Curtain wall cleaning robot

Abstract

The invention relates to the technical field of curtain wall cleaning, in particular to a curtain wall cleaning robot. Comprising a cleaning body; the climbing device comprises at least two ropes, the at least two ropes are arranged along preset positions, the cleaning main body can move along the ropes, the at least two ropes form at least two tightened nodes on the cleaning main body, and the nodes with the same property are symmetrically arranged relative to the axis center of the cleaning main body; the nodes are positioned on the edge part of the cleaning main body; the pressure applying device is a rotor wing and is used for generating pressure perpendicular to the axis of the cleaning body and providing pressure or separating force in the cleaning process. Through cooperation of the climbing device and the pressure applying device, the trafficability of the device is improved, and the device is stable, reliable and excellent in cleaning effect in the high-school operation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of curtain wall cleaning, in particular to a curtain wall cleaning robot. BACKGROUND

[0002] Robots are gradually applied to industrial production, life service and other fields. China places the future planning of robot technology in an important position, and the state continues to introduce relevant plans to revitalize the robot industry and issue relevant documents to promote the upgrading and innovation of robot technology. The way of cleaning glass curtain wall by cleaning robot emerges as the times require, which greatly reduces the labor intensity of workers, improves the cleaning efficiency of glass curtain wall, reduces the cleaning cost of glass curtain wall, and effectively avoids the safety hazards of high-altitude cleaning operation to workers.

[0003] According to the functional requirement analysis of curtain wall cleaning, the cleaning robot must have three basic functions of cleaning, moving and obstacle crossing. Considering the characteristics of downtown and high-altitude operation, the robot must also have a certain safety index and resistance to external environmental interference. Although there are various high-rise curtain wall cleaning robots on the domestic and foreign markets, according to the existing research results, there are still many problems in the structure, moving mode and wall surface adaptability of the robot. In the face of the complex structure of glass curtain wall surface and environmental and climate interference, the actual cleaning demand cannot be met, and the commercialization of the cleaning robot has not been realized. SUMMARY

[0004] The present application provides a curtain wall cleaning robot to solve the problems in the prior art. The climbing device and the pressure applying device are matched to improve the passability, and the cleaning effect is stable, reliable and excellent during high-altitude operation.

[0005] The technical solution of the present application to solve the above technical problems is as follows: a curtain wall cleaning robot, comprising: a cleaning main body; a climbing device, the climbing device comprising at least two ropes, the at least two ropes being arranged along a predetermined position, the cleaning main body being movable along the ropes, at least two of the ropes forming at least two taut nodes on the cleaning main body, the nodes of the same nature being arranged symmetrically with respect to the axis center of the cleaning main body, the nodes being located at the edge of the cleaning main body; a pressure applying device, the pressure applying device being a rotor, used to generate a force perpendicular to the axis of the cleaning main body and provide pressure or separation force during cleaning.

[0006] Further, the climbing device has two ropes, the ropes form four taut nodes on the cleaning main body, and the projections of the four taut nodes on the horizontal plane do not coincide.

[0007] Further, the connecting line of the nodes of the rope at the upper part of the cleaning body is parallel to the surface of the object to be cleaned at the neutral position; the connecting line of the nodes of the rope at the lower part of the cleaning body is not parallel to the surface of the object to be cleaned.

[0008] Further, the climbing device has two groups of guide wheel sets, each of which includes vertical guide wheels and reversing wheels; the vertical guide wheels and the reversing wheels of the two groups of guide wheel sets are respectively centrally symmetric relative to the axis of the cleaning body.

[0009] Further, the vertical guide wheels or the reversing wheels are driving wheels; or the guide wheel set further has a driving wheel.

[0010] Further, the plane in which the nodes of the climbing device that are centrally symmetric relative to the axis of the cleaning body are located is above the center of gravity of the curtain wall cleaning robot.

[0011] Further, the pressure applying device is a plurality of rotors and the rotors are independently or jointly controlled.

[0012] Further, the pressure applying device includes four rotors, which are arranged in a diamond shape on the cleaning body and have rotation planes parallel to the axis of the cleaning body.

[0013] Further, the cleaning body includes a liquid storage tank, a cleaning head and a pipeline; the liquid storage tank is connected to the cleaning head through the pipeline, a pumping mechanism is arranged on the pipeline through which the cleaning liquid flows from the liquid storage tank to the cleaning head; the liquid storage tank maintains a negative pressure state, and the used cleaning liquid flows from the cleaning head to the liquid storage tank through the pipeline.

[0014] Further, the cleaning head is in a strip shape and sequentially includes an upper scraper, an upper brush strip, a nozzle, a lower brush strip and a lower scraper in the thickness direction; the pipeline inlet through which the cleaning liquid flows back is arranged between the upper scraper and the upper brush strip and between the lower scraper and the lower brush strip.

[0015] The beneficial effects of the present application are: the present application combines the climbing device with the pressing device to solve the poor obstacle crossing function in the prior art, specifically, the climbing device provides the running path of the cleaning main body, the pressing device is used to provide the pressure or separation force in the cleaning process, when the cleaning main body encounters an obstacle, the separation force promotes the cleaning main body to move away from the object to be cleaned, and after crossing the obstacle, the cleaning main body is close to the object to be cleaned again and is pressed; the climbing device adopts a rope, which improves the applicability, especially in the case that it is inconvenient to build a track; secondly, the climbing device adopts a rope, which does not have rigidity, especially when the length of the rope increases, the airflow at high altitude and the like will cause the rope to vibrate, and the vibration will cause the brush head to present a small up-down swing, when there is a reagent (non-pure water) in the cleaning liquid, a step-shaped line is formed on the surface of the object to be cleaned, the pressing device adopts a rotor, the pressing of the rotor has a non-transient characteristic, which can be used to offset the vibration of the rope, so that the cleaning main body always moves in a single direction and does not exist a turn-back phenomenon in the movement process, thereby avoiding the generation of the step-shaped line; thirdly, at least two ropes form at least two taut nodes on the cleaning main body, the nodes with the same property are arranged symmetrically with respect to the axis center of the cleaning main body, thereby avoiding the generation of a torsional moment on the cleaning main body, especially in the case of high altitude, if the binding ability of the rope to the cleaning main body is weakened, the existing torsional moment is easy to cause the cleaning main body to tilt or overturn; finally, the pressing device in the present application adopts a rotor, the principle of the rotor is similar to that of a drone, in the use process, there is a non-transient characteristic, that is, under the action of the pressing device, the cleaning main body is easy to crash in the process of approaching or moving away from the object to be cleaned, and the taut nodes can control the posture of the cleaning main body, thereby avoiding the occurrence of the crash phenomenon. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A curtain wall cleaning robot structure schematic diagram provided for an embodiment of the present application is shown in the figure;

[0017] Figure 2 Another curtain wall cleaning robot structure schematic diagram provided for an embodiment of the present application is shown in the figure;

[0018] Figure 3 A top view of a curtain wall cleaning robot provided for an embodiment of the present application is shown in the figure;

[0019] Figure 4 A cleaning head structure schematic diagram provided for an embodiment of the present application is shown in the figure;

[0020] Figure 5 A cleaning head sectional view provided for an embodiment of the present application is shown in the figure;

[0021] Figure 6 A cleaning head structure schematic diagram after removing the upper cover plate and the upper layer scraper provided for an embodiment of the present application is shown in the figure.

[0022] Reference numerals: 1, cleaning main body; 10, liquid storage tank; 11, cleaning head; 110, upper scraping plate; 111, upper brush strip; 112, nozzle; 113, lower brush strip; 114, lower scraping plate; 115, pipeline inlet; 1150, flow divider; 11500, slit; 11501, pressure dividing cavity; 11502, pressure equalizing cavity; 116, upper cover plate; 117, lower cover plate; 118, end seal portion; 119, frame; 1190, clamping groove; 2, climbing device; 20, first rope; 21, second rope; 22, node; 23, vertical guide wheel; 24, reversing wheel; 3, pressure applying device. DETAILED DESCRIPTION

[0023] The technical solutions of the present application will be described below in conjunction with 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 work fall within the scope of protection of the present application.

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in conjunction with 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 work fall within the scope of protection of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0025] In the present application, unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting”, “fixing”, and the like should be understood in a broad sense, for example, can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, the terms “first”, “second”, “third”, and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0026] In this invention, unless otherwise expressly specified and limited, "above or below" a first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on" the first feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the first feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] This invention provides a curtain wall cleaning robot, such as... Figure 1 As shown, it includes: a cleaning body 1; a climbing device 2, the climbing device 2 including at least two ropes, namely a first rope 20 and a second rope 21, the at least two ropes being arranged at preset positions, the cleaning body 1 being movable along the ropes, the at least two ropes forming at least two taut nodes 22 on the cleaning body 1, the nodes 22 being of the same nature being centrally symmetrically arranged with respect to the axis X1 of the cleaning body 1, the nodes 22 being located at the edge of the cleaning body 1, due to... Figure 1 In the embodiment, a pulley system is used to pull the cleaning body along the rope, so there are four taut nodes. Taking one group as an example, two nodes are symmetrically arranged with respect to the axis X1 of the cleaning body 1, and the intersection of the connecting line of the two nodes and the axis X1 is P. The other two nodes are arranged in the same way (only three nodes are shown in the figure because the inner view is blocked). The pressure device 3 is a rotor, which is used to generate pressure or separation force perpendicular to the axis X1 of the cleaning body and provide pressure during the cleaning process.

[0028] The application solves the problem of poor obstacle crossing function in the prior art by combining the climbing device with the pressing device. Specifically, the climbing device provides a running path for the cleaning body, and the pressing device is used to provide pressure or separation force in the cleaning process. When the cleaning body encounters an obstacle in the longitudinal direction, the separation force causes the cleaning body to move away from the object to be cleaned, and after crossing the obstacle, the cleaning body is close to the object to be cleaned again and is pressed. The climbing device uses a rope, which can be used as a track to avoid obstacles in the transverse direction, thereby improving the applicability, especially in situations where it is inconvenient to build a track. Second, the climbing device uses a rope, which does not have rigidity. When the length of the rope increases, air flow at high altitude and other factors will cause the rope to vibrate. The vibration will cause the brush head to swing slightly up and down. When there is a reagent (non-pure water) in the cleaning liquid, a step-shaped pattern is formed on the surface of the object to be cleaned. The pressing device uses a rotor, and the pressing of the rotor has a non-transient characteristic, which can be used to offset the vibration of the rope, so that the cleaning body always moves in a single direction and does not have a turn-back phenomenon during movement, thereby avoiding the formation of a step-shaped pattern. Third, at least two ropes form at least two taut nodes on the cleaning body. The nodes of the same nature are symmetrically arranged with respect to the axis center of the cleaning body, thereby avoiding the generation of a torsional moment on the cleaning body. Especially in high-altitude situations, if the binding ability of the rope to the cleaning body is weakened, the existing torsional moment can easily cause the cleaning body to tilt or roll over. Finally, the pressing device in the present application uses a rotor, and the principle of the rotor is similar to that of a drone. During use, there is a non-transient characteristic, that is, under the action of the pressing device, the cleaning body is prone to crash during the process of approaching or moving away from the object to be cleaned. The taut nodes can control the attitude of the cleaning body to avoid the crash phenomenon.

[0029] In a preferred embodiment, the resultant force exerted by the lower rope of the cleaning body on the node is greater than the maximum resultant force generated by the rotor. Preferably, the resultant force exerted by the lower rope of the cleaning body on the node is at least 1.3 times the maximum resultant force generated by the rotor. The control of the attitude of the curtain wall cleaning robot can use a gyroscope sensor. The driving wheel or the pressing device is controlled by the gyroscope sensor to achieve the control of the attitude of the curtain wall cleaning robot.

[0030] The rope of the climbing device includes at least two ropes. The two ropes are not necessarily strictly parallel or strictly vertical. The climbing of the cleaning body on the at least two ropes changes the position of the cleaning body to achieve cleaning at different positions. The rotation of the rotor generates pressure, so that the cleaning body cleans the object to be cleaned. When an obstacle is encountered, the rotor generates a reverse thrust to cause the cleaning body to move away from the obstacle.

[0031] The "nodes of the same property" in the embodiments of the present application include two types: (1) the contact position of the rope located at the upper part of the cleaning body and the cleaning body; and (2) the contact position of the rope located at the lower part of the cleaning body and the cleaning body. Only the nodes of the same property are centrally symmetric relative to the axis of the cleaning body, that is, the line connecting the nodes of the same property is perpendicular to the axis of the cleaning body and is symmetric. The "node is located at the edge of the cleaning body" is to increase the control arm and improve the posture control effect of the rope on the curtain wall cleaning robot. The "edge" is generally opposite to the center, as long as it is not the center and can have a large force arm, it belongs to the edge. Preferably, the distance between the edge of the horizontal direction section and the axis of the cleaning body is more than half of the length of the edge of the horizontal direction section and the axis of the cleaning body, or it can be outside the projection of the cleaning body in the horizontal direction.

[0032] The technical solution protected by the present application includes "at least two ropes form at least two taut nodes on the cleaning body". In this technical solution, two ropes are connected to the cleaning body through a single driving wheel arranged on the cleaning body, and the cleaning body moves on the rope under the friction of the driving wheel. At this time, the nodes of the upper rope and the lower rope on the cleaning body coincide, so that two taut nodes are formed on the cleaning body.

[0033] Specifically, as shown in Figure 1 and 2 The climbing device 2 has two ropes, the ropes form four taut nodes on the cleaning body, and the projections of the four taut nodes on the horizontal plane do not coincide. When the projections of the four taut nodes on the horizontal plane coincide, the posture control force of the rope in a single direction is stronger, and the control force in the other direction is weaker. For example, the line connecting the nodes of the same property on the cleaning body is parallel to the object to be cleaned, so the restraining ability in the direction perpendicular to the object to be cleaned is weaker. When the projections of the four taut nodes on the horizontal direction do not coincide, the restraint in both parallel and perpendicular directions to the object to be cleaned is present, and the posture control force of the curtain wall cleaning robot in both directions is stronger.

[0034] As a preferred embodiment, the line connecting the nodes of the rope located at the upper part of the cleaning body is parallel to the surface of the object to be cleaned at the neutral position; and the line connecting the nodes of the rope located at the lower part of the cleaning body is not parallel to the surface of the object to be cleaned. The "neutral position" refers to the position of the curtain wall cleaning robot under the condition of no external disturbance. When the rope adopts the above arrangement, the taut rope is beneficial to control the swing of the cleaning robot parallel to the surface of the object to be cleaned, and improves the non-transient nature of resistance to crosswind and resistance to pressure of the rotor. Preferably, the line connecting the nodes of the rope located at the lower part of the cleaning body is perpendicular to the line connecting the nodes of the rope located at the upper part of the cleaning body.

[0035] Specifically, as shown in Figure 1 , the climbing device 2 comprises two groups of guide wheel sets, the guide wheel sets comprising vertical guide wheels 23 and reversing wheels 24; the vertical guide wheels 23 and the reversing wheels 24 of the two groups of guide wheel sets are respectively centrally symmetric relative to the axis of the cleaning body. That is, the vertical guide wheels 23 of the first group of guide wheel sets are centrally symmetric relative to the axis of the cleaning body with the vertical guide wheels 23 of the second group of guide wheel sets, and the reversing wheels 24 of the first group of guide wheel sets are centrally symmetric relative to the axis of the cleaning body with the reversing wheels 24 of the second group of guide wheel sets.

[0036] It can be understood that the present application realizes four taut nodes through two groups of guide wheel sets and two ropes, but it should be noted that the adoption of two groups of guide wheel sets is a preferred embodiment, and other embodiments that can climb on the ropes to realize the traction of the cleaning body can also achieve the purpose of the present application.

[0037] In order to realize the movement of the cleaning body, the vertical guide wheels or the reversing wheels are drive wheels; or the guide wheel sets further have drive wheels. This technical solution includes three specific embodiments: (1) the vertical guide wheels are drive wheels; (2) the reversing wheels are drive wheels; (3) additionally provided with drive wheels. The drive wheels in the present application refer to wheels that have power to drive the rotation of the wheel body and realize the movement of the wheel body on the rope through friction, usually driven by an electric motor.

[0038] Figure 1 In the embodiment, of the four nodes, two nodes of the same nature are centrally symmetric relative to the axis of the cleaning body, and the planes perpendicular to the axis of the cleaning body and passing through the two nodes centrally symmetric relative to the axis of the cleaning body are parallel to each other, that is, the four nodes cannot be coplanar.

[0039] In another preferred embodiment, as shown in Figure 2 , the plane in which the at least four nodes 22 of the climbing device are located is perpendicular to the axis of the cleaning body. Of the four nodes, the connecting lines of the nodes of the same nature are perpendicular to the axis of the cleaning body and commonly intersect at a point P, at which time the four nodes are coplanar, further avoiding the problem of instability of the curtain wall cleaning robot due to torque at high altitude.

[0040] If the rope adopts three or four, the connection position between the cleaning body and the upper rope or the lower rope satisfies the condition that the torque and the moment are 0. Due to the large number of ropes, the stress fluctuation of different ropes will affect the control effect of the curtain wall cleaning robot, therefore, two ropes are preferably adopted, but the embodiment of adopting multiple ropes is also within the protection scope of the present application.

[0041] Specifically, the plane where the nodes of the climbing device are located relative to the central axis of the cleaning main body is above the center of gravity of the curtain wall cleaning robot. Since the force state of the climbing device fluctuates during the climbing process, if the center of gravity of the curtain wall cleaning robot is above the plane, the curtain wall cleaning robot is prone to overturning, and a slight fluctuation in tension during control increases the amplitude of the swing of the curtain wall cleaning robot around its own axis, which not only makes the mechanism less stable, but also makes it prone to step-like lines during cleaning. Preferably, the minimum distance between the center of gravity and the plane where the nodes are located is not less than one third of the longitudinal dimension of the cleaning main body.

[0042] The pressure applying device is a plurality of rotors, and the rotors are independently or jointly controlled. Since the gas flow in the high altitude is irregular, the rotors controlled independently or jointly can eliminate the influence caused by the irregular gas flow. In this application, independent control refers to the control of the rotating speed of a single rotor in a preset balanced state to resist external interference factors. When the external interference factors cannot be eliminated by controlling a single rotor, joint control of a plurality of rotors is adopted.

[0043] Specifically, as shown in Figure 3 The pressure applying device includes four rotors arranged in a diamond shape on the cleaning main body, and the rotating plane F of the rotors is parallel to the axis of the cleaning main body. Preferably, the included angle α of the diamond is 35°-50°. The four rotors are the classic design of this application, and compared with the six-rotor design, the four-rotor design can greatly reduce the hardware cost. The rotors of this application are arranged in a diamond shape, which reduces the control requirements for each rotor under the condition of satisfying the posture control of the curtain wall cleaning robot, such as the rotating speed of the rotors not being too large, and the coordinated control of the rotors reduces the overload control of a single rotor. Through this arrangement, not only can the vertical force or separation force in the cleaning process be provided, but also the influence of crosswind at high altitude during separation from the object to be cleaned can be eliminated. Specifically, due to the four-rotor design and the independent or joint control of the rotors, when encountering crosswind, additional control of the two opposite rotors can be performed to eliminate the influence of crosswind, and joint control of multiple rotors can be performed to ensure that the curtain wall cleaning robot meets the expected set requirements during work. The posture of the curtain wall cleaning robot can be sensed by a sensor.

[0044] As shown in Figure 1 The cleaning main body 1 includes a liquid storage tank 10, a cleaning head 11, and a pipeline. The liquid storage tank 10 is connected to the cleaning head 11 through the pipeline, and a pumping mechanism is arranged on the pipeline through which the cleaning liquid flows from the liquid storage tank 10 to the cleaning head 11. The liquid storage tank 10 maintains a negative pressure state, and the used cleaning liquid flows from the cleaning head 11 to the liquid storage tank 10 through the pipeline.

[0045] This application does not recommend using a rotating method to clean the object to be cleaned, as the movement of the cleaning head will affect the stability of the curtain wall cleaning robot. To minimize this impact... Figure 4 and 5 As shown, the cleaning head 11 of this application is elongated, and in the thickness direction, it is sequentially arranged with an upper scraper 110, an upper brush strip 111, a nozzle 112, a lower brush strip 113, and a lower scraper 114; the inlet 115 of the cleaning fluid return pipeline is located between the upper scraper and the upper brush strip, and between the lower scraper and the lower brush strip. Figure 4 There are four nozzles 112 along the length direction. High-pressure cleaning fluid is used to clean the object to be cleaned. Brush strips are used to wipe away dust and other dirt. Then, scraper is used to limit the cleaning fluid in the area that the nozzle can cover, so as to prevent the cleaning fluid from flowing out of the glass.

[0046] To secure the aforementioned scraper, brush strips, and other structures, the cleaning head further includes an upper cover plate 116, a lower cover plate 117, and an end seal 118. A frame 119 is provided inside the cleaning head 11 to provide nozzles 112 for spraying cleaning fluid. The frame 119 has a slot 1190 for securing the upper brush strip 111 and the lower brush strip 113.

[0047] like Figure 6 As shown, the cleaning fluid return pipeline includes a diverter 1150 disposed between the upper scraper and the upper anti-brush strip, and between the lower scraper and the lower brush strip. The diverter 1150 has a slit 11500 perpendicular to the upper and lower scrapers on the side closest to the object to be cleaned. Multiple pressure-dividing chambers 11501 are disposed behind the slit, and a pressure-equalizing chamber 11502 is disposed behind each pressure-dividing chamber. The cleaning fluid containing dirt scraped off by the upper scraper 110 and the lower scraper 114 enters the pressure-dividing chamber 11501 through the slit 11500, then enters the pressure-equalizing chamber 11502, and finally flows into the storage tank 10 through the pipeline. Because the cleaning head proposed in this invention is elongated, the stroke resistance loss varies at different locations, resulting in stronger suction in the central slit area and weaker suction at the edges. To ensure that the suction capacity of the slits is approximately the same along their length, a pressure-distributing chamber and a pressure-equalizing chamber are provided. The total volume of the pressure-equalizing chamber is larger than that of the pressure-distributing chamber; preferably, the volume of the pressure-equalizing chamber is at least 1.3 times that of the pressure-distributing chamber. Furthermore, the number of pressure-distributing chambers is related to the length of the cleaning head, specifically satisfying the following formula:

[0048]

[0049] Where L represents the length of the cleaning head, in cm. The value is 3.45cm. The result is rounded down. For example, if L is 69cm, then n is 20.

[0050] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are exhaustively listed. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] For those skilled in the art, various modifications and improvements can be made without departing from the concept of the present invention, and these modifications and improvements are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A curtain wall cleaning robot, characterized by, The curtain wall cleaning robot comprises: a cleaning body; a climbing device, which comprises at least two ropes arranged along preset positions, the cleaning body being movable along the ropes, the at least two ropes forming at least two taut nodes on the cleaning body, the nodes of the same nature being arranged symmetrically with respect to the axis center of the cleaning body, and the nodes being located at the edge of the cleaning body; a pressure applying device, which is a rotor for generating a force perpendicular to the axis of the cleaning body and providing pressure or separation force in the cleaning process.

2. The curtain wall cleaning robot according to claim 1, wherein the climbing device has two ropes, the ropes forming four taut nodes on the cleaning body, and the projections of the four taut nodes on the horizontal plane not coinciding.

3. The curtain wall cleaning robot according to claim 1, wherein the connecting line of the nodes of the ropes located at the upper part of the cleaning body is parallel to the surface of the object to be cleaned at the neutral position, and the connecting line of the nodes of the ropes located at the lower part of the cleaning body is not parallel to the surface of the object to be cleaned.

4. The curtain wall cleaning robot according to any one of claims 2-3, wherein the climbing device has two groups of guide wheel sets, each of the guide wheel sets comprising a vertical guide wheel and a reversing wheel, and the vertical guide wheels and the reversing wheels of the two groups of guide wheel sets being symmetric with respect to the axis center of the cleaning body.

5. The curtain wall cleaning robot according to claim 4, wherein the vertical guide wheel or the reversing wheel is a driving wheel; or the guide wheel set further has a driving wheel.

6. The curtain wall cleaning robot according to claim 5, wherein the plane on which the nodes symmetric with respect to the axis center of the cleaning body in the climbing device are located is above the center of gravity of the curtain wall cleaning robot.

7. The curtain wall cleaning robot according to claim 1, wherein the pressure applying device is a plurality of rotors and the rotors are controlled independently or jointly.

8. The curtain wall cleaning robot according to claim 7, wherein the pressure applying device comprises four rotors arranged in a diamond shape on the cleaning body, and the rotating planes of the rotors are parallel to the axis of the cleaning body.

9. The curtain wall cleaning robot according to claim 1, wherein the cleaning body comprises a liquid storage tank, a cleaning head and a pipeline; the liquid storage tank is connected to the cleaning head through the pipeline, and a pumping mechanism is arranged on the pipeline through which the cleaning liquid flows from the liquid storage tank to the cleaning head; the liquid storage tank is kept in a negative pressure state, and the used cleaning liquid flows from the cleaning head to the liquid storage tank through the pipeline.

10. The curtain wall cleaning robot according to claim 9, wherein the cleaning head is in a strip shape, and the upper layer scraper, the upper layer brush strip, the nozzle, the lower layer brush strip and the lower layer scraper are arranged in sequence in the thickness direction; the pipeline inlet through which the cleaning liquid flows back is arranged between the upper layer scraper and the upper layer brush strip and between the lower layer scraper and the lower layer brush strip. ​

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