A curtain wall cleaning robot

Abstract

The application discloses a curtain wall cleaning robot, which comprises a turnover mechanism, an obstacle detection assembly, a lifting assembly, a controller and symmetrically arranged first and second walking units, the first and second walking units each comprise a mounting plate, a power assembly is arranged at the bottom of the mounting plate, and an adsorption assembly is arranged at the middle of the mounting plate, the turnover mechanism comprises a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are hinged, a turnover piece is arranged at the top end of the second connecting plate, the lifting assembly comprises a threaded transmission piece and a guide piece arranged at the top end of each mounting plate and a transmission motor arranged at the top end of the first connecting plate and the second connecting plate, the obstacle detection assembly comprises a support plate and a detection piece arranged at the front end of the mounting plate of the first walking unit, and the controller is used for receiving a distance signal of the detection piece and controlling angle adjustment operation of the turnover piece and lifting operation of the threaded transmission piece; the application can overcome different obstacles.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a curtain wall cleaning robot. Background Technology

[0002] With the continuous progress of society and the constant construction of high-rise buildings in cities, glass curtain walls, due to their strength and aesthetics, are widely used as the main facade structure of high-rise buildings. Consequently, the cleaning work on these glass curtain walls has become increasingly demanding. Currently, glass curtain wall cleaning is mainly done manually, but the working methods of cleaners are extremely dangerous, the cleaning efficiency is low, and the cleaning operation is highly dependent on environmental conditions such as weather. The higher the building, the lower the wind speed and the more suitable the temperature; moreover, it is impossible to work in inclement weather such as rain or snow. To reduce the safety issues of manual cleaning of glass curtain walls, some robots have emerged on the market that can replace manual labor. While these robots reduce the operational risks for cleaners, they still have some drawbacks. First, existing curtain wall cleaning robots, mostly single-unit structures, struggle to smoothly and quickly traverse stepped obstacles due to the presence of stepped protrusions on the exterior of the curtain wall. Second, existing robots lack a targeted flipping and wall-crossing mechanism and are incapable of surveying walls at unknown angles. Their connecting structures lack a flipping function, making them unable to move over angled curtain walls, easily leading to missed cleaning areas and limiting their application scenarios. Third, existing curtain wall cleaning robots' adsorption systems lack environmental adaptive adjustment capabilities. In inclement weather, the fan pressure remains constant, and the adsorption force is easily weakened by wind interference, posing a risk of falling from heights and insufficient safety redundancy. Finally, in existing curtain wall cleaning robots with multi-fan adsorption systems, when crossing gaps in the glass, if the air pressure on one fan decreases or ceases to function, the other fan cannot respond promptly, causing a sharp drop in overall adsorption force. This makes it difficult for the robot to stably adhere to the wall, compromising its operational safety. Therefore, we propose a new curtain wall cleaning robot. Summary of the Invention

[0003] The present invention aims to address the shortcomings of existing cleaning robots mentioned in the background section above.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a curtain wall cleaning robot, comprising a flipping mechanism, an obstacle detection component, a lifting component, a controller, and a first walking unit and a second walking unit symmetrically arranged. Both the first and second walking units include mounting plates. A power component is disposed at the bottom of each mounting plate, and an adsorption component is disposed in the middle of each mounting plate. The flipping mechanism includes a first connecting plate and a second connecting plate respectively disposed above the first and second walking units, hinged together. A flipping component is disposed at the top of the second connecting plate. The lifting component includes a threaded transmission component and a guide component respectively disposed at the top of the two mounting plates, and a transmission motor disposed at the top of the first and second connecting plates. The obstacle detection component includes a support plate disposed at the front end of the mounting plate in the first walking unit, with a detection component disposed at the bottom of the support plate. The controller is electrically connected to the flipping component, the transmission motor, and the detection component, respectively, and is used to receive distance signals from the detection component and control the angle adjustment operation of the flipping component and the lifting operation of the threaded transmission component.

[0005] In a preferred embodiment of the curtain wall cleaning robot of the present invention, the power assembly includes a first motor mounting frame and a wheel mounting frame disposed on both sides of the bottom of the mounting plate. A stepper motor and a reducer are fixedly mounted on the first motor mounting frame. The output end of the reducer is connected to a first track wheel. A second track wheel is rotatably connected to the wheel mounting frame. A track is disposed between the first track wheel and the second track wheel. The stepper motor is electrically connected to a controller.

[0006] In a preferred embodiment of the curtain wall cleaning robot of the present invention, the adsorption component includes a negative pressure fan disposed in the middle of the mounting plate, the suction end of the negative pressure fan passes through the mounting plate and is connected to a vacuum suction cup, a pressure sensor is disposed inside the vacuum suction cup, and the negative pressure fan and the pressure sensor are electrically connected to the controller respectively.

[0007] In a preferred embodiment of the curtain wall cleaning robot of the present invention, the flipping component includes a second motor mounting bracket disposed on the front and rear sides of the top of the second connecting plate. A flipping motor is disposed on each of the two second motor mounting brackets. The output end of the flipping motor is fixedly connected to the center of the rotating disk. The upper edge of the rotating disk is rotatably connected to one end of a connecting rod. Push-pull rods are disposed on both sides of the first connecting plate. The other end of the connecting rod is rotatably connected to the push-pull rod. The flipping motor is electrically connected to the controller.

[0008] As a preferred embodiment of the curtain wall cleaning robot of the present invention, mounting holes are respectively opened at the middle of the top of the two mounting plates on the side close to each other, the threaded transmission component includes a nut seat disposed in the mounting hole, the output ends of the two transmission motors pass through the first connecting plate and the second connecting plate respectively and are connected to the threaded column, and the threaded column is threadedly connected to the nut seat.

[0009] In a preferred embodiment of the curtain wall cleaning robot of the present invention, the guide component includes guide shaft seats disposed on both sides of the top of the mounting plate, a limit rod is provided at the top of the guide shaft seat, and through holes are respectively opened at the positions corresponding to the limit rods of the first connecting plate and the second connecting plate, and guide shaft sleeves are disposed in the through holes, and the limit rods are slidably disposed in the guide shaft sleeves.

[0010] In a preferred embodiment of the curtain wall cleaning robot of the present invention, the detection component includes a first mounting base and a second mounting base spaced apart at the bottom end of the support plate. The bottom ends of the first mounting base and the second mounting base are respectively provided with a first laser ranging sensor and a second laser ranging sensor. The front end of the first mounting base is provided with a third laser ranging sensor. The first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are electrically connected to the controller.

[0011] In a preferred embodiment of the curtain wall cleaning robot of the present invention, ultrasonic transducers are respectively provided at the top of the first connecting plate and the second connecting plate, and the ultrasonic transducers are electrically connected to the controller.

[0012] The beneficial effects of this invention are as follows: First, it solves the problem that existing single-unit robots or multi-unit robots without collaborative design have difficulty crossing staircase obstacles; Second, it solves the problem that existing cleaning robots can only move vertically or horizontally, and do not take into account the situation when dealing with curtain walls with tilted angles. They cannot adapt to the obstacle angle, making it difficult to meet the obstacle-crossing requirements of complex curtain walls with angled obstacles. They cannot adjust their body posture according to the wall angle, resulting in low success rate of crossing walls, easy jamming, and even scratching the curtain wall or damaging the equipment; Third, it solves the problem of real-time sensing of environmental changes such as wind load in severe weather, dynamically adjusting the air pressure value, enhancing adsorption stability, eliminating the risk of falling from heights, and expanding the robot's operating environment range; Fourth, it solves the problem of automatically increasing the power of the other fan when crossing gaps in the wall, causing a decrease in air pressure on one side of the fan, compensating for the loss of adsorption force, ensuring that the curtain wall cleaning robot is always stably adsorbed onto the wall, and guaranteeing the safety and continuity of obstacle crossing. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a general overview diagram of the present invention.

[0014] Figure 2 This is a bottom-view structural diagram of the present invention.

[0015] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0016] Figure 4 This is a schematic diagram of the present invention when it encounters a boss.

[0017] Figure 5 This is a schematic diagram of the present invention when encountering an inclined wall. Detailed Implementation

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be described in detail below with reference to the accompanying drawings.

[0019] Reference Figures 1-5 This embodiment is a curtain wall cleaning robot, including a flipping mechanism 100, an obstacle detection component 200, a lifting component 300, a controller, and symmetrically arranged first walking units S and second walking units M. Both the first walking unit S and the second walking unit M include mounting plates 401. Power components 402 are provided at the bottom of both mounting plates 401, and adsorption components 403 are provided in the middle of both mounting plates 401. The flipping mechanism 100 includes a first connecting plate 101 and a second connecting plate 102 respectively disposed above the first walking unit S and the second walking unit M. The first connecting plate 101 and the second connecting plate 102 are hinged together, and the top of the second connecting plate 102... The end is provided with a flipping component 103. The lifting assembly 300 includes a threaded transmission component 301 and a guide component 302 respectively disposed on the top of the two mounting plates 401, and a transmission motor 303 disposed on the top of the first connecting plate 101 and the second connecting plate 102. The obstacle detection assembly 200 includes a support plate 201 disposed on the front end of the mounting plate 401 in the first walking unit S. A detection component 202 is disposed at the bottom end of the support plate 201. The controller is electrically connected to the flipping component 103, the transmission motor 303 and the detection component 202 respectively, and is used to receive the distance signal of the detection component 202 and control the angle adjustment operation of the flipping component 103 and the lifting operation of the threaded transmission component 301.

[0020] The adsorption component 403 can adsorb the first traveling unit S and the second traveling unit M onto the curtain wall to prevent them from falling. The two power components 402 respectively drive the first traveling unit S and the second traveling unit M to move on the curtain wall. During movement, the detection element 202 at the front end of the mounting plate 401 in the first traveling unit S can detect whether the obstacle in front is a protrusion or an inclined curtain wall. If the obstacle is determined to be a protrusion, the detection element 202 transmits a signal to the controller (not shown in the attached drawings). When the distance from the protrusion is set, the power component 402 stops moving. The controller first controls the adsorption component 403 in the first traveling unit S to stop working, and then controls a drive motor 303 to drive the threaded drive component 301 in the first traveling unit S to work, so that the height of the first traveling unit S is raised. Then the controller controls the power component 402 in the second traveling unit M to move a set distance, so that the first traveling unit S passes over the protrusion. At this time, the protrusion is located on the first traveling unit. Between S and the second traveling unit M, the controller then controls the drive motor 303 to drive the threaded drive component 301 in the first traveling unit S to work, causing the height of the first traveling unit S to decrease, and activates the adsorption component 403 in the first traveling unit S to perform adsorption work, so that the first traveling unit S adsorbs the curtain wall. The controller then controls the adsorption component 403 in the second traveling unit M to stop working, and controls another drive motor 303 to drive the threaded drive component 301 in the second traveling unit M to work, causing the height of the second traveling unit M to increase. Then, the controller controls the power component 402 in the first traveling unit S to travel a set distance, so that the second traveling unit M passes the boss. After that, the controller controls the drive motor 303 to drive the threaded drive component 301 in the second traveling unit M to work, causing the height of the second traveling unit M to decrease, and activates the adsorption component 403 in the second traveling unit M to perform adsorption work, so that the second traveling unit M continues to adsorb the curtain wall.If the detection element 202 determines that the obstacle ahead is a tilted curtain wall, it sends a signal to the controller. The controller then controls the adsorption component 403 in the first traveling unit S to stop operating. Next, it controls the flipping component 103 to operate, causing the first connecting plate 101 to flip. The first connecting plate 101 then causes the first traveling unit S to flip simultaneously. The flipping angle is detected by the detection element 202. When the first traveling unit S flips to be parallel to the tilted curtain wall, the controller controls the flipping component 103 to stop operating. Then, the controller controls the power component 402 in the second traveling unit M to continue traveling, while simultaneously activating the adsorption component 403 in the first traveling unit S, until the first traveling unit S... When the device adheres to the curtain wall, the power component 402 in the second traveling unit M stops moving, and the adsorption component 403 in the second traveling unit M stops adsorption. After the first traveling unit S travels a set distance on the inclined curtain wall, the controller controls the flipping component 103 to flip in the opposite direction, causing the second connecting plate 102 to flip to be horizontal with the first connecting plate 101. The second traveling unit M and the first traveling unit S also return to their initial horizontal positions. At this time, the power component 402 and the adsorption component 403 in the second traveling unit M are activated, and the entire device can then flip from a vertical curtain wall to travel on an inclined curtain wall, improving the success rate of crossing the wall and avoiding scratches on the curtain wall or damage to the equipment.

[0021] In this embodiment, the power assembly 402 includes a first motor mounting bracket 402a and a wheel mounting bracket 402b disposed on both sides of the bottom of the mounting plate 401. A stepper motor 402c and a reducer 402d are fixedly connected on the first motor mounting bracket 402a. The output end of the reducer 402d is connected to the first track wheel 402e. A second track wheel 402f is rotatably connected on the wheel mounting bracket 402b. A track 402g is disposed between the first track wheel 402e and the second track wheel 402f. The stepper motor 402c is electrically connected to the controller.

[0022] The controller controls the movement of the first walking unit S and the second walking unit M by controlling the start and stop of the stepper motor 402c.

[0023] In this embodiment, the adsorption component 403 includes a negative pressure fan 403a disposed in the middle of the mounting plate 401. The suction end of the negative pressure fan 403a passes through the mounting plate 401 and is connected to a vacuum suction cup 403b. A pressure sensor 403c is disposed inside the vacuum suction cup 403b. The negative pressure fan 403a and the pressure sensor 403c are electrically connected to the controller.

[0024] The negative pressure fan 403a draws air from the vacuum suction cup 403b to generate negative pressure, causing the vacuum suction cup 403b to generate negative pressure suction and adhere to the curtain wall. The pressure sensor 403c can detect the pressure inside the vacuum suction cup 403b in real time and transmit it to the controller. The controller can control the power of the negative pressure fan 403a according to the pressure.

[0025] In this embodiment, the flipping component 103 includes a second motor mounting bracket 103a disposed on the front and rear sides of the top of the second connecting plate 102. A flipping motor 103b is disposed on each of the two second motor mounting brackets 103a. The output end of the flipping motor 103b is fixedly connected to the center of the rotating disk 103c. The upper edge of the rotating disk 103c is rotatably connected to one end of the connecting rod 103d. Push-pull rods 101a are disposed on both sides of the first connecting plate 101. The other end of the connecting rod 103d is rotatably connected to the push-pull rods 101a. The flipping motor 103b is electrically connected to the controller.

[0026] When a flip is required, the controller controls the rotation of the flip motor 103b, which drives the rotating disk 103c to rotate. The rotating disk 103c drives the connecting rod 103d to push and pull the push-pull rod 101a, thereby causing the first connecting plate 101 to flip. The first connecting plate 101 drives the first traveling unit S to flip together.

[0027] In this embodiment, mounting holes are respectively opened at the top center of the two mounting plates 401 on the side close to each other. The threaded transmission component 301 includes a nut seat 301a disposed in the mounting hole. The output ends of the two transmission motors 303 pass through the first connecting plate 101 and the second connecting plate 102 respectively and are connected to the threaded post 301b. The threaded post 301b is threadedly connected to the nut seat 301a.

[0028] In this embodiment, the guide member 302 includes guide shaft seats 302a disposed on both sides of the top of the mounting plate 401. A limit rod 302b is provided at the top of the guide shaft seat 302a. Through holes are respectively opened at the positions of the first connecting plate 101 and the second connecting plate 102 corresponding to the limit rod 302b. A guide shaft sleeve 302c is disposed in the through hole, and the limit rod 302b is slidably disposed in the guide shaft sleeve 302c.

[0029] The controller controls the forward and reverse rotation of the drive motor 303, thereby controlling the rotation direction of the threaded column 301b, so that the mounting plate 401 drives the power assembly 402 and the adsorption assembly 403 to perform lifting operations together.

[0030] In this embodiment, the detection element 202 includes a first mounting base 202a and a second mounting base 202b spaced apart at the bottom of the support plate 201. A first laser ranging sensor 202c and a second laser ranging sensor 202d are respectively disposed at the bottom of the first mounting base 202a and the second mounting base 202b. A third laser ranging sensor 202e is disposed on the front end of the first mounting base 202a. The first laser ranging sensor 202c, the second laser ranging sensor 202d and the third laser ranging sensor 202e are electrically connected to the controller.

[0031] When positioned on a vertical curtain wall, the first laser rangefinder 202c and the second laser rangefinder 202d project their emitted lasers onto the wall. The parallelism is determined based on the lengths of the two lasers being within a certain tolerance range. If the third laser rangefinder 202e on the front face of the first mounting base 202a detects an obstacle in front, and the lengths of the two lasers emitted by the first laser rangefinder 202c and the second laser rangefinder 202d are within the tolerance range, then the obstacle in front is a protrusion. If the third laser rangefinder 202e on the front face of the first mounting base 202a detects an obstacle in front, and the lengths of the two lasers emitted by the first laser rangefinder 202c and the second laser rangefinder 202d exceed the tolerance range, then the obstacle in front is an inclined curtain wall.

[0032] In this embodiment, ultrasonic transducers 500 are respectively provided at the top of the first connecting plate 101 and the second connecting plate 102, and the ultrasonic transducers 500 are electrically connected to the controller.

[0033] The ultrasonic transducer 500 detects wind speed in real time using the time difference method. The controller then adjusts the fan power according to the wind speed to ensure that the curtain wall cleaning robot can always adhere to the wall, thus ensuring that the high-altitude operation is not affected by the environment and can continue to work.

[0034] Operating principle: When cleaning a vertical curtain wall, the controller operates the negative pressure fan 403a in the first traveling unit S and the second traveling unit M, causing the vacuum suction cup 403b to generate negative pressure and adhere to the curtain wall. Then, the controller activates the stepper motor 402c in the first traveling unit S and the second traveling unit M, moving the entire device along the curtain wall. When there are gaps in the curtain wall, the vacuum suction cup 403b in the first traveling unit S passes over the gap. As the vacuum suction cup 403b passes over the gap, pressure is released. The pressure sensor 403c in the vacuum suction cup 403b detects the reduced pressure and transmits a signal. The information is sent to the controller, which can increase the power of the negative pressure fan 403a in the second walking unit M, so that the vacuum suction cup 403b in the second walking unit M can increase the suction force and prevent the entire device from falling due to a decrease in suction force. When the vacuum suction cup 403b in the second walking unit M passes through a wall with gaps, the vacuum suction cup 403b in the second walking unit M will release pressure. After the pressure sensor 403c in the vacuum suction cup 403b detects the decrease in pressure, it will transmit the information to the controller, which can then increase the power of the negative pressure fan 403a in the first walking unit S, so that the vacuum suction cup 403b in the first walking unit S can increase the suction force.When this device moves, if the third laser ranging sensor 202e on the front end of the first mounting base 202a detects an obstacle in front, and the lengths of the two lasers emitted by the first laser ranging sensor 202c and the second laser ranging sensor 202d are within the tolerance range, it indicates that the obstacle is a protrusion. When the device moves to a set distance from the protrusion, the controller controls the stepper motor 402c to stop working, then controls the negative pressure fan 403a in the first walking unit S to stop working, controls the negative pressure fan 403a in the second walking unit M to increase its power, and then controls the drive motor 303 to drive the threaded column 301b to rotate, so that the height of the first walking unit S is raised. Then the controller controls the stepper motor 402c in the second walking unit M to work, driving the device to move a set distance, so that the first walking unit S passes the protrusion, and the protrusion is now located between the first walking unit S and the second walking unit M. At this time, the controller controls the drive motor 303 to drive the threaded column 301b to reverse, causing the height of the first traveling unit S to decrease, and the negative pressure fan 403a in the first traveling unit S to start the adsorption operation. After the first traveling unit S decreases to its original position, it adsorbs the curtain wall. The controller controls the negative pressure fan 403a in the second traveling unit M to stop working, increases the power of the negative pressure fan 403a in the first traveling unit S, and controls another drive motor 303 to drive the threaded column 301b to rotate, causing the height of the second traveling unit M to increase. Then, the controller controls the stepper motor 402c in the first traveling unit S to travel a set distance, so that the second traveling unit M passes the boss. After that, the controller controls the drive motor 303 to drive the threaded column 301b to reverse, causing the height of the second traveling unit M to decrease, and the negative pressure fan 403a in the second traveling unit M to start the adsorption operation, so that the second traveling unit M continues to adsorb the curtain wall.As the entire device continues to move and clean, if the third laser ranging sensor 202e on the front face of the first mounting base 202a detects an obstacle in front, and the lengths of the two lasers emitted by the first laser ranging sensor 202c and the second laser ranging sensor 202d exceed the tolerance range, it indicates that the obstacle in front is an outwardly tilted curtain wall. The controller then controls the negative pressure fan 403a in the first traveling unit S to stop operating. Next, the controller controls the rotation of the tilting motor 103b, which drives the rotating disk 103c to rotate. The rotating disk 103c drives the connecting rod 103d. Pushing and pulling the push-pull rod 101a causes the first connecting plate 101 to flip. The first connecting plate 101 drives the first traveling unit S to flip as well. The flipping motor 103b flips until the lengths of the two lasers emitted by the first laser rangefinder 202c and the second laser rangefinder 202d are within the tolerance range, at which point the first traveling unit S is parallel to the inclined curtain wall. Then, the controller controls the negative pressure fan 403a in the first traveling unit S to work, and the stepper motor 402c in the second traveling unit M continues to travel until the first laser rangefinder sensor... When the laser length emitted by the second laser ranging sensor 202c and the second laser ranging sensor 202d reaches the length from the laser ranging sensor to the wall surface before the wall is crossed, the first walking unit S adheres to the curtain wall surface. The stepper motor 402c and negative pressure fan 403a in the second walking unit M stop, and the stepper motor 402c in the first walking unit S continues to move. After the first walking unit S moves a set distance on the inclined curtain wall, the controller controls the flip motor 103b to flip in the opposite direction by the same angle and activates the stepper motor 402c and negative pressure fan 403a in the second walking unit M, thus connecting the second... Plate 102 flips to be horizontal with the first connecting plate 101, and the second walking unit M and the first walking unit S also return to their initial horizontal positions. The second walking unit M re-adheres onto the curtain wall surface, allowing the entire device to flip from a vertical curtain wall to a tilted curtain wall, improving the success rate of crossing walls and avoiding scratches on the curtain wall or damage to the equipment. In windy weather, the ultrasonic transducer 500 detects the wind speed in real time using a time-difference method, and the controller adjusts the fan power according to the wind speed to ensure that the curtain wall cleaning robot can always adhere to the wall, achieving the effect of ensuring that the high-altitude operation is not affected by the environment and can continue to work.

[0035] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A curtain wall cleaning robot, characterized in that: The system includes a flipping mechanism (100), an obstacle detection component (200), a lifting component (300), a controller, and symmetrically arranged first walking units (S) and second walking units (M). Both the first walking unit (S) and the second walking unit (M) include mounting plates (401). Power components (402) are provided at the bottom of both mounting plates (401), and adsorption components (403) are provided in the middle of both mounting plates (401). The flipping mechanism (100) includes a first connecting plate (101) and a second connecting plate (102) respectively disposed above the first walking unit (S) and the second walking unit (M). The first connecting plate (101) and the second connecting plate (102) are hinged together, and a flipping mechanism is provided at the top of the second connecting plate (102). The lifting assembly (300) includes a threaded transmission component (301) and a guide component (302) respectively disposed on the top of the two mounting plates (401), and a transmission motor (303) disposed on the top of the first connecting plate (101) and the second connecting plate (102). The obstacle detection assembly (200) includes a support plate (201) disposed at the front end of the mounting plate (401) in the first walking unit (S). A detection component (202) is disposed at the bottom end of the support plate (201). The controller is electrically connected to the flipping component (103), the transmission motor (303) and the detection component (202) respectively, and is used to receive the distance signal of the detection component (202) and control the angle adjustment operation of the flipping component (103) and the lifting operation of the threaded transmission component (301).

2. The curtain wall cleaning robot as described in claim 1, characterized in that: The power assembly (402) includes a first motor mounting bracket (402a) and a wheel mounting bracket (402b) disposed on both sides of the bottom of the mounting plate (401). A stepper motor (402c) and a reducer (402d) are fixed on the first motor mounting bracket (402a). The output end of the reducer (402d) is connected to the first track wheel (402e) for transmission. A second track wheel (402f) is rotatably connected to the wheel mounting bracket (402b). A track (402g) is disposed between the first track wheel (402e) and the second track wheel (402f). The stepper motor (402c) is electrically connected to the controller.

3. The curtain wall cleaning robot as described in claim 1, characterized in that: The adsorption assembly (403) includes a negative pressure fan (403a) disposed in the middle of the mounting plate (401). The suction end of the negative pressure fan (403a) passes through the mounting plate (401) and is connected to a vacuum suction cup (403b). A pressure sensor (403c) is disposed inside the vacuum suction cup (403b). The negative pressure fan (403a) and the pressure sensor (403c) are electrically connected to the controller respectively.

4. The curtain wall cleaning robot as described in claim 1, characterized in that: The flipping component (103) includes a second motor mounting bracket (103a) disposed on the front and rear sides of the top of the second connecting plate (102). A flipping motor (103b) is respectively disposed on the two second motor mounting brackets (103a). The output end of the flipping motor (103b) is fixedly connected to the center of the rotating disk (103c). The upper edge of the rotating disk (103c) is rotatably connected to one end of the connecting rod (103d). Push-pull rods (101a) are respectively disposed on both sides of the first connecting plate (101). The other end of the connecting rod (103d) is rotatably connected to the push-pull rod (101a). The flipping motor (103b) is electrically connected to the controller.

5. The curtain wall cleaning robot as described in claim 1, characterized in that: Mounting holes are respectively opened at the top center of the two mounting plates (401) on the side close to each other. The threaded transmission component (301) includes a nut seat (301a) set in the mounting hole. The output ends of the two transmission motors (303) pass through the first connecting plate (101) and the second connecting plate (102) respectively and are connected to the threaded column (301b). The threaded column (301b) is threadedly connected to the nut seat (301a).

6. The curtain wall cleaning robot as described in claim 5, characterized in that: The guide component (302) includes guide shaft seats (302a) disposed on both sides of the top of the mounting plate (401). A limit rod (302b) is provided at the top of the guide shaft seat (302a). Through holes are respectively opened at the positions corresponding to the limit rod (302b) of the first connecting plate (101) and the second connecting plate (102). A guide sleeve (302c) is disposed in the through hole. The limit rod (302b) is slidably disposed in the guide sleeve (302c).

7. The curtain wall cleaning robot as described in claim 1, characterized in that: The detection component (202) includes a first mounting base (202a) and a second mounting base (202b) spaced apart at the bottom of the support plate (201). The bottom ends of the first mounting base (202a) and the second mounting base (202b) are respectively provided with a first laser ranging sensor (202c) and a second laser ranging sensor (202d). The front end of the first mounting base (202a) is provided with a third laser ranging sensor (202e). The first laser ranging sensor (202c), the second laser ranging sensor (202d) and the third laser ranging sensor (202e) are electrically connected to the controller.

8. The curtain wall cleaning robot as described in claim 1, characterized in that: The top ends of the first connecting plate (101) and the second connecting plate (102) are respectively provided with ultrasonic transducers (500), and the ultrasonic transducers (500) are electrically connected to the controller.

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