Cleaning operation device and system suitable for variable-curvature vertical face

Abstract

The invention provides a cleaning operation device and system suitable for a variable-curvature vertical face, and relates to the field of cleaning equipment.The cleaning operation device comprises a cleaning front end frame and at least one cleaning wheel mechanism, and each cleaning wheel mechanism comprises a driving assembly, a center rotating shaft and at least two self-adaptive cleaning assemblies which are horizontally and symmetrically arranged; according to the self-adaptive cleaning device, self-adaptive curved surface attachment can be achieved, through a spring compression / rebound mechanism, the brush body can dynamically adjust the contact pressure between the brush body and the variable-curvature vertical face, and the problem that in the prior art, when the curvature change is large, the two ends of the cleaning head can only be partially attached is effectively solved; the cleaning head does not need to be frequently replaced, and universality is remarkably improved; the automatic adaptive capacity is high, automatic ejection or compression of the brush base is achieved through cooperation of the cam unit and the cam groove, manual intervention is not needed, the device adapts to vertical faces with different curvature radiuses, and the operation complexity is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment, and more particularly to a cleaning device and system suitable for facades with variable curvature. Background Technology

[0002] Currently, cleaning of metal facades mainly relies on manual operation or wall-climbing robot front-end cleaning systems. However, manual cleaning suffers from low efficiency, operational quality is affected by worker experience, and there are high safety risks. Therefore, the use of wall-climbing robots for automated cleaning has become an industry trend.

[0003] Cleaning operations on cylindrical metal facades with varying curvature (such as wind turbine towers and storage tanks) require curved brushes to better conform to the curved surface. To prevent robot slippage during operation, a cleaning device wider than the robot itself is generally used; to improve cleaning efficiency, the width of the cleaning device is maximized within the load requirements. Therefore, when the curvature varies significantly, while ensuring contact between the center of the cleaning head and the surface to be cleaned, the ends will only partially contact the surface due to changes in the radius of curvature of the contact surface. Thus, it is necessary to replace the cleaning head with a new one to accommodate different diameters and curvatures.

[0004] Existing wall-climbing robot cleaning devices suffer from insufficient adaptability to curved surfaces. When the radius of curvature changes significantly, the cleaning head needs to be replaced frequently, resulting in poor versatility. Therefore, how to enable wall-climbing robots to have flexible cleaning capabilities that adapt to changes in curvature has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The technical problem to be solved by this invention is to overcome the shortcomings of the prior art and provide a cleaning device and system suitable for facades with varying curvature. This invention can achieve adaptive surface fitting. Through a spring compression / rebound mechanism, the brush body can dynamically adjust the contact pressure with the facade with varying curvature, effectively solving the problem in the prior art that the two ends of the cleaning head can only partially fit when the curvature changes greatly. This eliminates the need for frequent replacement of the cleaning head and significantly improves versatility. This invention has strong automation adaptability. The cooperation between the cam unit and the cam groove enables the automatic pop-out or compression of the brush base without manual intervention, adapting to facades with different radii of curvature and effectively reducing operational complexity.

[0006] This invention is achieved through the following technical solution: A cleaning device suitable for facades with varying curvature includes a front-end cleaning frame and at least one set of cleaning wheel mechanisms. The cleaning wheel mechanism includes a drive assembly, a central rotating shaft, and at least two sets of horizontally symmetrically arranged adaptive cleaning components. The central rotating shaft is rotatably connected to the front-end cleaning frame via bearings. The adaptive cleaning components are mounted on the central rotating shaft. The drive assembly is fixedly connected to the front-end cleaning frame and drives the central rotating shaft to rotate. Each adaptive cleaning component includes multiple sets of elastic cleaning units and a reset chamber. Each elastic cleaning unit includes a brush base, a spring, a cam unit, and a brush body fixed to the brush base. A sliding rod is vertically fixed to the rotating shaft, and a spring is sleeved on the sliding rod. The brush base is slidably connected to the sliding rod. The brush base is elastically connected to the central rotating shaft through the spring. The two ends of the spring abut against the inner sides of the central rotating shaft and the brush base, respectively. The cam unit is arranged on the side of the brush base. The reset chamber is fixedly connected to the front cleaning frame, and the central rotating shaft passes through the reset chamber and is rotatably connected to the reset chamber through a bearing. The side of the reset chamber has a cam groove adapted to the cam unit. The cam groove opening is set downward. The inlet of the cam groove is an open arc surface. The cam groove gradually shrinks from the inlet to the outlet to adapt to the cam unit. When the central rotating shaft moves the brush base to the outlet at the lower end of the reset chamber, the compressed spring pushes the brush base to pop out. After the brush base pops out, the brush body automatically presses against the wall to be cleaned, and the central rotating shaft drives the brush base and brush body to clean the wall to be cleaned. When the central rotating shaft drives the brush base away from the wall to be cleaned, the cam unit on the side of the brush base enters the cam groove. As the central rotating shaft drives the brush base to rotate, the cam unit drives the brush base to compress the spring until the central rotating shaft drives the brush base to move to the lower end of the reset chamber and pops it out vertically.

[0007] As can be seen, in the above technical solution, the present invention can achieve adaptive curved surface fitting. Through the spring compression / rebound mechanism, the brush body can dynamically adjust the contact pressure with the variable curvature facade, effectively solving the problem in the prior art that the two ends of the cleaning head can only partially fit when the curvature changes greatly. It eliminates the need for frequent replacement of the cleaning head and significantly improves versatility. The present invention has high structural stability. The central rotating shaft is rotatably connected to the front cleaning frame through a bearing. Combined with the cam groove guide of the reset chamber, it ensures that the movement trajectory of the brush base is stable during the extension and retraction process, avoiding shaking or deviation and improving cleaning reliability. The present invention has strong automation adaptability. The cooperation between the cam unit and the cam groove realizes the automatic pop-out or compression of the brush base without manual intervention, adapting to facades with different curvature radii, such as wind turbine towers or storage tanks, effectively reducing operational complexity.

[0008] According to the above technical solution, preferably, the elastic cleaning units on the rotating shaft are distributed in a stepped manner from the outside to the inside.

[0009] As can be seen, in the above technical solution, the stepped distribution of the present invention allows the outer elastic cleaning unit to contact the facade first, and the inner unit to gradually supplement and fit, further refining the segmented adaptability to facades with varying curvature, especially suitable for areas with abrupt changes in curvature, and improving the local cleaning effect.

[0010] According to the above technical solution, preferably, it also includes a water spraying mechanism, which includes an external water storage container, a water spraying pump, and multiple sets of water spray heads. The water spray heads are arranged on the front side of the cleaning front frame, and the water spraying pump is fixedly arranged on the cleaning front frame. The outlet of the external water storage container is connected to the inlet of the water spraying pump through a pipeline, and the water spray heads are connected to the outlet of the water spraying pump through a pipeline.

[0011] As can be seen, in the above technical solution, the water spraying mechanism softens the dirt while the brush body mechanically scrubs, and the synergistic effect significantly improves the removal rate of stubborn stains, especially suitable for complex pollutants such as oil stains and rust.

[0012] According to the above technical solution, preferably, the central rotating shaft is provided with a brush base and a brush body fixedly connected to the central rotating shaft at its center.

[0013] According to the above technical solution, preferably, it includes two sets of cleaning wheel mechanisms, and the adaptive cleaning components of the two sets of cleaning wheel mechanisms are staggered front and rear.

[0014] As can be seen from the above technical solution, the staggered layout of the adaptive cleaning components in this invention can effectively eliminate the coverage blind spots of a single set of adaptive cleaning components, ensuring that the facade is cleaned without omissions, and is especially suitable for the surfaces of storage tanks or towers with high precision requirements.

[0015] According to the above technical solution, preferably, the driving component includes a driving motor, a transmission belt and a pulley, the pulley is coaxially and fixedly connected to the central rotating shaft, the driving motor is fixedly connected to the cleaning front end frame, and the driving motor drives the pulley and the central rotating shaft to rotate synchronously through the transmission belt.

[0016] As can be seen from the above technical solution, the pulley meshing transmission of the present invention precisely controls the speed and torque, avoids slippage, and adapts to high-load cleaning requirements.

[0017] The present invention also discloses a cleaning operation system suitable for variable curvature facades. The cleaning operation device suitable for variable curvature facades described above also includes a wall-climbing robot and a lifting subsystem. The fixed part of the lifting subsystem is fixedly connected to the front end of the wall-climbing robot, and the free end of the lifting subsystem drives the cleaning operation device to float and adjust vertically.

[0018] As can be seen, in the above technical solution, the present invention can achieve dynamic height adjustment. The lifting subsystem can adjust the height of the cleaning device in real time according to the facade outline, further compensate for the contact pressure difference caused by curvature changes, and improve the adaptive capability. In the present invention, the cleaning operation device is combined with the wall-climbing robot to form a complete automated cleaning system, realizing integrated design.

[0019] According to the above technical solution, preferably, the lifting subsystem includes a fixed plate, a linear drive mechanism, a quick-release clip, and a slide rail assembly. The fixed plate is fixedly connected to the front side of the wall-climbing robot. The quick-release clip is slidably connected to the fixed plate through the slide rail assembly. The linear drive mechanism drives the quick-release clip to adjust up and down. The back side of the cleaning front frame is fixedly connected with a quick-release welding piece adapted to the quick-release clip.

[0020] As can be seen, in the above technical solution, the quick-release clips and slide rail assembly enable the quick fixing or separation of the front frame of the cleaning machine, which facilitates the maintenance or replacement of the cleaning wheel mechanism and shortens downtime; the slide rail assembly constrains the lifting direction, prevents the cleaning operation device from deviating, and ensures the linearity of the vertical floating adjustment.

[0021] According to the above technical solution, preferably, the linear drive mechanism includes a lead screw assembly and a pressure sensor, the slide rail assembly includes a slide rail unit and a slide table that are slidably connected, the slide rail unit is vertically arranged, the slide rail unit is fixedly connected to the fixed plate, the lead screw assembly drives the slide table to slide up and down, the quick-connect welding part is fixedly connected to the slide table, and the pressure sensor is arranged on the support arm of the slide table, the pressure sensor is facing the fixed plate and is used to sense the pressure value.

[0022] As can be seen, in the above technical solution, the present invention can achieve high-precision control, the lead screw assembly can achieve micron-level lifting accuracy, and adapt to areas sensitive to curvature changes; it can achieve real-time feedback adjustment, the pressure sensor monitors the contact pressure on the facade, and dynamically adjusts the lifting height to maintain the optimal cleaning pressure, avoiding damage to the facade due to excessive pressure or incomplete cleaning due to insufficient pressure.

[0023] The beneficial effects of this invention are: (1) The cleaning device of the present invention can achieve adaptive curved surface fitting. Through the spring compression / rebound mechanism, the brush body can dynamically adjust the contact pressure with the variable curvature surface, effectively solving the problem that the two ends of the cleaning head can only partially fit when the curvature changes greatly in the prior art. It does not require frequent replacement of the cleaning head and significantly improves versatility. (2) The cleaning device of the present invention has high structural stability. The central rotating shaft is rotatably connected to the front cleaning frame through the bearing. Combined with the cam groove guide of the reset chamber, it ensures that the movement trajectory of the brush base is stable during the extension and retraction process, avoids shaking or deviation, and improves the cleaning reliability. (3) The cleaning device of the present invention has strong automation adaptability. The cooperation between the cam unit and the cam groove realizes the automatic pop-out or compression of the brush base without manual intervention. It can adapt to facades with different curvature radii, such as wind turbine towers or storage tanks, effectively reducing the complexity of operation. Attached Figure Description

[0024] Figure 1 A schematic diagram of the equiaxed side structure according to Embodiment 1 of the present invention is shown; Figure 2 A schematic diagram of the equiaxed side structure of the adaptive cleaning assembly and the central rotating shaft according to Embodiment 1 of the present invention is shown; Figure 3 A schematic diagram of the equiaxial side structure of the reset chamber according to Embodiment 1 of the present invention is shown; Figure 4 A schematic diagram of the isometric structure of the adaptive cleaning assembly according to Embodiment 1 of the present invention is shown; Figure 5 A schematic diagram of the equiaxed side structure of the cam unit cooperating with the cam groove in Embodiment 1 of the present invention is shown; Figure 6 A schematic diagram of the equiaxed side structure according to Embodiment 2 of the present invention is shown; Figure 7 A schematic diagram of another isometric structure according to Embodiment 2 of the present invention is shown; Figure 8 A schematic diagram of the isometric structure of the lifting subsystem according to Embodiment 2 of the present invention is shown; Explanation of reference numerals in the attached figures: 1. Cleaning front frame; 2. Cleaning wheel mechanism; 3. Water spraying mechanism; 4. Drive assembly; 5. Central rotating shaft; 6. Adaptive cleaning assembly; 7. Elastic cleaning unit; 8. Reset chamber; 9. Brush base; 10. Spring; 11. Cam unit; 12. Brush body; 13. Slide rod; 14. Cam groove; 15. External water storage container; 16. Water pump; 17. Spray head; 18. Drive motor; 19. Wall-climbing robot; 20. Lifting subsystem; 21. Fixing plate; 22. Linear drive mechanism; 23. Quick-release clip; 24. Slide rail assembly; 25. Lead screw assembly; 26. Pressure sensor; 27. Quick-release welded parts. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0026] In the description of the invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0027] Example 1 As shown in the figure, this invention provides a cleaning device suitable for facades with varying curvature, including a front cleaning frame 1, at least one set of cleaning wheel mechanisms 2, and a water spraying mechanism 3. The cleaning wheel mechanism 2 includes a drive assembly 4, a central rotating shaft 5, and at least two sets of horizontally symmetrically arranged adaptive cleaning components 6. The central rotating shaft 5 is rotatably connected to the front cleaning frame 1 via bearings. The adaptive cleaning components 6 are mounted on the central rotating shaft 5. The drive assembly 4 is fixedly connected to the front cleaning frame 1 and drives the central rotating shaft 5 to rotate. The adaptive cleaning components 6 include multiple sets of elastic cleaning units 7 and a reset chamber 8. Further, the elastic cleaning unit 7 includes a brush base 9, a spring 10, a cam unit 11, and a brush body 12 fixed to the brush base 9. A slide rod 13 is vertically fixedly connected to the central rotating shaft 5, and the spring 10 is sleeved on the slide rod 13. The brush base 9 is slidably connected to the slide rod 13, and the brush base 9 is elastically connected to the central rotating shaft 5 via the spring 10. The two ends of the spring 10 respectively abut against the central rotating shaft 5 and... Inside the brush base 9, the cam unit 11 is arranged on the side of the brush base 9. The reset chamber 8 is fixedly connected to the front cleaning frame 1, and the central rotating shaft 5 passes through the reset chamber 8 and is rotatably connected to the reset chamber 8 through a bearing. The side of the reset chamber 8 is provided with a cam groove 14 that matches the cam unit 11. The cam groove 14 is set with its opening facing downward. The inlet of the cam groove 14 is an open arc surface. The cam groove 14 gradually shrinks from the inlet to the outlet to match the cam unit 11. The water spraying mechanism 3 includes an external water storage container. 15. Water pump 16 and multiple sets of water spray heads 17. The water spray heads 17 are arranged on the front side of the front cleaning frame 1. The water pump 16 is fixedly arranged on the front cleaning frame 1. The outlet of the external water storage container 15 is connected to the inlet of the water pump 16 through a pipeline. The water spray heads 17 are connected to the outlet of the water pump 16 through a pipeline. While the water spraying mechanism 3 sprays water to soften the dirt, the brush body 12 mechanically scrubs. The synergistic effect significantly improves the removal rate of stubborn stains, especially suitable for complex pollutants such as oil stains and rust. When the central rotating shaft 5 drives the brush base 9 to move to the outlet of the lower end face of the reset chamber 8, the compressed spring 10 pushes the brush base 9 to pop out. After the brush base 9 pops out, the brush body 12 adaptively abuts against the wall to be cleaned. The central rotating shaft 5 drives the brush base 9 and the brush body 12 to clean the wall to be cleaned. When the central rotating shaft 5 drives the brush base 9 away from the wall to be cleaned, the cam unit 11 on the side of the brush base 9 enters the cam groove 14. As the central rotating shaft 5 drives the brush base 9 to rotate, the cam unit 11 drives the brush base 9 to compress the spring 10 until the central rotating shaft 5 drives the brush base 9 to move to the lower end of the reset chamber 8 and pops it out vertically.

[0028] This invention enables adaptive surface fitting. Through the compression / rebound mechanism of the spring 10, the brush body 12 can dynamically adjust the contact pressure with the variable curvature surface, effectively solving the problem in the prior art that the two ends of the cleaning head can only partially fit when the curvature changes greatly. This eliminates the need for frequent cleaning head replacements and significantly improves versatility. The invention also features high structural stability. The central rotating shaft 5 is rotatably connected to the front cleaning frame 1 via a bearing. Combined with the guidance of the cam groove 14 of the reset chamber 8, it ensures the stable movement trajectory of the brush base 9 during extension and retraction, avoiding shaking or deviation and improving cleaning reliability. Furthermore, the invention has strong automation adaptability. The cooperation between the cam unit 11 and the cam groove 14 enables the automatic pop-out or compression of the brush base 9 without manual intervention. This adapts to surfaces with different curvature radii, such as wind turbine towers or storage tanks, effectively reducing operational complexity.

[0029] Optionally, in one possible implementation, the elastic cleaning units 7 on the rotating shaft are distributed in a stepped manner from the outside to the inside. The stepped distribution of the present invention allows the outer elastic cleaning units 7 to contact the facade first, and the inner units to gradually supplement and fit, further refining the segmented adaptability to the facade with variable curvature, especially suitable for areas with abrupt changes in curvature, and improving the local cleaning effect.

[0030] Optionally, in one possible implementation, the central pivot 5 is provided with a brush base 9 and a brush body 12 fixedly connected to the central pivot 5.

[0031] Optionally, in one possible implementation, two sets of cleaning wheel mechanisms 2 are included, and the adaptive cleaning components 6 of the two sets of cleaning wheel mechanisms 2 are staggered front and back. The staggered layout of the adaptive cleaning components 6 in this invention can effectively eliminate the coverage blind spots of a single set of adaptive cleaning components 6, ensuring that the facade is cleaned without omissions, and is especially suitable for the surface of storage tanks or towers with high precision requirements.

[0032] Optionally, in one possible implementation, the drive assembly 4 includes a drive motor 18, a transmission belt, and a pulley. The pulley is coaxially and fixedly connected to the central rotating shaft 5. The drive motor 18 is fixedly connected to the cleaning front end frame 1. The drive motor 18 drives the pulley and the central rotating shaft 5 to rotate synchronously through the transmission belt. The pulley meshing transmission of the present invention precisely controls the speed and torque, avoids slippage, and adapts to high-load cleaning requirements.

[0033] Example 2 This invention also discloses a cleaning system suitable for facades with varying curvature. It employs the cleaning device for facades with varying curvature described in Embodiment 1 above, and further includes a wall-climbing robot 19 and a lifting subsystem 20. The fixed part of the lifting subsystem 20 is fixedly connected to the front end of the wall-climbing robot 19. The free end of the lifting subsystem 20 drives the cleaning device to float and adjust vertically. This invention enables dynamic height adjustment; the lifting subsystem 20 can adjust the height of the cleaning device in real time according to the facade contour, further compensating for contact pressure differences caused by curvature changes and improving adaptability. In this invention, the cleaning device and the wall-climbing robot 19 are combined to form a complete automated cleaning system, achieving integrated design.

[0034] Optionally, in one possible implementation, the lifting subsystem 20 includes a fixed plate 21, a linear drive mechanism 22, a quick-release clip 23, and a slide rail assembly 24. The fixed plate 21 is fixedly connected to the front side of the wall-climbing robot 19. The quick-release clip 23 is slidably connected to the fixed plate 21 through the slide rail assembly 24. The linear drive mechanism 22 drives the quick-release clip 23 to adjust up and down. A quick-release welded part 27 adapted to the quick-release clip 23 is fixedly connected to the back side of the front cleaning frame 1. The quick-release clip 23 and the slide rail assembly 24 enable the quick fixing or separation of the front cleaning frame 1, which facilitates the maintenance or replacement of the cleaning wheel mechanism 2 and shortens downtime. The slide rail assembly 24 constrains the lifting direction, prevents the cleaning device from deviating, and ensures the linearity of the vertical floating adjustment.

[0035] Optionally, in one possible implementation, the linear drive mechanism 22 includes a lead screw assembly 25 and a pressure sensor 26. The slide rail assembly 24 includes a slide rail unit and a slide table that are slidably connected. The slide rail unit is vertically arranged and fixedly connected to the fixed plate 21. The lead screw assembly 25 drives the slide table to slide up and down. The quick-connect welding piece 27 is fixedly connected to the slide table. The pressure sensor 26 is arranged on the support arm of the slide table. The pressure sensor 26 faces the fixed plate 21 and is used to sense the pressure value. This invention can achieve high-precision control. The lead screw assembly 25 achieves micron-level lifting accuracy and adapts to areas sensitive to curvature changes. It can achieve real-time feedback adjustment. The pressure sensor 26 monitors the contact pressure on the facade and dynamically adjusts the lifting height to maintain the optimal cleaning pressure, avoiding damage to the facade due to overpressure or incomplete cleaning due to underpressure.

[0036] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A cleaning device suitable for facades with varying curvature, characterized in that, The device includes a front-end cleaning frame and at least one set of cleaning wheel mechanisms. Each cleaning wheel mechanism includes a drive assembly, a central rotating shaft, and at least two sets of horizontally symmetrically arranged adaptive cleaning components. The central rotating shaft is rotatably connected to the front-end cleaning frame via bearings. The adaptive cleaning components are mounted on the central rotating shaft. The drive assembly is fixedly connected to the front-end cleaning frame and drives the central rotating shaft to rotate. Each adaptive cleaning component includes multiple sets of elastic cleaning units and a reset chamber. Each elastic cleaning unit includes a brush base, a spring, a cam unit, and a brush body fixed to the brush base. The central rotating shaft is vertically fixed to... The device includes a sliding rod with a spring sleeved on it. The brush base is slidably connected to the sliding rod and elastically connected to the central rotating shaft via the spring. The two ends of the spring abut against the inner sides of the central rotating shaft and the brush base, respectively. The cam unit is arranged on the side of the brush base. The reset chamber is fixedly connected to the front cleaning frame, and the central rotating shaft passes through the reset chamber and is rotatably connected to the reset chamber via a bearing. The side of the reset chamber has a cam groove adapted to the cam unit. The cam groove opening faces downward, and the inlet of the cam groove is an open arc surface. The cam groove gradually contracts from the inlet to the outlet to adapt to the cam unit. When the central rotating shaft moves the brush base to the outlet at the lower end of the reset chamber, the compressed spring pushes the brush base to pop out. After the brush base pops out, the brush body automatically presses against the wall to be cleaned, and the central rotating shaft drives the brush base and brush body to clean the wall to be cleaned. When the central rotating shaft drives the brush base away from the wall to be cleaned, the cam unit on the side of the brush base enters the cam groove. As the central rotating shaft drives the brush base to rotate, the cam unit drives the brush base to compress the spring until the central rotating shaft drives the brush base to move to the lower end of the reset chamber and pops it out vertically.

2. The cleaning device for variable curvature facades according to claim 1, characterized in that, The elastic cleaning units on the rotating shaft are distributed in a stepped manner from the outside to the inside.

3. The cleaning device for variable curvature facades according to claim 1, characterized in that, It also includes a water spraying mechanism, which includes an external water storage container, a water pump, and multiple sets of spray heads. The spray heads are arranged on the front side of the front cleaning frame, and the water pump is fixedly arranged on the front cleaning frame. The outlet of the external water storage container is connected to the inlet of the water pump through a pipeline, and the spray heads are connected to the outlet of the water pump through a pipeline.

4. A cleaning device suitable for facades with varying curvature according to claim 1, characterized in that, The central rotating shaft has a brush base and a brush body fixedly connected to it at its center.

5. A cleaning device suitable for facades with varying curvature according to claim 1, characterized in that, It includes two sets of cleaning wheel mechanisms, and the adaptive cleaning components of the two sets of cleaning wheel mechanisms are staggered front and back.

6. A cleaning device suitable for facades with varying curvature according to claim 1, characterized in that, The drive assembly includes a drive motor, a transmission belt, and a pulley. The pulley is coaxially and fixedly connected to the central rotating shaft. The drive motor is fixedly connected to the cleaning front end frame. The drive motor drives the pulley and the central rotating shaft to rotate synchronously through the transmission belt.

7. A cleaning system suitable for facades with varying curvature, characterized in that, The cleaning device for variable curvature facades according to any one of claims 1-6 further includes a wall-climbing robot and a lifting subsystem. The fixed part of the lifting subsystem is fixedly connected to the front end of the wall-climbing robot, and the free end of the lifting subsystem drives the cleaning device to float and adjust vertically.

8. A cleaning system suitable for facades with variable curvature according to claim 7, characterized in that, The lifting subsystem includes a fixed plate, a linear drive mechanism, quick-release clips, and a slide rail assembly. The fixed plate is fixedly connected to the front side of the wall-climbing robot. The quick-release clips are slidably connected to the fixed plate through the slide rail assembly. The linear drive mechanism drives the quick-release clips to adjust up and down. A quick-release welded part adapted to the quick-release clips is fixedly connected to the back side of the cleaning front frame.

9. A cleaning system for facades with variable curvature according to claim 8, characterized in that, The linear drive mechanism includes a lead screw assembly and a pressure sensor. The slide rail assembly includes a slide rail unit and a slide table that are slidably connected. The slide rail unit is vertically arranged and fixedly connected to a fixed plate. The lead screw assembly drives the slide table to slide up and down. The quick-connect welding piece is fixedly connected to the slide table. The pressure sensor is arranged on the support arm of the slide table and faces the fixed plate to sense pressure values.

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