013] A power distribution assembly is disposed on the inner side of the chassis;

[0014] A first spraying component is disposed at one output end of the diversion component;

[0015] The second spraying component is disposed at another output end of the diversion component;

[0016] A tethered water pipe is provided at the input end of the diversion component;

[0017] A steering assembly, the steering assembly being disposed on the front of the chassis;

[0018] A blower assembly is disposed on one side of the steering assembly. The blower assembly includes a motor and a propeller, with the propeller fixedly installed at the output end of the motor.

[0019] Preferably, heat sinks are fixedly installed on both sides of the chassis, four cameras are fixedly installed on the top of the chassis, and tethered cables are fixedly installed on the bottom of the chassis.

[0020] Preferably, each of the two cleaning components includes a mounting frame, a cleaning motor, a cleaning roller, and a baffle plate. The mounting frame is fixedly installed on the moving end of the telescopic component, the cleaning motor is fixedly installed on one end of the mounting frame, the cleaning roller is fixedly installed on the output end of the cleaning motor, and the baffle plate is fixedly installed on the other side of the mounting frame. Each of the four guide components includes a fixed plate, a slide rod, a spring, a mounting frame, and a rubber roller. The fixed plate is fixedly installed on one side of the mounting frame, the slide rod is slidably connected to the inside of the fixed plate, the spring is sleeved on the outer side of the slide rod, the mounting frame is fixedly installed on one end of the slide rod, and the rubber roller is rotatably connected to the inner side of the mounting frame.

[0021] Preferably, the rope guide assembly includes a housing, a rope guide wheel, and two first guide wheels. The rope guide wheel is disposed on the inner side of the housing, and the two first guide wheels are respectively disposed on the top and side of the rope guide wheel. The drive assembly includes a protective shell, two synchronous pulleys, a synchronous belt, a rotating shaft, and a drive component. The protective shell is fixedly installed on the side of the housing. Both synchronous pulleys are disposed on the inner side of the protective shell. The synchronous belt is respectively sleeved on the outer side of the two synchronous pulleys. One end of the rotating shaft is fixedly installed inside one of the synchronous pulleys, and the other end of the rotating shaft is fixedly installed inside the rope guide wheel. The output end of the drive motor is fixedly installed on the side of the other synchronous pulley.

[0022] Preferably, safety ropes are provided on the sides of both first guide wheels and guide rope wheels, mounting plates are fixedly installed on both sides of the housing, a second guide wheel is rotatably connected between the two mounting plates, the bottom of the safety rope is located at the top of the second guide wheel, a guide tube is fixedly installed at the top of the housing, the guide tube is located on the outer side of the safety rope, both first guide wheels are rotatably connected to the inner side of the housing, and the driving component is fixedly installed on the side of the protective shell.

[0023] Preferably, the diversion assembly includes an electric three-way regulating valve and multiple diversion pipes, the multiple diversion pipes being respectively installed at two output ends and one input end of the electric three-way regulating valve; the first spraying assembly includes a first spray pipe and multiple fan-shaped spray nozzles, the first spray pipe being fixedly installed at the output end of one of the diversion pipes, and the multiple fan-shaped spray pipes being evenly fixedly installed on the side of the first spray pipe; the second spraying assembly includes a second spray pipe and multiple conical spray nozzles, the second spray pipe being fixedly installed at the output end of another of the diversion pipes, and the multiple conical spray nozzles being evenly fixedly installed on the side of the first spray pipe.

[0024] Preferably, the output end of the tethered water pipe is fixedly installed at the input end of the third diverter pipe, and four fan-shaped spray nozzles and four cone-shaped spray nozzles are provided.

[0025] Preferably, the steering assembly includes an upper support arm, a servo motor, and a rotating rod. The servo motor is fixedly installed at one end of the upper support arm, the rotating rod is fixedly installed at the output end of the servo motor, and a mounting component is fixedly installed on the outer side of the rotating rod. The mounting component is fixedly installed on one side of the motor.

[0026] Preferably, the bottom of the rotating rod is rotatably connected to a mounting base, the bottom of the mounting base is fixedly mounted with a lower support arm, the outer side of the propeller is provided with a blade cover, and the top and bottom of the inner side of the blade cover are respectively fixedly mounted to the top of the upper support arm and the bottom of the lower support arm.

[0027] Preferably, both the upper support arm and the lower support arm are fixedly installed on the front of the chassis 1.

[0028] Compared with related technologies, the roller-type obstacle-crossing cleaning robot provided by the present invention has the following beneficial effects:

[0029] This invention provides a roller-type obstacle-crossing cleaning robot. Through the coordinated operation of a telescopic assembly, a sweeping assembly, a guiding assembly, and a blowing assembly, when the cleaning robot encounters a steel curtain wall obstacle, the top telescopic assembly is activated first, causing the rubber rollers and sweeping rollers to press against the curtain wall, tilting the robot body away from the curtain wall. Then, with the synergistic action of the guide rope assembly and the drive assembly, the robot body moves upward until the top rubber rollers and sweeping rollers cross the steel structure. Subsequently, the top telescopic assembly retracts, returning the robot body to its upright position, and it continues to move upward until the bottom sweeping roller reaches the steel structure. The bottom telescopic assembly then extends, moving the bottom of the robot body away from the curtain wall, completing the overall obstacle crossing in conjunction with the guide rope assembly. This ensures an uninterrupted cleaning process, improving cleaning efficiency and effectiveness. Simultaneously, the blowing assembly, driven by a motor, generates a reverse thrust through a propeller, providing the robot with a stable curtain wall contact force, thereby increasing stability and avoiding potential safety hazards. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of a preferred embodiment of a roller-type obstacle-crossing cleaning robot provided by the present invention.

[0031] Figure 2 for Figure 1 The diagram shows another perspective of the structure.

[0032] Figure 3 for Figure 2 The diagram shows the rear structure.

[0033] Figure 4 for Figure 3 The diagram shows the structure of the guide rope assembly.

[0034] Figure 5 for Figure 4 The diagram shows a partial structure.

[0035] Figure 6 for Figure 5 The diagram shows a cross-sectional structure of the guide rope assembly.

[0036] Figure 7 for Figure 5 The diagram shows a cross-sectional view of the drive component.

[0037] Figure 8 for Figure 1 The diagram shows the structure of the first spraying assembly and the second spraying assembly.

[0038] Figure 9 for Figure 8 The diagram shows the structure of the shunt component.

[0039] Figure 10 for Figure 1 The diagram shows the structure of the blower assembly.

[0040] Figure 11 for Figure 10 The diagram shows the structure of the steering component.

[0041] Figure 12 for Figure 2 The enlarged schematic diagram of part A is shown.

[0042] Labels in the diagram: 1. Chassis; 2. Heat sink; 3. Camera; 4. Telescopic assembly; 5. Cleaning assembly; 51. Mounting bracket; 52. Cleaning motor; 53. Cleaning roller; 54. Baffle plate; 6. Guide assembly; 61. Fixing plate; 62. Slide bar; 63. Spring; 64. Mounting frame; 65. Rubber roller; 7. Cable tethering.

[0043] 1a. Mounting plate; 2a. Rope guide assembly; 21a. Housing; 22a. Rope guide pulley; 23a. First guide pulley; 3a. Drive assembly; 31a. Protective shell; 32a. Synchronous pulley; 33a. Synchronous belt; 34a. Shaft; 35a. Drive component; 4a. Safety rope; 5a. Guide tube; 6a. Second guide pulley;

[0044] 1b. Diverter assembly; 11b. Electric three-way regulating valve; 12b. Diverter pipe; 2b. First spray assembly; 21b. First spray pipe; 22b. Fan-shaped spray nozzle; 3b. Second spray assembly; 31b. Second spray pipe; 32b. Conical spray nozzle; 4b. Drainage pipe;

[0045] 1c, Steering assembly; 11c, Upper support arm; 12c, Servo motor; 13c, Rotating rod; 2c, Blower assembly; 21c, Motor; 22c, Propeller; 3c, Mounting component; 4c, Lower support arm; 5c, Mounting base; 6c, Blade cover. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0047] Please refer to the following: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11and Figure 12 ,in, Figure 1 This is a schematic diagram of a preferred embodiment of a roller-type obstacle-crossing cleaning robot provided by the present invention. Figure 2 for Figure 1 The diagram shows another perspective of the structure. Figure 3 for Figure 2 The diagram shows the rear structure. Figure 4 for Figure 3 The diagram shows the structure of the guide rope assembly. Figure 5 for Figure 4 The diagram shows a partial structure. Figure 6 for Figure 5 The diagram shows a cross-sectional structure of the guide rope assembly. Figure 7 for Figure 5 The diagram shows a cross-sectional view of the drive component. Figure 8 for Figure 1 The diagram shows the structure of the first spraying assembly and the second spraying assembly. Figure 9 for Figure 8 The diagram shows the structure of the shunt component. Figure 10 for Figure 1 The diagram shows the structure of the blower assembly. Figure 11 for Figure 10 The diagram shows the structure of the steering component. Figure 12 for Figure 2 The enlarged schematic diagram of part A is shown.

[0048] A roller-type obstacle-crossing cleaning robot includes: a chassis 1;

[0049] Multiple telescopic components 4 are fixedly installed inside the four corners of the chassis 1.

[0050] Two cleaning components 5 are respectively disposed on the moving ends of the four telescopic components 4;

[0051] Four guide components 6 are respectively disposed at both ends on one side of the two cleaning components 5;

[0052] Rope guide assembly 2a, the rope guide assembly 2a being disposed on the inner side of the chassis 1;

[0053] A drive component 3a is disposed on the side of the guide rope assembly 2a, and the drive component 3a is used to drive the guide rope assembly 2a to rotate.

[0054] The current splitter assembly 1b is disposed on the inner side of the chassis 1;

[0055] The first spraying component 2b is disposed at one output end of the diversion component 1b;

[0056] The second spraying component 3b is disposed at another output end of the diversion component 1b;

[0057] A tethered water pipe 4b is provided at the input end of the diversion component 1b;

[0058] Steering assembly 1c, the steering assembly 1c being disposed on the front of the chassis 1;

[0059] A blower assembly 2c is disposed on one side of the steering assembly 1c. The blower assembly 2c includes a motor 21c and a propeller 22c, with the propeller fixedly installed at the output end of the motor 21c.

[0060] Heat sinks 2 are fixedly installed on both sides of the chassis 1. Four cameras 3 are fixedly installed on the top of the chassis 1. A tether cable 7 is fixedly installed on the bottom of the chassis 1.

[0061] When in use, camera 3 is used to photograph the curtain wall, so that users can remotely observe impurities on the curtain wall and thus better clean it.

[0062] The tether cable 7 supplies power to the electronic equipment used inside the cleaning robot, and the input plug of the tether cable 7 can extend to the ground.

[0063] Both of the cleaning components 5 include a mounting frame 51, a cleaning motor 52, a cleaning roller 53, and a baffle plate 54. The mounting frame 51 is fixedly installed on the moving end of the telescopic component 4. The cleaning motor 52 is fixedly installed on one end of the mounting frame 51. The cleaning roller 53 is fixedly installed on the output end of the cleaning motor 52. The baffle plate 54 is fixedly installed on the other side of the mounting frame 51. The four guide components 6 each include a fixing plate 61, a sliding rod 62, a spring 63, a mounting frame 64, and a rubber roller 65. The fixing plate 61 is fixedly installed on one side of the mounting frame 51. The sliding rod 62 is slidably connected to the inside of the fixing plate 61. The spring 63 is sleeved on the outer side of the sliding rod 62. The mounting frame 64 is fixedly installed on one end of the sliding rod 62. The rubber roller 65 is rotatably connected to the inner side of the mounting frame 64.

[0064] The guide rope assembly 2a includes a housing 21a, a guide rope wheel 22a, and two first guide wheels 23a. The guide rope wheel 22a is disposed on the inner side of the housing 21a, and the two first guide wheels 23a are respectively disposed on the top and side of the guide rope wheel 22a. The drive assembly 3a includes a protective shell 31a, two synchronous wheels 32a, a synchronous belt 33a, a rotating shaft 34a, and a drive component 35a. The protective shell 31a is fixedly installed on the side of the housing 21a. The two synchronous wheels 32a are both disposed on the inner side of the protective shell 31a. The synchronous belt 33a is respectively sleeved on the outer side of the two synchronous wheels 32a. One end of the rotating shaft 34a is fixedly installed inside one of the synchronous wheels 32a, and the other end of the rotating shaft 34a is fixedly installed inside the guide rope wheel 22a. The output end of the drive motor 21c is fixedly installed on the side of the other synchronous wheel 32a.

[0065] Safety ropes 4a are provided on the sides of the two first guide wheels 23a and the guide rope wheel 22a. Mounting plates 1a are fixedly installed on both sides of the housing 21a. A second guide wheel 6a is rotatably connected between the two mounting plates 1a. The bottom of the safety rope 4a is located on the top of the second guide wheel 6a. A conduit 5a is fixedly installed on the top of the housing 21a. The conduit 5a is located on the outer side of the safety rope 4a. The two first guide wheels 23a are rotatably connected to the inner side of the housing 21a. The driving component 35a is fixedly installed on the side of the protective shell 31a.

[0066] The two first guide pulleys 23a guide the safety rope 4a vertically and vertically, preventing the safety rope from deviating from the guide pulley 22a;

[0067] The inner side of the guide rope pulley 22a is provided with anti-slip teeth, which can increase the friction between it and the safety rope 4a;

[0068] The second guide wheel 6a changes the direction of force on the safety rope, ensuring smooth rope movement;

[0069] The conduit 5a can prevent the safety rope from rubbing against the top edge of the shell 21a, reduce rope wear, and extend service life;

[0070] The precise control of the drive component 35a enables precise adjustment of the speed and length of the safety rope 4a, meeting the stable dwelling requirements of the cleaning robot at different height positions.

[0071] The entire automatic rope threading structure is fixed to the inside of the curtain wall cleaning robot by mounting plate 1a to ensure structural stability. When threading the rope, one end of the safety rope 4a is passed through the guide tube 5a at the top of the housing 21a, the side groove of the upper first guide wheel 23a, the side groove of the guide wheel 22a, the bottom groove of the side first guide wheel 23a, and finally around the top of the second guide wheel 6a. The other end of the safety rope 4a is fixed to the top of the curtain wall to complete the rope threading preparation.

[0072] When the height of the cleaning robot needs to be adjusted, the drive unit 35a is activated. The drive unit 35a drives the synchronous pulley 32a connected to it to rotate. Through the transmission action of the synchronous belt 33a, the other synchronous pulley 32a and the rotating shaft 34a are driven to rotate synchronously. The rotating shaft 34a drives the guide rope wheel 22a to rotate inside the housing 21a. When the guide rope wheel 22a rotates forward, the friction between the guide rope wheel 22a and the safety rope 4a causes the guide rope wheel 22a to lift the cleaning robot. When the guide rope wheel 22a rotates in reverse, the cleaning robot moves downward under the action of gravity, thus lowering the cleaning robot.

[0073] The guide rope assembly 2a and drive assembly 3a work together to drive the synchronous pulley 32a and synchronous belt 33a through the drive component 35a. This drives the guide rope pulley 22a to rotate, causing it to rotate on the surface of the safety rope 4a. This allows the cleaning robot to move up and down without relying on rooftop winding equipment, significantly reducing the overall size of the cleaning robot and eliminating the cumbersome process of setting up a winding structure on the rooftop, thus reducing the initial workload.

[0074] The diversion assembly 1b includes an electric three-way regulating valve 11b and multiple diversion pipes 12b. The multiple diversion pipes 12b are respectively installed at two output ends and one input end of the electric three-way regulating valve 11b. The first spraying assembly 2b includes a first spray pipe 21b and multiple fan-shaped spray nozzles 22b. The first spray pipe 21b is fixedly installed at the output end of one of the diversion pipes 12b. The multiple fan-shaped spray pipes are evenly fixedly installed on the side of the first spray pipe 21b. The second spraying assembly 3b includes a second spray pipe 31b and multiple conical spray nozzles 32b. The second spray pipe 31b is fixedly installed at the output end of another diversion pipe 12b. The multiple conical spray nozzles 32b are evenly fixedly installed on the side of the first spray pipe 21b.

[0075] The output end of the tethered water pipe 4b is fixedly installed at the input end of the third diverter pipe 12b. Four fan-shaped spray nozzles 22b and four cone-shaped spray nozzles 32b are provided.

[0076] Each fan-shaped water nozzle 22b covers an angle of approximately 90°, and four nozzles can achieve 360° coverage without blind spots;

[0077] The input end of the tethered water pipe 4b is connected to the external water supply system, and the device is continuously supplied with water through the tethered water pipe 4b. The branch pipe 12b is connected to the input end and the output end of the electric three-way regulating valve 11b respectively, forming a complete water supply path.

[0078] When in use, the electric three-way regulating valve 11b can be remotely controlled via a remote control device;

[0079] The spray cleaning device is fixed to the top of the curtain wall cleaning robot and the side near the curtain wall via the first spray pipe 21b and the second spray pipe 31b, ensuring that the water spray direction is towards the curtain wall surface and does not interfere with the cleaning roller.

[0080] When the cleaning robot begins to remove dust from the curtain wall, the electric three-way regulating valve 11b is switched to the second spray component 3b passage. Water is supplied through the tethered water pipe 4b and the diversion pipe 12b into the second spray pipe 31b, and then sprayed out through four evenly distributed conical spray nozzles 32b to pre-wash the curtain wall surface, washing away the dust and loose dirt. After cleaning, when the cleaning robot moves downward from the top of the building, the electric three-way regulating valve 11b is activated, allowing water to enter the interior of the first spray pipe 21b through the diversion pipe 12b, and then sprayed out through the fan-shaped spray nozzles 22b. At this time, as the cleaning robot moves downward, the first spray component 2b washes the area where the cleaning robot moves and the area through which the cleaning roller passes.

[0081] The diversion component 1b, the first spray component 2b, and the second spray component 3b work together in a coordinated manner. During operation, the electric three-way regulating valve 11b of the diversion component 1b opens the passage of the second spray component 3b, allowing the four conical spray nozzles 32b to spray high-pressure water jets to precisely pre-wash the floating dust and loose dirt on the curtain wall surface, removing impurities in advance. When the cleaning robot finishes cleaning and moves downwards, the electric three-way regulating valve 11b is switched to open the passage of the first spray component 2b, allowing the four fan-shaped spray nozzles 22b to spray a wide water curtain, providing an immediate secondary rinse to the area just passed by the cleaning roller. This improves the cleaning effect of the curtain wall.

[0082] The steering assembly 1c includes an upper support arm 11c, a servo motor 12c, and a rotating rod 13c. The servo motor 12c is fixedly installed at one end of the upper support arm 11c, and the rotating rod 13c is fixedly installed at the output end of the servo motor 12c. A mounting component 3c is fixedly installed on the outer side of the rotating rod 13c, and the mounting component 3c is fixedly installed on one side of the motor 21c.

[0083] The bottom of the rotating rod 13c is rotatably connected to the mounting base 5c, and the bottom of the mounting base 5c is fixedly installed with the lower support arm 4c. The outer side of the propeller 22c is provided with a blade cover 6c, and the top and bottom of the inner side of the blade cover 6c are respectively fixedly installed on the top of the upper support arm 11c and the bottom of the lower support arm 4c.

[0084] Both the upper support arm 11c and the lower support arm 4c are fixedly installed on the front of the chassis 11.

[0085] When in use, the servo motor 12c can be remotely controlled via a remote controller, allowing the user to easily adjust the direction of the propeller 22c from the ground.

[0086] The blade cover 6c on the outer side of the propeller 22c (made of lightweight, high-strength plastic material) can prevent the propeller 22c from colliding with the curtain wall steel structure or protrusions during movement, and at the same time prevent dust and impurities from being drawn into the propeller 22c and affecting its operation.

[0087] Mounting base 5c cooperates with lower support arm 4c to provide stable support for rotating rod 13c and prevent structural swaying during turning.

[0088] Mounting component 3c is made of metal to ensure a firm connection between motor 21c and rotating rod 13c, and to transmit power without loss.

[0089] When in use, start the motor 21c of the blower assembly 2c. The motor 21c drives the propeller 22c to rotate at high speed. The rotation of the propeller 22c generates an outward thrust (away from the curtain wall). According to the principle of action and reaction, the curtain wall generates a reverse adhesion force on the robot, so that the robot can be stably attached to the surface of the curtain wall without suction cups. By adjusting the speed of the motor 21c, the thrust can be controlled, thereby adjusting the adhesion force between the robot and the curtain wall, ensuring stable movement under different curtain wall slopes.

[0090] When the cleaning robot needs to turn or avoid the curtain wall steel structure, the speed of motor 21c can be reduced, thereby reducing the contact force between the cleaning robot and the curtain wall, so that the cleaning robot can pass through the curtain wall steel structure smoothly.

[0091] When cleaning, if a side wind blows, the servo motor 12c can be controlled to drive the rotating rod 13c to rotate, which in turn drives the blowing assembly 2c to rotate, thereby generating a reverse force and preventing the cleaning robot from shifting.

[0092] With the setting of the blower component 2c, when in use, the motor 21c drives the propeller 22c to rotate at high speed, generating a thrust away from the curtain wall. By utilizing the principle of action and reaction forces, the robot obtains a stable adhesion force to the curtain wall. When encountering the steel structure of the curtain wall, there is no need to frequently start and stop or adjust the suction position as with suction cup robots. Simply reduce the speed of the motor 21c to reduce the adhesion force, and the robot can easily avoid obstacles, avoiding movement jams caused by steel structure obstruction, ensuring a smooth cleaning process, and improving cleaning efficiency and effect.

[0093] The working principle of the roller-type obstacle-crossing cleaning robot provided by this invention is as follows:

[0094] When in use, when encountering a steel structure component of a glass curtain wall, first activate the telescopic components 4 at both ends of the top of the housing 1, so that the rubber rollers 65 and the cleaning rollers 53 abut against the upper surface of the glass curtain wall, thereby moving the back of the housing 1 away from the curtain wall and tilting the housing 1 as a whole. Then activate the drive component 3a and the guide rope component 2a to move the housing 1 upward until the rubber rollers 65 and the cleaning rollers 53 at the top pass through the steel structure component. Then, the telescopic components 4 at the top retract, keeping the housing 1 horizontal with the curtain wall. Then, the housing 1 continues to move upward until the cleaning rollers 53 at the bottom move to the position of the steel structure component. At this time, the telescopic components 4 at the bottom extend, moving the bottom of the housing 1 away from the curtain wall. At the same time, the guide rope component 2a continues to drive the housing 1 upward until the housing 1 passes through the steel structure component.

[0095] Compared with related technologies, the roller-type obstacle-crossing cleaning robot provided by the present invention has the following beneficial effects:

[0096] The robot cleaning system utilizes a combination of components including the telescopic assembly 4, cleaning assembly 5, guiding assembly 6, and blowing assembly 2c. When the robot encounters an obstacle in the steel structure of a curtain wall, the top telescopic assembly 4 is activated to press the rubber roller 65 and cleaning roller 53 against the curtain wall, causing the chassis 1 to tilt away from the curtain wall. Then, with the help of the guide rope assembly 2a and the drive assembly 3a, the chassis 1 is driven upward until the top rubber roller 65 and cleaning roller 53 cross the steel structure. Subsequently, the top telescopic assembly 4 retracts to straighten the chassis 1, which continues to move upward until the bottom cleaning roller 53 reaches the position of the steel structure. The bottom telescopic assembly 4 then extends to move the bottom of the chassis 1 away from the curtain wall, completing the obstacle crossing with the help of the guide rope assembly 2a. This ensures that the cleaning process is not interrupted, improving cleaning efficiency and effectiveness. At the same time, the blowing assembly 2c drives the propeller 22c through the motor 21c to generate reverse thrust, providing the robot with a stable curtain wall adhesion force, thereby increasing stability and avoiding potential safety hazards.

[0097] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A roller-type obstacle-crossing cleaning robot, characterized in that, include: Chassis; Multiple telescopic components are fixedly installed inside the four corners of the chassis. Two cleaning components are respectively disposed at the moving ends of the four telescopic components; Four guiding components are respectively disposed at both ends of one side of the two cleaning components; A rope guide assembly is disposed on the inner side of the chassis; A drive assembly is disposed on the side of the guide rope assembly, and the drive assembly is used to drive the guide rope assembly to rotate; A power distribution assembly is disposed on the inner side of the chassis; A first spraying component is disposed at one output end of the diversion component; The second spraying component is disposed at another output end of the diversion component; A tethered water pipe is provided at the input end of the diversion component; A steering assembly, the steering assembly being disposed on the front of the chassis; A blower assembly is disposed on one side of the steering assembly. The blower assembly includes a motor and a propeller, with the propeller fixedly installed at the output end of the motor.

2. The roller-type obstacle-crossing cleaning robot according to claim 1, characterized in that, Heat sinks are fixedly installed on both sides of the chassis, four cameras are fixedly installed on the top of the chassis, and tethered cables are fixedly installed on the bottom of the chassis.

3. The roller-type obstacle-crossing cleaning robot according to claim 2, characterized in that, Both of the aforementioned cleaning components include a mounting frame, a cleaning motor, a cleaning roller, and a baffle plate. The mounting frame is fixedly installed on the moving end of the telescopic component. The cleaning motor is fixedly installed on one end of the mounting frame. The cleaning roller is fixedly installed on the output end of the cleaning motor. The baffle plate is fixedly installed on the other side of the mounting frame. Each of the four aforementioned guide components includes a fixed plate, a sliding rod, a spring, a mounting frame, and a rubber roller. The fixed plate is fixedly installed on one side of the mounting frame. The sliding rod is slidably connected to the inside of the fixed plate. The spring is sleeved on the outer side of the sliding rod. The mounting frame is fixedly installed on one end of the sliding rod. The rubber roller is rotatably connected to the inner side of the mounting frame.

4. The roller-type obstacle-crossing cleaning robot according to claim 1, characterized in that, The rope guide assembly includes a housing, a rope guide wheel, and two first guide wheels. The rope guide wheel is disposed on the inner side of the housing, and the two first guide wheels are respectively disposed on the top and side of the rope guide wheel. The drive assembly includes a protective shell, two synchronous pulleys, a synchronous belt, a rotating shaft, and a drive component. The protective shell is fixedly installed on the side of the housing. Both synchronous pulleys are disposed on the inner side of the protective shell. The synchronous belt is respectively sleeved on the outer side of the two synchronous pulleys. One end of the rotating shaft is fixedly installed inside one of the synchronous pulleys, and the other end of the rotating shaft is fixedly installed inside the rope guide wheel. The output end of the drive motor is fixedly installed on the side of the other synchronous pulley.

5. A roller-type obstacle-crossing cleaning robot according to claim 4, characterized in that, Safety ropes are provided on the sides of both first guide wheels and guide rope wheels. Mounting plates are fixedly installed on both sides of the housing. A second guide wheel is rotatably connected between the two mounting plates. The bottom of the safety rope is located on the top of the second guide wheel. A guide tube is fixedly installed on the top of the housing. The guide tube is located on the outer side of the safety rope. Both first guide wheels are rotatably connected to the inner side of the housing. The driving component is fixedly installed on the side of the protective shell.

6. A roller-type obstacle-crossing cleaning robot according to claim 1, characterized in that, The diversion assembly includes an electric three-way regulating valve and multiple diversion pipes. The multiple diversion pipes are respectively installed at two output ends and one input end of the electric three-way regulating valve. The first spraying assembly includes a first spray pipe and multiple fan-shaped spray nozzles. The first spray pipe is fixedly installed at the output end of one of the diversion pipes, and the multiple fan-shaped spray pipes are evenly fixedly installed on the side of the first spray pipe. The second spraying assembly includes a second spray pipe and multiple conical spray nozzles. The second spray pipe is fixedly installed at the output end of another diversion pipe, and the multiple conical spray nozzles are evenly fixedly installed on the side of the first spray pipe.

7. A roller-type obstacle-crossing cleaning robot according to claim 6, characterized in that, The output end of the tethered water pipe is fixedly installed at the input end of the third diverter pipe. Four fan-shaped water nozzles and four cone-shaped water nozzles are provided.

8. A roller-type obstacle-crossing cleaning robot according to claim 1, characterized in that, The steering assembly includes an upper support arm, a servo motor, and a rotating rod. The servo motor is fixedly installed at one end of the upper support arm, and the rotating rod is fixedly installed at the output end of the servo motor. A mounting component is fixedly installed on the outer side of the rotating rod, and the mounting component is fixedly installed on one side of the motor.

9. A roller-type obstacle-crossing cleaning robot according to claim 8, characterized in that, The bottom of the rotating rod is rotatably connected to a mounting base, and a lower support arm is fixedly mounted on the bottom of the mounting base. A blade cover is provided on the outer side of the propeller, and the top and bottom of the inner side of the blade cover are respectively fixedly mounted on the top of the upper support arm and the bottom of the lower support arm.

10. A roller-type obstacle-crossing cleaning robot according to claim 9, characterized in that, Both the upper support arm and the lower support arm are fixedly installed on the front of the chassis 1.

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