Obstacle crossing steering device and curtain wall cleaning robot thereof

Abstract

The invention relates to the technical field of curtain wall cleaning, and discloses an obstacle crossing steering device and a curtain wall cleaning robot thereof. The obstacle crossing steering device comprises a lifting assembly, a steering motor and a moving wheel set, the lifting assembly vertically extends through self-driving to achieve lifting, the moving wheel set is connected to the lifting assembly through the steering motor, and the moving wheel set is provided with a hub motor driving the rack to move. The curtain wall cleaning robot comprises a cleaning assembly arranged on a rack, a plurality of suction cups, a climbing device, a thrust mechanism and the obstacle crossing steering device. The two sets of cleaning assemblies are symmetrically arranged at the front end and the rear end of the rack. The obstacle crossing steering device is innovatively designed, so that the obstacle crossing ability and steering ability of the curtain wall cleaning robot are enhanced to adapt to more glass curtain wall structures and the like, and the technical problems that an existing curtain wall cleaning robot stops when encountering obstacles or the obstacle crossing amplitude is limited by a mechanical structure, steering or transverse translation cannot be achieved and the like are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of curtain wall cleaning, and more particularly to an obstacle-surmounting turning device and a curtain wall cleaning robot thereof. BACKGROUND

[0002] With the development of automation technology, curtain wall cleaning robots are gradually applied to glass curtain wall scenes, and through negative pressure adsorption of the chassis combined with the advancing brush, the basic cleaning process is completed, which significantly improves the cleaning efficiency of the glass curtain wall.

[0003] However, the non-continuous curtain wall design widely used in modern buildings has multiple technical obstacles for the movement of the curtain wall cleaning robot due to the metal separation frame. First, the single-chassis robot cannot completely cross the frame due to structural rigidity, forcing high-risk manual intervention. Second, although the existing obstacle-surmounting robot can achieve limited obstacle-surmounting through track lifting or joint flipping, it has defects. The obstacle-surmounting range is limited by the mechanical structure, and only low frames below 30mm can be overcome. In the face of high frames above 5-15mm commonly seen in large buildings, the curtain wall cleaning robot cannot pass through. In addition, the curtain wall cleaning robot cannot turn or translate horizontally during the cleaning process. SUMMARY

[0004] The present application provides an obstacle-surmounting turning device to solve the above problems of the prior art. Another object of the present application is to provide a curtain wall cleaning robot.

[0005] The present application is achieved by the following technical means: An obstacle-surmounting turning device, comprising a chassis and an obstacle-surmounting turning device, the obstacle-surmounting turning device comprising a lifting assembly, a turning motor and a moving wheel set, the lifting assembly being connected to the chassis and achieving lifting by self-driven vertical extension, the moving wheel set being connected to the lifting assembly through the turning motor, and the moving wheel set being provided with a hub motor driving the movement of the chassis.

[0006] Further, the lifting assembly comprises a lifting motor and a lifting bracket; The moving wheel set is connected to the lifting bracket through the turning motor; The lifting motor is arranged on the chassis and connected to the lifting bracket through a screw rod mechanism to drive the lifting bracket to move up and down, thereby driving the chassis to move up and down.

[0007] Further, the obstacle-surmounting turning device is further provided with a plurality of slide rods, the slide rods being arranged between the multiple layer plates of the chassis and being in sliding cooperation with the guide through holes on the lifting bracket to limit the direction of the lifting bracket movement.

[0008] Preferably, the moving wheel set is drivingly connected to the output end of the turning motor, and the turning angle thereof is controlled by the turning motor.

[0009] Preferably, through the precise gap cooperation between the slide bar and the through hole, the horizontal deviation and torsion of the lifting support during the vertical lifting movement are effectively limited, and the stable straight motion track during the lifting process is ensured.

[0010] Specifically, the lifting support is in Z-shaped structure. The steering motor is arranged on the upper plate of the Z-shaped structure. The steering motor is connected with the moving wheel set through a support. The lower plate of the Z-shaped structure of the lifting support is connected with the lead screw mechanism, and the relative movement of the lifting support is driven through the lead screw mechanism. The lower plate of the Z-shaped structure of the lifting support is provided with a through hole for connecting with the slide bar to play a guiding role.

[0011] A curtain wall cleaning robot comprises a cleaning assembly arranged on a frame, a plurality of suction cups, a climbing device, a thrust mechanism, and an obstacle surmounting and steering device. Two sets of the cleaning assembly are symmetrically arranged at the front end and the rear end of the frame. The climbing device is fixedly arranged on the frame and is used to drive the curtain wall cleaning robot to move along the curtain wall. The climbing device is connected to different fixed points on the top of the curtain wall through two ropes respectively. The suction cup is arranged at the bottom of the frame and is used to be adsorbed on the surface of the curtain wall. The thrust mechanism is arranged on the frame and is used to provide a thrust force perpendicular to the plane of the curtain wall for the frame.

[0012] Further, four sets of the obstacle surmounting and steering device are arranged at four corner regions of the frame respectively.

[0013] Further, the climbing device comprises a rope electric climbing device arranged on the frame and two sets of angle detection devices. The rope electric climbing device is arranged on the frame, and the angle detection device is arranged at the front end of the frame. Each rope is independently connected with a set of the angle detection device used to detect the angle of the rope. Each rope is independently wound on different rope electric climbing devices. Two sets of the rope electric climbing device are independently driven to move along the rope, thereby driving the frame to move.

[0014] Further, the cleaning assembly comprises a rotating brush cylinder and a spraying device. The rotating brush cylinder is symmetrically arranged at the front end and the rear end of the frame. The spraying device is connected with a water tank and is arranged on one side of the rotating brush cylinder.

[0015] Further, the thrust mechanism is a ducted fan arranged on the frame. The direction of the output air force is perpendicular to the plane of the frame and faces the curtain wall.

[0016] Further, the air outlet of the turbofan is directed towards the curtain wall plane, and the air outlet axis is parallel to the normal direction of the rack.

[0017] Further, the suction cups are arranged in an array on the bottom of the rack; and the rack is further provided with a vacuum generating device for providing negative pressure for the suction cups.

[0018] Preferably, the rack is externally sleeved with a shell plate.

[0019] Compared with the prior art, the technical scheme of the present application has the following beneficial effects:

[0020] 1. The barrier climbing and turning device significantly improves the barrier climbing ability, turning and translation ability, moving stability and environmental adaptability of the curtain wall cleaning robot. The vertical lifting support driven by the lifting motor and the screw rod enables the robot to climb over obstacles such as curtain wall frames and decorative strips with a height of more than 15 cm, thereby solving the technical problems of the existing curtain wall cleaning robot, such as stopping due to obstacles, limited obstacle climbing range due to mechanical structure, and inability to turn or translate horizontally.

[0021] 2. The rope electric climbing device and the angle adjusting assembly arranged on the robot enable the high-altitude cleaning robot to move and be driven without the need for pre-installed traction equipment on the top of the curtain wall. The rope electric climbing device is built in the rack, and cooperates with the dynamic detection of the front angle adjusting assembly by actively winding and unwinding the connecting rope, so that the robot has the ability to climb stably upward on a vertical curtain wall or an inclined glass surface. This self-provided traction mechanism completely eliminates the need for the top hoisting equipment and high-risk manual installation link of the traditional scheme.

[0022] 3. The intelligent regulation and control of the turning motor on the turning angle of the moving wheel set endows the high-altitude curtain wall cleaning robot with a breakthrough turning or horizontal translation ability. When the high-altitude crosswind impacts the robot, the turning motor drives each omnidirectional wheel to deflect by 10°-45° to form an "inner eight" or "outer eight" anti-wind angle, so that the wheel surface and the curtain wall produce a mechanical self-locking effect, preventing the robot from moving horizontally under strong wind. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 Fig. 1 is a schematic diagram of the external structure of the curtain wall cleaning robot of the present application; Figure 2 Fig. 2 is a schematic diagram of the middle layer structure of the curtain wall cleaning robot of the present application; Figure 3 Fig. 3 is a schematic diagram of the inner layer structure of the curtain wall cleaning robot of the present application; Figure 4 Fig. 4 is a side view of the middle layer structure of the curtain wall cleaning robot of the present application; Figure 5 Fig. 5 is an enlarged schematic diagram of part A of the present application. Figure 6 Structure diagram of the cleaning assembly of the present application; Figure 7 Diagram of the cleaning robot of the present application cleaning on the curtain wall; Wherein: 1, frame; 2, climbing device; 201, rope electric climbing device; 202, angle detection device; 3, obstacle crossing and turning device; 301, lifting assembly; 3011, lifting motor; 3012, lifting bracket; 302, turning motor; 303, moving wheel set; 4, cleaning assembly; 401, rotating brush cylinder; 402, spraying device; 5, thrust mechanism; 6, slide rod; 7, rope; 8, suction cup; 9, shell plate. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments, all other embodiments obtained by those of ordinary skill in the art without any creative effort fall within the scope of protection of the present application.

[0025] Unless otherwise defined, technical terms or scientific terms used in the present application shall be understood as the usual meaning understood by those of ordinary skill in the art to which the present application belongs. The terms "first", "second" and similar words used in the present application do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar words mean that the elements or objects before the words cover the elements or objects listed after the words and their equivalents, without excluding other elements or objects. The terms "connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships may also change accordingly.

[0026] Embodiment 1 As Figures 1-7 described, the present embodiment discloses an obstacle crossing and turning device.

[0027] An obstacle crossing and turning device, comprising: a frame 1 and an obstacle crossing and turning device 3, the obstacle crossing and turning device 3 comprising a lifting assembly 301, a turning motor 302 and a moving wheel set 303, the lifting assembly 301 being connected to the frame 1 and achieving lifting by extending vertically by self-driving, and the moving wheel set 303 being connected to the lifting assembly 301 through the turning motor 302; The moving wheel set 303 is provided with a wheel hub motor driving the movement of the frame (1).

[0028] The lifting assembly 301 comprises a lifting motor 3011 and a lifting support 3012. The moving wheel set 303 is connected to the lifting support 3012 through a steering motor 302. The lifting motor 3011 is arranged on the frame 1 and is connected to the lifting support 3012 through a screw rod mechanism, for driving the lifting support 3012 to move up and down, thereby driving the frame 1 to move up and down.

[0029] The obstacle-surmounting steering device 3 is further provided with a plurality of slide rods 6, which are arranged between the multi-layer plate frames of the frame 1 and are in sliding fit with the guide through holes on the lifting support 3012, so as to limit the direction of the lifting movement of the lifting support 3012.

[0030] Specifically, the lifting support 3012 is in Z-shaped structure. The steering motor 302 is arranged on the upper plate of the Z-shaped structure. The steering motor is connected to the moving wheel set 303 through a support. The lower plate of the Z-shaped structure of the lifting support 3012 is connected to the screw rod mechanism, and the lifting support 3012 is driven to move relatively by the screw rod mechanism. The lower plate of the Z-shaped structure of the lifting support 3012 is provided with a through hole for connecting the slide rod 6 to play a guiding role.

[0031] During the normal cleaning process of the curtain wall cleaning robot, the moving wheel set 303 is in contact with the glass curtain wall surface to walk, and a plurality of suction cups 8 on the frame are adsorbed to the glass curtain wall surface with a certain adsorption force.

[0032] The thrust mechanism 5 works to output wind force in the direction towards the curtain wall, so as to maintain the movement posture of the curtain wall cleaning robot.

[0033] The obstacle-surmounting control method of the curtain wall cleaning robot comprises the following steps: when an obstacle appears in front, the negative pressure adsorption state of all the suction cups 8 is released, so that they are safely separated from the curtain wall surface; the obstacle-surmounting steering device on the curtain wall cleaning robot works, the lifting motor 3011 works to drive the screw rod mechanism to rotate, thereby driving the lifting support 3012 and the frame 1 to move relatively; at this time, the frame moves up relative to the glass curtain wall, so that the frame and the suction cups are separated from the glass curtain wall surface, and the whole frame is lifted up. Then, the curtain wall cleaning robot continues to move forward under the traction of the double-rope wide-width electric climbing device, and the moving wheel set 303 on the curtain wall cleaning robot also continues to move forward, so that the curtain wall cleaning robot surmounts the obstacle. After crossing the obstacle, the lifting motor 3011 works to drive the screw rod mechanism to rotate in the opposite direction, and then drive the lifting bracket 3012 and the frame to move relatively, so that the frame is lowered to approach the glass curtain wall surface, so that the suction cup contacts the glass curtain wall surface, and the suction cup 8 continues to be adsorbed on the glass curtain wall surface with a certain adsorption force; the curtain wall cleaning robot continues to clean.

[0034] The turning control method of the curtain wall cleaning robot is that when the curtain wall cleaning robot reaches the position where it needs to turn, the negative pressure adsorption state of all suction cups 8 is released, so that they are safely separated from the curtain wall surface; the obstacle turning device on the curtain wall cleaning robot works, the lifting motor 3011 works to drive the screw rod mechanism to rotate, and then drive the lifting bracket 3012 and the frame to move relatively; at this time, the frame is lifted relative to the glass curtain wall, so that the frame and the suction cup are lifted away from the glass curtain wall surface, and the whole frame is lifted; Then, the turning motor 302 works to drive the moving wheel set 303 to turn to the appropriate angle, and then the curtain wall cleaning robot moves under the driving of the wheel hub motor of the moving wheel set 303 and the traction of the double-rope wide-width electric climbing device to reach the target position. After reaching the target position, the lifting motor 3011 works to drive the screw rod mechanism to rotate in the opposite direction, and then drive the lifting bracket 3012 and the frame to move relatively, so that the frame is lowered to approach the glass curtain wall surface, so that the suction cup contacts the glass curtain wall surface, and the suction cup 8 continues to be adsorbed on the glass curtain wall surface with a certain adsorption force; the turning motor 302 works to drive the moving wheel set 303 to turn to the appropriate angle, and the curtain wall cleaning robot continues to clean.

[0035] As a specific embodiment, a fixed part is arranged on the top of the curtain wall or the roof, and one end of the climbing device 2 is fixed to two different fixed points far apart; the curtain wall robot can be driven by the climbing device 2 to clean the corresponding curtain wall area between the two different fixed points, so as to reduce the frequency of moving the curtain wall robot and improve the efficiency of curtain wall cleaning.

[0036] The climbing device 2 works to drive the obstacle device to ascend, descend or move horizontally along the curtain wall surface by winding or releasing the rope 7; When the curtain wall cleaning robot moves horizontally, the turning motor 302 of the obstacle device drives the moving wheel set 303 to turn (for example, 90°), so that each moving wheel is turned to be parallel to the ground; the moving wheel set 303 can move freely on the curtain wall plane; then the climbing device 2 works to drive the robot to move horizontally on the curtain wall plane, so as to realize the horizontal movement of the curtain wall cleaning robot, change the cleaning position, and realize the significant advantage that the curtain wall can be cleaned in a wide width once the rope is fixed, without the need to frequently fix the position of the rope.

[0037] As a specific embodiment, when there is an obstacle in front, the lifting motor 3011 starts to rotate forward, and the lifting bracket 3012 is driven to move along the slide rod 6 through a precise screw mechanism; the slide rod 6 penetrates through the through hole on the lifting bracket 3012, effectively constraining the movement track and preventing any deviation in any direction, ensuring the absolute stability of the lifting process. When the lifting bracket 3012 moves along the slide rod 6, the moving wheel set 303 connected by the steering motor 302 reliably contacts and presses against the curtain wall. As the lifting motor 3011 continues to drive, the entire rack 1 is lifted as a whole, so that it is separated from the surface of the curtain wall.

[0038] When the machine body is reliably lifted, the rope electric climbing device 201 drives the robot to ascend along the surface of the curtain wall by winding or releasing the rope 7, and the moving wheel set 303 moves, driving the robot to move over the obstacle as a whole.

[0039] When the obstacle is completely crossed, the lifting motor 3011 reverses, and the rack 1 is lowered in height. The rack 1 is re-closely attached to the surface of the curtain wall under the action of the thrust mechanism 5.

[0040] Embodiment 2 A curtain wall cleaning robot, comprising a cleaning assembly 4 arranged on a rack 1, a plurality of suction cups 8, a climbing device 2, a thrust mechanism 5 and an obstacle crossing steering device; 2 sets of the cleaning assembly 4 are symmetrically arranged at the front end and the rear end of the rack 1; The climbing device 2 is fixedly arranged on the rack 1 and is used to drive the curtain wall cleaning robot to move along the curtain wall; the climbing device 2 is connected to different fixed points on the top of the curtain wall through two ropes 7 respectively; The suction cup 8 is arranged at the bottom of the rack 1 and is used to be adsorbed on the surface of the curtain wall; The thrust mechanism 5 is arranged on the rack 1 and is used to provide a thrust perpendicular to the plane of the curtain wall for the rack 1.

[0041] 4 sets of the obstacle crossing steering device are arranged in the four corner regions of the rack respectively.

[0042] The climbing device 2 comprises a rope electric climbing device 201 arranged on the rack and two sets of angle detection devices 202; The rope electric climbing device 201 is arranged on the rack 1, and the angle detection device 202 is arranged at the front end of the rack 1; Each rope 7 is independently connected with a set of angle detection device 202 for detecting the angle of the rope; each rope 7 is independently wound on a different rope electric climbing device 201; the two sets of rope electric climbing devices 201 independently drive the movement along the rope, thereby driving the movement of the rack.

[0043] The suction cups 8 are arranged in an array at the bottom of the frame 1; the frame 1 is also equipped with a vacuum generating device that provides negative pressure to the suction cups 8.

[0044] A water storage chamber is constructed between the multi-layered panels of the frame 1; the cleaning assembly 4 is connected to the water storage chamber. The spraying device 402 draws water from the water tank through pipelines and sprays cleaning liquid or clean water onto the curtain wall surface; the rotating brush cylinders 401, symmetrically arranged at the front and rear ends of the frame 1, rotate at high speed to scrub the wet curtain wall surface, achieving efficient front and rear synchronous cleaning.

[0045] Two rope 7 connection points are set at the preset fixing points at the top of the curtain wall. One end of a pair of ropes 7 is firmly fixed here, and the other end extends downward and is connected to the climbing device 2. After startup, the electric rope climbing device 201 in the climbing device 2 starts to work, driving the robot to rise, fall or move horizontally along the curtain wall surface by winding or releasing the rope 7. During normal mobile cleaning, the cleaning components 4, symmetrically positioned at the front and rear ends of the frame 1, are activated simultaneously to scrub and spray the curtain wall surface. The thrust mechanism 5, located above the frame, operates when necessary or continuously, providing a thrust perpendicular to the curtain wall to ensure the unit is stably attached to the curtain wall surface.

[0046] Specifically, the angle detection device 202 is located at the front end of the frame 1.

[0047] During normal cleaning operations, the cable-driven electric climbing device 201, located inside the frame 1, drives the robot to move along the curtain wall surface by winding or releasing the cable 7. During this process, the angle detection device 202, located at the front end of the frame 1, continuously operates. The angle encoder of the angle detection device 202 continuously monitors the actual deflection angles of different guide rods and ropes and feeds the signals back to the control system. The winding and unwinding rate signal of the climbing motor of the cable-driven electric climbing device is also fed back to the control system, enabling the robot to autonomously and intelligently complete the efficient cleaning of the curtain wall surface.

[0048] As one implementation method, the thrust mechanism 5 (i.e., the ducted fan) is activated to generate wind pressure perpendicular to the curtain wall; the array of suction cups 8 located at the bottom of the frame 1 works under the drive of the vacuum generator, so that the inside of the suction cups 8 maintains a negative pressure value that can provide sufficient suction force and allow them to move smoothly on the smooth curtain wall surface; the wind pressure and negative pressure suction together form a redundancy guarantee, which firmly attaches the entire robot to the curtain wall surface, providing a stable and reliable traction foundation for high-altitude operations.

[0049] When it is confirmed that the obstacle has been completely crossed, the rack 1, under the wind pressure of the duct fan, makes the array of suction cups 8 and the cleaning assembly 4 re-contact the surface of the curtain wall. The vacuum generating device is restarted to quickly establish negative pressure for all the suction cups 8, thereby restoring the double-adsorption safety guarantee of "wind pressure + negative pressure".

[0050] As an embodiment, the cleaning assembly 4 comprises a rotating brush cylinder 401 and a spraying device 402 connected with a water tank and arranged on one side of the rotating brush cylinder 401.

[0051] Specifically, the rotating brush cylinders 401 are symmetrically arranged at the front and rear ends of the rack 1.

[0052] When the robot is cleaning the surface of the glass curtain wall, the cleaning assembly 4 is started, the spraying device 402 draws water in the water tank through a pipeline and sprays cleaning liquid or water on the surface of the curtain wall; then, the rotating brush cylinders 401 symmetrically arranged at the front and rear ends of the rack 1 rotate at high speed to brush the wet curtain wall surface, thereby realizing efficient front and rear synchronous cleaning.

[0053] When obstacle crossing and turning are needed, the vacuum generating device is first turned off to release the adsorption state of the suction cups 8; at the same time, the spraying device 402 can be controlled to pause water spraying to save the water source in the water tank.

[0054] After the obstacle crossing is completed, the negative pressure adsorption of the suction cups 8 is restored; then, the spraying device 402 and the rotating brush cylinder 401 are restarted to continue the interrupted cleaning work.

[0055] After the cleaning task is completed, the climbing device 2 controls the robot to return; all the actuators are powered off, and the spraying device 402 stops working; finally, the duct fan is turned off to complete the entire work process.

[0056] As an embodiment, the cleaning robot of the present application can provide continuous and stable power by vertically suspending an electric wire and directly connecting the robot working at a high altitude to a power supply at a lower floor during high-altitude work, and theoretically, the robot can work for an unlimited length of time without needing to land and replace or charge the battery in the middle, which is particularly suitable for large-area curtain wall cleaning tasks.

[0057] As an embodiment, the thrust mechanism 5 is a duct fan arranged on the rack 1 and outputting wind force in a direction perpendicular to the plane of the rack 1 towards the curtain wall.

[0058] The air outlets of the duct fan all face away from the plane of the curtain wall, and the air outlet axes are parallel to the normal direction of the rack 1.

[0059] Specifically, during the entire work process of the robot, the wind speed adjusting module continuously operates, which dynamically adjusts the output wind pressure of each duct fan unit according to the real-time monitoring of the inclination angle by the built-in sensor (such as an inclination sensor); so as to ensure that the rack 1 can obtain the optimal adhesion force under any working condition.

[0060] When the robot is climbing over the obstacle, the obstacle climbing steering device 3 drives the robot to lift as a whole, and the ducted fan at the top of the frame 1 increases the wind power to provide the wind pressure for the vertical curtain wall, so as to provide the robot with great adhesion, which can well resist the high-altitude crosswind and prevent the robot from overturning.

[0061] Obviously, the above embodiments of the present application are merely exemplary for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and also impossible to enumerate all the implementation modes. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An obstacle-crossing steering device, characterized in that, include: The frame (1) and the obstacle crossing steering device (3) include a lifting assembly (301), a steering motor (302) and a moving wheel set (303). The lifting assembly (301) is connected to the frame (1) and achieves lifting by self-driving vertical extension. The moving wheel set (303) is connected to the lifting assembly (301) through the steering motor (302). The movable wheel assembly (303) is equipped with a hub motor that drives the frame (1) to move.

2. The obstacle-crossing steering device according to claim 1, characterized in that, The lifting assembly (301) includes a lifting motor (3011) and a lifting bracket (3012). The movable wheel set (303) is connected to the lifting bracket (3012) via a steering motor (302); The lifting motor (3011) is mounted on the frame (1) and connected to the lifting bracket (3012) via a screw mechanism. It is used to drive the lifting bracket (3012) to move up and down, thereby driving the frame (1) to move up and down.

3. The obstacle-crossing steering device according to claim 2, characterized in that, The obstacle-crossing steering device (3) is also provided with several sliding rods (6). The sliding rods (6) are inserted between the multi-layer plates of the frame (1) and form a sliding fit with the guide through hole on the lifting bracket (3012) to limit the direction of the lifting bracket (3012) to move up and down.

4. A curtain wall cleaning robot, characterized in that, It includes a cleaning assembly (4) mounted on a frame (1), several suction cups (8), a climbing device (2), a thrust mechanism (5), and the obstacle-crossing steering device as described in claims 1-3; Two sets of the cleaning components (4) are symmetrically arranged at the front and rear ends of the frame (1); The climbing device (2) is fixedly installed on the frame (1) and is used to drive the curtain wall cleaning robot to move along the curtain wall; the climbing device (2) is connected to different fixed points on the top of the curtain wall by two ropes (7); The suction cup (8) is located at the bottom of the frame (1) and is used to adhere to the surface of the curtain wall; The thrust mechanism (5) is mounted on the frame (1) and is used to provide the frame (1) with a thrust perpendicular to the plane of the curtain wall.

5. The curtain wall cleaning robot according to claim 4, characterized in that, The four obstacle-crossing steering devices are respectively installed in the four corner areas of the frame.

6. The curtain wall cleaning robot according to claim 4, characterized in that, The climbing device (2) includes a rope electric climbing device (201) and two sets of angle detection devices (202) installed on the frame. The electric rope climbing device (201) is mounted on the frame (1), and the angle detection device (202) is mounted at the front end of the frame (1); Each rope (7) is independently connected to an angle detection device (202) for detecting the rope angle; each rope (7) is independently wound around a different rope electric climbing device (201); the two sets of rope electric climbing devices (201) are independently driven to move along the rope, thereby driving the frame to move.

7. The curtain wall cleaning robot according to claim 4, characterized in that, The cleaning assembly (4) includes a rotating brush cylinder (401) and a spray device (402), wherein the spray device (402) is connected to a water tank and is located on one side of the rotating brush cylinder (401).

8. The curtain wall cleaning robot according to claim 4, characterized in that, The thrust mechanism (5) is a ducted fan, which is mounted on the frame (1) and the output wind force is perpendicular to the plane of the frame (1) and faces the curtain wall.

9. The curtain wall cleaning robot according to claim 7, characterized in that, The air outlets of the ducted fans all face the plane of the curtain wall, and the air outlet axis is parallel to the normal direction of the frame (1).

10. The curtain wall cleaning robot according to claim 4, characterized in that, The suction cups (8) are arranged in an array at the bottom of the frame (1); the frame (1) is also provided with a vacuum generating device to provide negative pressure for the suction cups (8).

Images