Obstacle-surmounting curtain wall cleaning robot

Abstract

The application discloses an obstacle-crossing curtain wall cleaning robot, which comprises a robot main body, a first adsorption mechanism arranged on one side of the robot main body, a telescopic stroke device, an obstacle-crossing stroke device and a switching mechanism. The two ends of the telescopic stroke device are respectively connected with a cleaning element and a second adsorption mechanism. The obstacle-crossing stroke device is arranged on the robot main body and drives the robot main body and the telescopic stroke device to move in the direction parallel to the curtain wall. The switching mechanism is used for connecting the telescopic stroke device and the obstacle-crossing stroke device, so that the end of the telescopic stroke device and the corresponding cleaning element and second adsorption mechanism are switched between the two states of approaching and moving away from the curtain wall. When the cleaning element is in the state of approaching the curtain wall, the obstacle-crossing stroke device drives the telescopic stroke device to move back and forth in the direction parallel to the curtain wall, thereby driving the cleaning element to move back and forth to scrub the curtain wall. The cleaning element is arranged on the outer side of the robot main body, and the cleaning element and the second adsorption mechanism can be switched, so that the robot has the advantages of obstacle-crossing function, more comprehensive cleaning and stronger adsorption capacity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of curtain wall cleaning, and particularly relates to a curtain wall cleaning robot capable of crossing obstacles. BACKGROUND

[0002] Dust, oil stains, bird droppings and other pollutants are easily accumulated on the surface of curtain walls on high-rise buildings. These pollutants not only damage the appearance of the building, but also may cause corrosion and damage to the curtain wall material, shortening the service life of the curtain wall. Traditionally, these pollutants are treated by regular manual cleaning. However, curtain wall cleaning often involves high-altitude work, which poses safety risks such as falling from a great height and electric shock. In addition, accidents may occur due to improper operation or equipment failure during the operation, posing a serious threat to the personal safety of cleaning personnel.

[0003] With the development of technology, robots are increasingly widely used in dangerous environments to replace traditional manual work, which can reduce the risk of personnel casualties and improve the safety of work. Currently, in the field of curtain wall cleaning, curtain wall cleaning robots are often used to replace manual cleaning of curtain walls on high-rise buildings. For example, a crossing obstacle outer wall cleaning robot (application number CN201720084764.2), and a crossing obstacle mechanism suitable for a glass curtain wall cleaning robot (application number CN202323439277.8). These robots can effectively clean the curtain wall while having certain obstacle crossing ability, which can cross obstacles such as decorative strips and metal frames protruding from the surface of the curtain wall, thereby expanding the movement and cleaning range of the robot.

[0004] However, these robots generally use cleaning cloths or cleaning brushes arranged on the bottom surface of the main body to remove dirt from the curtain wall, and use the main body suction mechanism located in the middle of the robot and the suction feet located on both sides of the robot to realize the obstacle crossing function similar to biped walking in an alternating suction manner. When different positions on the curtain wall need to be cleaned, the main body of the robot needs to be moved on the curtain wall, thereby driving the cleaning element to move to the corresponding position on the curtain wall for cleaning. The suction feet of these robots are usually located on both sides of the main body of the robot. Since the suction feet on both sides need to be sucked to the curtain wall to support the main body of the robot, when the robot moves to the edge corner of the curtain wall, the edge corner of the curtain wall needs to have enough space for the suction feet on the side close to the edge of the curtain wall to step on and be sucked to. Therefore, when the robot moves to the edge of the curtain wall, there is still a certain distance (at least equivalent to the diameter of the suction end of the suction foot) between the cleaning element and the edge of the curtain wall, so that there is a long and narrow area on the edge of the curtain wall that cannot be cleaned by the cleaning element, and the robot cannot clean the curtain wall comprehensively.

[0005] In addition, the cleaning mechanism of the existing curtain wall cleaning robot also has certain limitations. The specific principle of the existing curtain wall cleaning robot cleaning the curtain wall through the cleaning piece is that the robot is adsorbed to the curtain wall through the adsorption foot, the position of the adsorption foot relative to the curtain wall remains unchanged, the robot main body moves back and forth in the direction parallel to the curtain wall, and the cleaning piece is driven to move back and forth on the curtain wall to scrub the surface of the curtain wall. On the one hand, compared with the adsorption foot, the volume and weight of the robot main body are larger, the inertia generated when moving is larger, and higher requirements are put forward for the adsorption capacity of the adsorption foot and the performance of the motor driving the robot main body to move back and forth. On the other hand, the cleaning piece (such as a cleaning cloth, a cleaning brush, etc.) often has a certain thickness. This design makes the cleaning piece protrude from the bottom surface of the robot main body, which can fully contact the surface of the curtain wall during scrubbing, and at the same time separates the bottom surface of the robot main body from the surface of the curtain wall, effectively avoiding the bottom of the robot main body and the adsorption mechanism of the main body from rubbing against the surface of the curtain wall when the robot main body moves back and forth. However, this in turn causes the bottom surface of the adsorption mechanism of the main body to be difficult to closely adhere to the surface of the curtain wall when the main body adsorption mechanism of the robot main body is adsorbed to the curtain wall, and a gap is easily generated between the two, thereby reducing the air tightness and ultimately weakening the overall adsorption capacity of the adsorption mechanism. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application provides an obstacle-surmounting curtain wall cleaning robot, which has more comprehensive cleaning and stronger adsorption capacity.

[0007] The technical solution of the present application is as follows:

[0008] An obstacle-surmounting curtain wall cleaning robot, comprising:

[0009] A robot main body, wherein one side of the robot main body close to the curtain wall is provided with a first adsorption mechanism;

[0010] At least one telescopic stroke device, wherein both ends of the at least one telescopic stroke device are respectively connected with a cleaning piece and a second adsorption mechanism;

[0011] An obstacle-surmounting stroke device, wherein the obstacle-surmounting stroke device is arranged on the robot main body and drives the robot main body and the telescopic stroke device to move in the direction parallel to the curtain wall;

[0012] At least one switching mechanism, wherein at least one end of the obstacle-surmounting stroke device is connected with the telescopic stroke device through the switching mechanism, so that the end of the telescopic stroke device is switched between the two states of approaching and moving away from the curtain wall, and the cleaning piece and the second adsorption mechanism are switched between the two states of approaching and moving away from the curtain wall;

[0013] When the cleaning piece is in the state of approaching the curtain wall, the obstacle-surmounting stroke device drives the telescopic stroke device to move back and forth in the direction parallel to the curtain wall, and drives the cleaning piece to move back and forth to scrub the curtain wall.

[0014] Preferably, the switching mechanism comprises a rotary power device, which is fixedly arranged at the end of the obstacle- crossing stroke device, and the output end of the rotary power device is connected with the telescopic stroke device to drive the telescopic stroke device to rotate in a plane perpendicular to the curtain wall.

[0015] Preferably, the obstacle-crossing stroke device comprises an obstacle-crossing guide seat, which is fixedly connected with the robot body, and an obstacle-crossing rod is slidably arranged in the obstacle-crossing guide seat, the switching mechanism is fixedly arranged at the end of the obstacle-crossing rod, and an obstacle-crossing driving mechanism is arranged on the robot body to drive the obstacle-crossing rod to move in a direction parallel to the curtain wall.

[0016] Preferably, the obstacle-crossing driving mechanism comprises an obstacle-crossing motor, which is drivingly connected with an obstacle-crossing gear, and an obstacle-crossing toothed belt is connected with the obstacle-crossing rod, the obstacle-crossing toothed belt is arranged along the axis direction of the obstacle-crossing rod, and the obstacle-crossing toothed belt is engaged with the obstacle-crossing gear.

[0017] Preferably, the telescopic stroke device comprises a telescopic guide seat, which is fixedly connected with the output end of the rotary power device, and a telescopic rod is slidably arranged in the telescopic guide seat, the two ends of the telescopic rod are respectively connected with the cleaning member and the second adsorption mechanism, and a telescopic driving mechanism is arranged on the telescopic guide seat to drive the telescopic rod to move along the axis direction of the telescopic guide seat.

[0018] Preferably, the telescopic driving mechanism comprises a telescopic motor, which is fixedly arranged on the telescopic guide seat, and a telescopic toothed belt is arranged on the telescopic rod, the telescopic toothed belt is arranged along the axis direction of the telescopic rod, and the telescopic toothed belt is engaged with the telescopic motor through a telescopic gear.

[0019] Preferably, a guide groove is arranged on the telescopic rod, the guide groove is arranged along the axis direction of the telescopic rod, and a telescopic guide member is fixedly arranged on the telescopic guide seat, the telescopic guide member is slidingly or rollingly connected with the guide groove.

[0020] Preferably, a guide rail is arranged on the obstacle-crossing rod, the guide rail is arranged along the axis direction of the obstacle-crossing rod, and an obstacle-crossing guide member is fixedly arranged on the obstacle-crossing guide seat, the obstacle-crossing guide member is slidingly or rollingly connected with the guide rail.

[0021] Preferably, an angle sensor is further arranged to detect the rotation angle of the telescopic stroke device.

[0022] Preferably, the first adsorption mechanism and the second adsorption mechanism each comprise a suction disc, and the suction disc is connected with a negative pressure pump through a pipeline with a pressure relief valve.

[0023] Compared with the prior art, the present application has the following advantages:

[0024] The present application can switch the cleaning member and the second adsorption mechanism in the two states of approaching and moving away from the curtain wall by setting the cleaning member and the second adsorption mechanism at the two ends of the telescopic stroke device respectively and configuring a switching mechanism for switching the end of the telescopic stroke device between the two states of approaching and moving away from the curtain wall.

[0025] When the second adsorption mechanism approaches the curtain wall, the distance between the first adsorption mechanism and the second adsorption mechanism and the curtain wall can be alternately changed by the telescopic stroke device, and the purpose of obstacle crossing can be achieved with the assistance of the intermittent synchronous driving of the telescopic stroke device and the robot body by the obstacle crossing stroke device.

[0026] When the cleaning member approaches the curtain wall, on the one hand, the cleaning member can be located at the edge of the curtain wall when the robot moves to the edge of the curtain wall, so that the dead angle of cleaning can be reduced and the curtain wall can be cleaned thoroughly; on the other hand, during the process of cleaning the curtain wall by the cleaning member, the robot body is fixed on the curtain wall by the first adsorption mechanism, the position of the heavier robot body on the curtain wall does not change, the lighter telescopic stroke device is driven by the obstacle crossing stroke device to move back and forth in the direction parallel to the curtain wall, and the cleaning member is driven to move back and forth to scrub the curtain wall, the inertia generated during the scrubbing process is small, so that the stability of the robot is higher under the same suction force condition; and since the cleaning member is not arranged on the robot body, the gap caused by the cleaning member can be avoided, the adsorption end of the first adsorption mechanism is tightly attached to the surface of the curtain wall, the air tightness is better, the adsorption capacity is improved, and the stability of the robot body is better. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0029] Figure 2 It is a schematic diagram of the telescopic stroke device of the present application.

[0030] Figure 3 It is a schematic diagram of the Figure 1 It is a partial enlarged view of part A of the present application.

[0031] Reference signs:

[0032] Robot body-1; first suction mechanism-2;

[0033] Telescopic travel device-3; telescopic guide seat-31, telescopic guide-311; telescopic rod-32, guide groove-321; telescopic drive mechanism-33, telescopic motor-331, telescopic toothed belt-332, telescopic gear-333;

[0034] Cleaning piece-4; second suction mechanism-5;

[0035] Obstacle crossing travel device-6; obstacle crossing guide seat-61, obstacle crossing guide-611; obstacle crossing rod-62, guide rail-621; obstacle crossing drive mechanism-63, obstacle crossing motor-631, obstacle crossing gear-632, obstacle crossing toothed belt-633;

[0036] Switching mechanism-7. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0038] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", "fourth", etc. are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0039] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] Reference Figures 1-3 A barrier crossing curtain wall cleaning robot, comprising:

[0041] A robot body 1 is provided with a first suction mechanism 2 near one side of the curtain wall;

[0042] At least one telescopic stroke device 3, both ends of at least one telescopic stroke device 3 are respectively connected with a cleaning piece 4 and a second suction mechanism 5;

[0043] An obstacle stroke device 6 is arranged on the robot body 1, which drives the robot body 1 and the telescopic stroke device 3 to move in a direction parallel to the curtain wall;

[0044] At least one switching mechanism 7, at least one end of the obstacle stroke device 6 is connected with the telescopic stroke device 3 through the switching mechanism 7, so that the end of the telescopic stroke device 3 is switched between the two states of approaching / away from the curtain wall, and the corresponding cleaning piece 4 and second suction mechanism 5 are switched between the two states of approaching / away from the curtain wall;

[0045] When the cleaning piece 4 is in the state of approaching the curtain wall, the obstacle stroke device 6 drives the telescopic stroke device 3 to move back and forth in a direction parallel to the curtain wall, and drives the cleaning piece 4 to move back and forth to scrub the curtain wall.

[0046] That is, by switching the end of the telescopic stroke device 3 between the two states of approaching / away from the curtain wall through the switching mechanism 7, the cleaning piece 4 and the second suction mechanism 5 located at both ends of the telescopic stroke device 3 are also switched between the two states of approaching / away from the curtain wall, so as to at least ensure the realization of the following effects;

[0047] When the second suction mechanism 5 is in the state of approaching the curtain wall and the cleaning piece 4 is in the state of away from the curtain wall, by changing the distance between the first suction mechanism 2, the second suction mechanism 5 and the curtain wall through the telescopic stroke device 3, and cooperating with the obstacle stroke device 6 to drive the telescopic stroke device 3 and the robot body 1 to move in the forward direction, the effect of crossing the obstacle can be realized. The specific method and steps of the robot crossing the obstacle are prior art, and can refer to the content disclosed in the application number CN201710049326.7, a cross-obstacle outer wall cleaning robot and operation method, which will not be repeated here;

[0048] When the cleaning piece 4 is close to the curtain wall and the second suction mechanism 5 is away from the curtain wall, the curtain wall can be cleaned by the cleaning piece 4, at this time, the robot body 1 is fixed on the curtain wall by the first suction mechanism 2, so that the position of the robot body 1 on the curtain wall is fixed, and under the same suction force condition, the robot has better suction effect and stability, and since the cleaning piece 4 is not arranged on the robot body 1, on the one hand, the cleaning piece 4 will not cause an interval between the robot body 1 and the curtain wall surface, so that the first suction mechanism 2 can be closely attached to the curtain wall surface, thereby further improving the suction effect of the first suction mechanism 2 and the stability of the robot body 1 is better, on the other hand, the second suction mechanism 5 will not hinder the movement of the cleaning piece 4, and the movement range of the cleaning piece 4 is larger, and the cleaning piece 4 can be moved to the corner position of the curtain wall, so that the curtain wall is completely cleaned.

[0049] As a preferred embodiment, the number of the telescopic travel devices 3 and the second suction mechanisms 5 is two, and the telescopic travel devices 3 and the second suction mechanisms 5 are respectively arranged at two ends of the obstacle travel device 6. This design can improve the balance and stability when the second suction mechanism 5 is adsorbed.

[0050] In an optional embodiment, the number of the switching mechanisms 7 is one, one end of the obstacle travel device 6 is connected with the telescopic travel device 3 through the switching mechanism 7, and correspondingly, the number of the cleaning piece 4 is one, at this time, the robot cleans the curtain wall through one cleaning piece 4 located at one end of the obstacle travel device 6.

[0051] In another optional embodiment, the number of the switching mechanisms 7 is two, and the two ends of the obstacle travel device 6 are respectively connected with the two telescopic travel devices 3 through the two switching mechanisms 7, and correspondingly, the number of the cleaning piece 4 is two, at this time, the robot cleans the curtain wall through the two cleaning pieces 4 located at the two ends of the obstacle travel device 6, and the cleaning efficiency is higher.

[0052] As a preferred embodiment, the cleaning piece 4 is one or more of a cleaning cloth, a cleaning brush and a rolling brush.

[0053] As a preferred embodiment, the switching mechanism 7 comprises a rotary power device, which is fixedly arranged at the end of the obstacle- crossing stroke device 6, and the output end of the rotary power device is connected with the telescopic stroke device 3 to drive the telescopic stroke device 3 to rotate in a plane perpendicular to the curtain wall, thereby driving the cleaning member 4 and the second adsorption mechanism 5 at the two ends of the telescopic stroke device 3 to rotate in the plane perpendicular to the curtain wall, so that the cleaning member 4 and the second adsorption mechanism 5 can be switched between the two states of approaching / away from the curtain wall; when the second adsorption mechanism 5 is in the state of approaching the curtain wall, the curtain wall can be adsorbed by the second adsorption mechanism 5 to perform the obstacle-crossing operation; when the cleaning member 4 is in the state of approaching the curtain wall, the curtain wall can be cleaned by the cleaning member 4, and since the second adsorption mechanism 5 is at the end of the telescopic stroke device 3 away from the curtain wall at this time, the movement of the cleaning member 4 will not be hindered, and the cleaning member 4 can move to and clean the corner position of the curtain wall.

[0054] As a preferred embodiment, the rotary power device is a motor with a brake.

[0055] With reference to Figure 3 The obstacle-crossing stroke device 6 comprises an obstacle-crossing guide seat 61 fixedly connected with the robot body 1, and an obstacle-crossing rod 62 slidably sleeved in the obstacle-crossing guide seat 61, the switching mechanism 7 is fixedly arranged at the end of the obstacle-crossing rod 62, and the robot body 1 is provided with an obstacle-crossing driving mechanism 63 to drive the obstacle-crossing rod 62 to move in a direction parallel to the curtain wall, so that the relative positions of the robot body 1 and the obstacle-crossing rod 62 can be adjusted.

[0056] In this embodiment, at least the following effects are achieved:

[0057] When the first adsorption mechanism 2 adsorbs the curtain wall and releases the second adsorption mechanism 5, under the driving of the obstacle-crossing driving mechanism 63, the obstacle-crossing rod 62 moves along the obstacle-crossing guide seat 61, which drives the telescopic stroke device 3, the second adsorption mechanism 5 and the cleaning member 4 to move in a direction parallel to the curtain wall, thereby providing a premise for the obstacle-crossing of the telescopic stroke device 3, the second adsorption mechanism 5 and the cleaning member 4;

[0058] When the second adsorption mechanism 5 adsorbs the curtain wall and releases the first adsorption mechanism 2, under the driving of the obstacle-crossing driving mechanism 63, the robot body 1 can move along the axis direction of the obstacle-crossing rod 62, thereby providing a premise for the obstacle-crossing of the robot body 1;

[0059] When the first suction mechanism 2 sucks the curtain wall, and the telescopic stroke device 3 is rotated by the rotating power device to switch to the state that the cleaning piece 4 is close to the curtain wall, the cleaning piece 4 can be back and forth scrubbed on the curtain wall by driving the telescopic stroke device 3 and the cleaning piece 4 to move back and forth in the direction parallel to the curtain wall by the obstacle driving mechanism 63, so as to realize the cleaning of the curtain wall.

[0060] As a preferred embodiment, the obstacle driving mechanism 63 comprises an obstacle motor 631, the obstacle motor 631 is drivingly connected with an obstacle gear 632, and the obstacle rod 62 is connected with an obstacle tooth belt 633, the obstacle tooth belt 633 is arranged along the axis direction of the obstacle rod 62, and the obstacle tooth belt 633 is engaged with the obstacle gear 632.

[0061] It should be noted that the obstacle motor 631 is a motor with brake and reversible, which is fixedly arranged on the obstacle guide seat 61, and the output end thereof is fixedly sleeved with the obstacle gear 632, when the obstacle motor 631 is started, the obstacle gear 632 rotates synchronously, so as to drive the obstacle rod 62 to move along the axis direction thereof through the obstacle tooth belt 633 engaged therewith, so as to realize the effect that the relative position of the robot body 1 and the obstacle rod 62 can be changed.

[0062] Referring to Figure 2 , the telescopic stroke device 3 comprises a telescopic guide seat 31, the telescopic guide seat 31 is fixedly connected with the output end of the rotating power device, and the telescopic guide seat 31 is sleeved with a telescopic rod 32 which is slidably arranged in the telescopic guide seat 31, both ends of the telescopic rod 32 are respectively connected with the cleaning piece 4 and the second suction mechanism 5, and the telescopic guide seat 31 is provided with a telescopic driving mechanism 33, the telescopic driving mechanism 33 drives the telescopic rod 32 to move along the axis direction of the telescopic guide seat 31, so that the relative position between the telescopic rod 32 and the telescopic guide seat 31 is adjustable, thereby driving the cleaning piece 4 or the second suction mechanism 5 to move towards the direction close to or away from the curtain wall, so as to realize the telescopic effect.

[0063] As a preferred embodiment, the telescopic driving mechanism 33 comprises a telescopic motor 331, the telescopic motor 331 is fixedly arranged on the telescopic guide seat 31, and the telescopic rod 32 is provided with a telescopic tooth belt 332, the telescopic tooth belt 332 is arranged along the axis direction of the telescopic rod 32, and the telescopic tooth belt 332 is engaged with the telescopic motor 331 through a telescopic gear 333.

[0064] It should be noted that the telescopic motor 331 is also a motor with brake and reversible, and the output end is fixedly sleeved with the telescopic gear 333. When the telescopic motor 331 is started, the telescopic gear 333 rotates synchronously, so as to drive the telescopic rod 32 to move along the axis direction through the telescopic belt 332 engaged with the telescopic gear 333, so that the distance between the cleaning piece 4 or the second adsorption mechanism 5 and the curtain wall is changed, and the telescopic effect is realized.

[0065] With reference to Figure 2 , the telescopic rod 32 is provided with a guide groove 321 arranged along the axis direction of the telescopic rod 32, and the telescopic guide seat 31 is fixedly provided with a telescopic guide piece 311 in sliding or rolling connection with the guide groove 321.

[0066] With reference to Figure 3 , the obstacle surmounting rod 62 is provided with a guide rail 621 arranged along the axis direction of the obstacle surmounting rod 62, and the obstacle surmounting guide seat 61 is fixedly provided with an obstacle surmounting guide piece 611 in sliding or rolling connection with the guide rail 621.

[0067] In an optional embodiment, the telescopic guide piece 311 and the obstacle surmounting guide piece 611 are guide blocks respectively matched with the guide groove 321 and the guide rail 621 in shape, and are connected with the guide groove 321 or the guide rail 621 in sliding mode to guide the moving direction of the telescopic rod 32 and the obstacle surmounting rod 62.

[0068] In another optional embodiment, the telescopic guide piece 311 and the obstacle surmounting guide piece 611 are bearings respectively matched with the guide groove 321 and the guide rail 621 in shape, and are connected with the guide groove 321 or the guide rail 621 in rolling mode to guide the moving direction of the telescopic rod 32 and the obstacle surmounting rod 62, and compared with the sliding mode, the rolling connection has the advantage of smaller friction.

[0069] It should be noted that the guiding mode of the telescopic rod 32 and the guiding mode of the obstacle surmounting rod 62 can be interchanged, that is, the telescopic rod 32 can also adopt the mode of guide piece cooperating with the guide rail 621, and the obstacle surmounting rod 62 can also adopt the mode of guide piece cooperating with the guide groove 321 to realize the guiding effect.

[0070] As a preferred embodiment, an angle sensor is further included for detecting the rotation angle of the telescopic stroke device 3, so as to ensure that the angle of each rotation of the telescopic rod 32 is 180°.

[0071] As a preferred embodiment, the angle sensor, the telescopic motor 331, the obstacle-crossing motor 631, the rotating power device, the negative pressure pump, and the pressure relief valve are electrically connected to the controller, so that the components can work cooperatively under the control of the controller.

[0072] As a preferred embodiment, the first adsorption mechanism 2 and the second adsorption mechanism 5 each include a suction cup, and the suction cup is connected to a negative pressure pump through a pipeline with a pressure relief valve.

[0073] In an optional embodiment, the suction cup of the second adsorption mechanism 5 is fixedly arranged at one end of the telescopic rod 32, and the suction cup of the first adsorption mechanism 2 is fixedly connected to the bottom surface of the robot body 1 or is fixedly connected to the bottom surface of the robot body 1 through a foot rod.

[0074] In another optional embodiment, the suction cup of the first adsorption mechanism 2 is connected to the bottom surface of the robot body 1 through another telescopic driving mechanism 33. This design allows the robot body 1 to pull the first adsorption mechanism 2 through the telescopic driving mechanism 33 when crossing obstacles, so that the distance from the first adsorption mechanism 2 to the curtain is greater than the height of the obstacle, instead of lifting the robot body 1 with large weight and large volume through the telescopic driving mechanism 33 located at both ends of the telescopic rod 32 to achieve the purpose of making the distance from the first adsorption mechanism 2 to the curtain greater than the height of the obstacle, which can save the energy consumption of the telescopic motor 331.

[0075] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An over-obstacle curtain cleaning robot, characterized in that, The utility model relates to a curtain wall cleaning robot, including: Robot body (1), first adsorption mechanism (2) is provided with close to one side of curtain wall of robot body (1); At least one telescopic stroke device (3), and the both ends of at least one telescopic stroke device (3) are connected with cleaning piece (4) respectively, second adsorption mechanism (5); Obstacle crossing stroke device (6), obstacle crossing stroke device (6) is arranged on robot body (1), and the robot body (1) and telescopic stroke device (3) are driven to move in the direction parallel to curtain wall; At least one switching mechanism (7), at least one end of obstacle crossing stroke device (6) is connected with telescopic stroke device (3) through switching mechanism (7), and the end of telescopic stroke device (3) and corresponding cleaning piece (4), second adsorption mechanism (5) are switched in the state of close to curtain wall / away from curtain wall; When cleaning piece (4) is in close to curtain wall state, obstacle crossing stroke device (6) drives telescopic stroke device (3) to move back and forth in the direction parallel to curtain wall, and drives cleaning piece (4) to move back and forth to scrub curtain wall; Switching mechanism (7) includes rotary power device, rotary power device is fixedly arranged at the end of obstacle crossing stroke device (6), and the output end of rotary power device is connected with telescopic stroke device (3), and drives telescopic stroke device (3) to rotate in the plane perpendicular to curtain wall.

2. The overhanging curtain cleaning robot according to claim 1, wherein: Obstacle crossing stroke device (6) includes obstacle crossing guide seat (61), and obstacle crossing guide seat (61) is fixedly connected with robot body (1), and obstacle crossing guide seat (61) is slidably sleeved with obstacle crossing rod (62), switching mechanism (7) is fixedly arranged at the end of obstacle crossing rod (62), and obstacle crossing drive mechanism (63) is arranged on robot body (1) and drives obstacle crossing rod (62) to move along the direction parallel to curtain wall.

3. The overhanging curtain cleaning robot according to claim 2, wherein: Obstacle crossing drive mechanism (63) includes obstacle crossing motor (631), and obstacle crossing motor (631) is drivingly connected with obstacle crossing gear (632), and obstacle crossing rod (62) is connected with obstacle crossing toothed belt (633), and obstacle crossing toothed belt (633) is arranged along the axial direction of obstacle crossing rod (62) and is engaged with obstacle crossing gear (632).

4. The overhanging curtain cleaning robot according to claim 1, wherein: Telescopic stroke device (3) includes telescopic guide seat (31), and telescopic guide seat (31) is fixedly connected with the output end of rotary power device, and telescopic guide seat (31) is slidably sleeved with telescopic rod (32), and the both ends of telescopic rod (32) are connected with cleaning piece (4) and second adsorption mechanism (5) respectively, and telescopic drive mechanism (33) is arranged on telescopic guide seat (31) and drives telescopic rod (32) to move along the axial direction of telescopic guide seat (31).

5. The overhanging curtain cleaning robot according to claim 4, wherein: The telescopic driving mechanism (33) comprises a telescopic motor (331) fixedly arranged on the telescopic guide seat (31), and a telescopic tooth belt (332) arranged on the telescopic rod (32), wherein the telescopic tooth belt (332) is arranged along the axis direction of the telescopic rod (32), and the telescopic tooth belt (332) is meshed with the telescopic motor (331) through a telescopic gear (333).

6. The overhanging curtain cleaning robot according to claim 5, wherein: The telescopic rod (32) is provided with a guide groove (321) arranged along the axis direction of the telescopic rod (32), and the telescopic guide seat (31) is fixedly provided with a telescopic guide (311) in sliding or rolling connection with the guide groove (321).

7. The overhanging curtain cleaning robot according to claim 2 or 3, characterized in that: The obstacle surmounting rod (62) is provided with a guide rail (621) arranged along the axis direction of the obstacle surmounting rod (62), and the obstacle surmounting guide seat (61) is fixedly provided with an obstacle surmounting guide (611) in sliding or rolling connection with the guide rail (621).

8. The overhanging curtain cleaning robot according to any one of claims 1 to 6, characterized in that: An angle sensor is further included for detecting the rotation angle of the telescopic stroke device (3).

9. The overhanging curtain cleaning robot according to any one of claims 1 to 6, characterized in that: The first and second suction mechanisms (2, 5) each comprise a suction disc connected with a negative pressure pump through a pipeline provided with a pressure relief valve.

Images