Modular, mounted, cleaning drone

Abstract

This invention discloses a modular mounted cleaning drone, relating to the field of drone technology. It includes a drone body with support rods symmetrically tilted and fixed to its lower end face. These support rods are fixed to round rods, and a mounting frame is fixed between the round rods. A balance adjustment mechanism is installed on the mounting frame to control the center of gravity balance of the water tank during the rinsing process. This modular mounted cleaning drone, through its balance adjustment mechanism, achieves active coordinated adjustment of the spray reaction force and the center of gravity attitude, completely solving the technical problem of imbalance caused by high-pressure spray backlash leading to drone pitching up and cleaning fluid sloshing. It maintains the water tank perpendicular to the ground and the center of gravity of the cleaning fluid remains stable, preventing forward and backward shifts due to the drone's pitch attitude. This significantly improves the flight stability and attitude controllability of the drone during high-altitude hovering and translational operations.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a modular mounted cleaning UAV. Background Technology

[0002] With the increasing prevalence of high-rise buildings, glass curtain walls, outdoor billboards, and the facades of large equipment in cities, traditional high-altitude manual cleaning operations rely on personnel suspended at height for manual operation. This not only results in dangerous working environments, high labor intensity, and low efficiency, but is also significantly limited by factors such as high-altitude wind force, building height, and on-site safety management, making it extremely easy to cause safety accidents such as falls and falling objects. Labor costs and safety management costs remain high. To replace high-risk manual cleaning and improve the level of intelligence in high-altitude operations, cleaning drones equipped with high-pressure spray structures are gradually becoming the mainstream alternative in the industry. However, existing cleaning drones generally have prominent problems such as low structural integration, poor modular adaptability, insufficient flight stability, and inconvenient disassembly and maintenance, making it difficult to meet the actual needs of continuous high-altitude cleaning operations. Existing drone cleaning devices, such as the drone-based cleaning system disclosed in publication number CN209396047U, include a drone with a fuselage. The cleaning system includes a cleaning component and a control component. The cleaning component is located on the fuselage. The cleaning component includes a liquid storage device, a gas storage device, a support tube, a nozzle, and a switching device. The liquid storage device and the gas storage device are located on the fuselage. The gas storage device is used to store high-pressure gas. One end of the support tube is fixed to the fuselage, and the other end is away from the fuselage. The nozzle is located at the end of the support tube away from the fuselage. The nozzle is connected to the liquid storage device and the gas storage device through a transport tube. The switching device is located on the transport tube. The control component includes a remote control device and a control circuit located on the fuselage. The control circuit is communicatively connected to the remote control device. The control circuit is electrically connected to the switching device. This invention uses a gas storage device to carry high-pressure gas, avoiding the excessive load on a portable air compressor. Simultaneously, it utilizes the siphon principle to use the high-pressure gas as the driving force for the liquid ejected from the liquid storage device, resulting in a strong spray force. Most existing cleaning drones adopt a simple fixed assembly structure with the main flight unit, water tank, and spray components. The water tanks are mostly rigidly fixed, which not only makes the process of adding water, disassembling, and inspecting them cumbersome, requiring additional tools to complete disassembly and locking, but also makes the preparation for operation and downtime maintenance time-consuming. At the same time, existing equipment generally does not have landing buffer protection function. During repeated take-off and landing, the bottom impact load is directly applied to the fuselage and mounting modules, which can easily cause fatigue damage to the bracket, nozzle, and pipe joints, reducing the service life of the whole machine and the reliability of operation.

[0003] Furthermore, during high-pressure spraying operations, the continuous spraying of water from the high-pressure nozzles of existing cleaning drones generates a stable backward reaction force, directly causing the drone's body to tilt, pitch, and roll. At the same time, the tilting of the body further causes the cleaning fluid inside the tank to slosh around, resulting in a rapid shift in the overall center of gravity and an imbalance in the front and rear weight distribution. Under the combined effects of high-altitude wind disturbance, spray reaction force, and liquid center of gravity shift, the drone is highly susceptible to problems such as flight drift, loss of attitude control, and unstable hovering. This not only reduces the cleaning positioning accuracy and cleaning uniformity but also significantly increases the risk of crashes and explosions, failing to meet the operational requirements for continuous, stable, and precise cleaning of high-rise building glass. Summary of the Invention

[0004] The purpose of this invention is to provide a modular mounted cleaning drone to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a modular mounted cleaning drone, comprising a drone body, wherein support rods are symmetrically and obliquely fixed to the lower end face of the drone body, the support rods are fixed to a round rod, a fixing frame is fixed between the round rods, a balance adjustment mechanism is installed on the fixing frame, the balance adjustment mechanism is used to realize the balance control of the center of gravity of the water tank during the rinsing process, a water tank is installed on the balance adjustment mechanism, a locking mechanism for locking the water tank is also installed on the balance adjustment mechanism, and a cleaning mechanism is also installed on the balance adjustment mechanism to realize the rinsing function.

[0006] Preferably, a camera is fixed on the drone body, and a connecting frame is fixed at an equal angle on the outside of the drone body. A motor is fixed on the connecting frame, and a propeller is fixed at the output end of the motor. The connecting frame and the motor are distributed in a one-to-one correspondence. The camera can be used to take pictures, so that the drone body can be manually controlled. The motor and the propeller can provide a basic guarantee for the normal flight of the drone body.

[0007] Preferably, the balance adjustment mechanism includes a mounting plate rotatably connected to a fixed frame via a rotating shaft, and a torsion spring is connected between the mounting plate and the fixed frame. The mounting plate is provided with guide grooves, which are symmetrically distributed about the center of the mounting plate. The rotation between the mounting plate and the fixed frame provides a basic guarantee for adjusting the center of gravity of the water tank.

[0008] Preferably, a gear is fixed on the rotating shaft connecting the mounting plate and the fixing frame. The gears are symmetrically distributed about the center line of the mounting plate, and the gears are meshed with the rack. The rack and gears are distributed in a one-to-one correspondence. The mounting plate is equipped with a water tank and a locking mechanism. The rack moves through the mounting plate. The meshing transmission between the rack and gear provides a basic force for the rotation of the mounting plate, thus providing a basic guarantee for the adjustment of the center of gravity of the water tank and ensuring the stability of the device.

[0009] Preferably, one end of the convex rack is fixed to the slide rod, and the other end of the slide rod is fixed to the horizontal plate. The slide rod is symmetrically distributed about the center line of the horizontal plate. The slide rod is slidably connected to the fixing frame. One end of the horizontal plate is fixed to the first spring, and the other end of the first spring is fixed to the fixing frame. The first spring is symmetrically distributed about the center line of the horizontal plate. A cleaning mechanism is fixed on the horizontal plate. When the cleaning mechanism rinses, the reverse force generated by the rinsing can provide a basic force for the movement of the horizontal plate, thereby providing a basic force for the movement of the convex rack, ensuring the normal operation of the device. Furthermore, the elasticity of the first spring can provide a basic guarantee for the automatic reset of the horizontal plate and the convex rack.

[0010] Preferably, the water inlet of the water tank is connected to the water inlet sealing cover by threads, and the water tank is also equipped with a threaded socket. Furthermore, the sides of the water tank are symmetrically fixed with toothed plates, which slide in contact with the mounting plate. Through the above structure, the water tank can be easily disassembled and assembled to facilitate water tank replacement.

[0011] Preferably, the lower end face of the water tank is symmetrically fixed with sliding plates, and the sliding plates are slidably connected to the guide groove. Through the sliding guiding action between the sliding plates and the guide groove, the water tank can be positioned and installed, ensuring the accuracy of the water tank installation position.

[0012] Preferably, the locking mechanism includes brackets symmetrically fixed on the mounting plate, with the brackets and connecting rods slidably connected, and the connecting rods and mounting plate also slidably connected. One end of the connecting rod is fixed to a locking block, and the locking block and locking plate form an engaging connection. Through the sliding action between the connecting rod and the brackets and mounting plate, the position of the locking block can be adjusted, thereby achieving the engaging and disengaging action of the locking block and locking plate. Furthermore, the engaging action between the locking block and locking plate provides a fundamental guarantee for locking the water tank, thus ensuring the stability of the water tank installation.

[0013] Preferably, the other end of the connecting rod is fixed to the base plate, and the connecting rod is symmetrically distributed about the center line of the base plate. The lower end face of the base plate is lower than the lower end face of the round rod. A round plate is also fixed on the connecting rod, and the round plate is fixed to one end of the second spring. The other end of the second spring is fixed to the lower end face of the mounting plate. By limiting the position of the lower end face of the base plate, the base plate can be provided with a basic force for movement by its own gravity when the UAV lands. This provides a basic guarantee for unlocking the locking block and locking plate. Furthermore, the elasticity of the second spring can provide a basic force for the automatic reset of the base plate and also provide a buffering and shock absorption effect when the UAV lands, ensuring the stability of the UAV landing.

[0014] Preferably, the cleaning mechanism includes a water pump fixed on a horizontal plate, with the water inlet end of the water pump connected to a threaded socket via a conduit and a connector, and the water outlet end of the water pump connected to a water guide pipe via a conduit. One end of the water guide pipe is fixed on the horizontal plate, and the other end of the water guide pipe is equipped with a detachable high-pressure nozzle. Through the above structure, the water in the water tank can be transported to ensure the normal operation of rinsing.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This modular mounted cleaning drone achieves active coordinated adjustment of spray reaction force and center of gravity attitude through a balance adjustment mechanism. It completely solves the problem of imbalance caused by high-pressure spray backflow leading to fuselage pitch and cleaning fluid sloshing. During high-pressure spraying, the reverse thrust generated by the nozzle acts directly on the horizontal plate, pushing the horizontal plate and slide bar to move synchronously and compress the first spring. The slide bar drives the convex rack to move synchronously, and through gear meshing, drives the mounting plate to adaptively rotate around the rotation axis, thereby driving the water tank to deflect synchronously to compensate. It always keeps the water tank perpendicular to the ground and the center of gravity of the cleaning fluid stable and does not shift forward or backward with the pitch attitude of the drone. Moreover, the adjustment process is completed entirely by mechanical structure linkage, without relying on electronic control sensors or additional drive sources. It has direct response, synchronous action, and strong stability. It can continuously counteract the attitude interference caused by spray backflow and liquid surface sloshing, significantly improving the flight stability and attitude controllability of the drone during high-altitude hovering and translational operations. 2. This modular mounted cleaning drone adopts a modular mounting, guide sliding and automatic locking structure design. The water tank slides and engages with the mounting plate guide groove through a sliding plate to achieve precise positioning and insertion. The disassembly and assembly process does not require bolts, clamps or other additional fasteners, nor does it require special tools. This significantly simplifies the operation process of adding cleaning fluid to the water tank, inspection and replacement, and fault replacement. When landing, the base plate touches the ground first. Under the action of the drone's own weight, it automatically moves the locking block upward, releasing the locking block and locking plate. The water tank can then be directly pulled out to remove it. After takeoff, the base plate leaves the ground. Under the action of the second spring, the locking block automatically falls and engages with the locking plate to lock, thus firmly fixing the water tank. This achieves the function of automatic unlocking upon landing and automatic locking upon takeoff. The entire process is linked without manual operation, which not only improves the efficiency of operation preparation, but also completely avoids the risk of falling off due to improper manual locking. 3. This modular mounted cleaning drone, by setting the locking base plate to a low position below the supporting round rod, combined with the second spring elastic buffer structure, ensures that during the drone's landing, the base plate contacts the ground first and bears the initial impact load, while the second spring compresses and absorbs energy simultaneously. This effectively reduces the rigid damage to the fuselage, mounting bracket, and internal pipelines caused by ground impact, achieving efficient landing buffering. At the same time, this structure can prevent the round rod, water tank, and cleaning mechanism from directly colliding and rubbing against the ground, protecting the high-pressure nozzle, water pipe joints, and guide sliding structure from impact damage. This significantly improves the durability of the drone during repeated take-off and landing operations and the overall service life of the drone, making it particularly suitable for engineering operation scenarios involving complex outdoor terrain and high-frequency continuous take-off and landing. Attached Figure Description

[0016] Figure 1 This is a frontal three-dimensional structural diagram of the overall composition of the device of the present invention; Figure 2 This is a bottom-view three-dimensional structural diagram of the overall composition of the device of the present invention; Figure 3 This is a frontal three-dimensional structural diagram of the unmanned aerial vehicle (UAV) body of the present invention; Figure 4 This is a frontal three-dimensional structural diagram of the fixing frame of the present invention; Figure 5 This is a frontal three-dimensional structural diagram of the balance adjustment mechanism of the present invention; Figure 6 This is a bottom-view three-dimensional structural diagram of the balance adjustment mechanism of the present invention; Figure 7 This is a frontal three-dimensional structural diagram of the water tank assembly of the present invention.

[0017] In the diagram: 1. Drone body; 101. Camera; 102. Connecting frame; 103. Motor; 104. Propeller; 2. Support rod; 3. Round rod; 4. Fixing frame; 5. Balance adjustment mechanism; 501. Mounting plate; 502. Guide groove; 503. Gear; 504. Raised rack; 505. Slide rod; 506. Horizontal plate; 507. First spring; 6. Water tank; 601. Inlet sealing cap; 602. Threaded socket; 603. Slide plate; 604. Gear plate; 7. Locking mechanism; 701. Bracket; 702. Connecting rod; 703. Gear block; 704. Base plate; 705. Round plate; 706. Second spring; 8. Cleaning mechanism; 801. Water pump; 802. Water guide pipe; 803. High-pressure nozzle. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1-7 This invention provides a technical solution: a modular mounted cleaning drone, including a drone body 1. Support rods 2 are symmetrically and obliquely fixed to the lower end face of the drone body 1. Support rods 2 and round rods 3 are fixed to each other. A fixing frame 4 is fixed between the round rods 3. A balance adjustment mechanism 5 is installed on the fixing frame 4. The balance adjustment mechanism 5 is used to realize the balance control of the center of gravity of the water tank 6 during the rinsing process. The water tank 6 is installed on the balance adjustment mechanism 5. A locking mechanism 7 for locking the water tank 6 is also installed on the balance adjustment mechanism 5. A cleaning mechanism 8 is also installed on the balance adjustment mechanism 5 to realize the rinsing function.

[0020] The locking mechanism 7 includes brackets 701 that are symmetrically fixed on the mounting plate 501 from left to right. The brackets 701 and the connecting rod 702 are slidably connected, and the connecting rod 702 is slidably connected to the mounting plate 501. At the same time, one end of the connecting rod 702 is fixed to the locking tooth block 703, and the locking tooth block 703 and the locking tooth plate 604 are engaged. The other end of the connecting rod 702 is fixed to the base plate 704, and the connecting rod 702 is symmetrically distributed about the center line of the base plate 704. The lower end surface of the base plate 704 is lower than the lower end surface of the round rod 3. A round plate 705 is also fixed on the connecting rod 702, and the round plate 705 is fixed to one end of the second spring 706. The other end of the second spring 706 is fixed to the lower end surface of the mounting plate 501. When using this modular mountable cleaning drone, such as Figures 1-7As shown, when the UAV body 1 lands on the ground, since the lower end of the base plate 704 is lower than the lower end of the round rod 3, the base plate 704 contacts the ground first. At this time, under the action of the UAV body 1's own weight, the base plate 704 can move upward relative to the mounting plate 501, thereby synchronously driving the connecting rod 702 and the locking block 703 to move upward. At this time, the second spring 706 is compressed by force. With the sliding guide action between the connecting rod 702 and the mounting plate 501 and the bracket 701, the stability of the movement of the locking block 703 can be ensured, so that the locking block 703 can be separated from the locking plate 604, automatically releasing the locking action on the water tank 6, so that the water tank 6 can be disassembled and assembled later. Until the round rod 3 contacts the ground to support the UAV body 1, and during the landing process of the UAV body 1, the elastic action of the second spring 706 can achieve the landing buffer action, ensuring the stability of the UAV body 1 landing. A camera 101 is fixed on the drone body 1, and a connecting frame 102 is fixed at equal angles on the outer side of the drone body 1. A motor 103 is fixed on the connecting frame 102, and a propeller 104 is fixed on the output end of the motor 103. The connecting frame 102 and the motor 103 are distributed in a one-to-one correspondence. The water inlet of the water tank 6 is connected to the water inlet sealing cover 601 by threads. A threaded socket 602 is also installed on the water tank 6. A toothed plate 604 is symmetrically fixed on the left and right sides of the water tank 6. The toothed plate 604 slides in contact with the mounting plate 501. A sliding plate 603 is symmetrically fixed on the left and right sides of the lower end face of the water tank 6. The sliding plate 603 is slidably connected to the guide groove 502. After the drone body 1 lands, as Figures 1-7 As shown, since the locking block 703 is separated from the locking plate 604, the water tank 6 can be disassembled through the sliding action between the sliding plate 603 and the guide groove 502. The water inlet sealing cover 601 can be opened to easily add cleaning agent. After loading, the water inlet sealing cover 601 is closed, and the water tank 6 is installed through the sliding action between the sliding plate 603 and the guide groove 502 until the sliding plate 603 contacts the end of the guide groove 502, thereby achieving the positioning and installation of the water tank 6. After the water tank 6 is installed, the propeller 104 is driven to rotate by the motor 103, which enables the UAV body 1 to fly normally. During the takeoff of the UAV body 1, when the base plate 704 separates from the ground, the connecting rod 702 and the locking block 703 can move down relative to the mounting plate 501 under the elastic action of the second spring 706, thereby enabling the locking block 703 to engage with the locking plate 604, thus achieving the automatic locking function of the water tank 6 and effectively ensuring the stability of the water tank 6 installation. The balance adjustment mechanism 5 includes a mounting plate 501 rotatably connected to a fixed frame 4 via a rotating shaft. A torsion spring is also connected between the mounting plate 501 and the fixed frame 4. The mounting plate 501 has guide grooves 502, which are symmetrically distributed about the center of the mounting plate 501. A gear 503 is fixed on the rotating shaft connecting the mounting plate 501 and the fixed frame 4. The gear 503 is symmetrically distributed about the center line of the mounting plate 501, and it is meshed with a rack 504. The rack 504 and the gear 503 are distributed in a one-to-one correspondence. A water tank 6 and a locking mechanism 7 are mounted on the mounting plate 501. One end of the rack 504 is fixed to a slide rod 505, and the other end of the slide rod 505 is fixed to a horizontal plate 506. Furthermore, the slide rods 505 are symmetrically distributed about the center line of the horizontal plate 506, and the slide rods 505 are slidably connected to the fixing frame 4. The horizontal plate 506 is fixed to one end of the first spring 507, and the other end of the first spring 507 is fixed to the fixing frame 4. The first spring 507 is symmetrically distributed about the center line of the horizontal plate 506. A cleaning mechanism 8 is fixed on the horizontal plate 506. The cleaning mechanism 8 includes a water pump 801 fixed on the horizontal plate 506. The water inlet of the water pump 801 is connected to the threaded socket 602 through a conduit and a connector. The water outlet of the water pump 801 is connected to the water guide pipe 802 through a conduit. One end of the water guide pipe 802 is fixed on the horizontal plate 506, and the other end of the water guide pipe 802 is equipped with a detachable high-pressure nozzle 803. When washing the glass of high-rise buildings, such as Figures 1-7 As shown, the camera 101 can detect the flight position of the drone body 1, so that the high-pressure nozzle 803 is directly facing the position that needs to be cleaned. At this time, the water pump 801 is started, and the cleaning agent in the water tank 6 can be sent into the water pipe 802 through the water pump 801 and sprayed out through the high-pressure nozzle 803, thereby achieving the cleaning effect of high-rise building glass. During the cleaning process, the high-pressure nozzle 803 sprays cleaning agent, which generates a continuous reverse force on the drone body 1, causing the drone body 1 to tilt upwards. To prevent the center of gravity of the cleaning agent in the water tank 6 from shifting due to the tilting of the drone body 1, thus affecting the stability of the device's flight, the reverse force generated by the high-pressure nozzle 803 acts synchronously on the horizontal plate 506, causing the horizontal plate 506 to be displaced relative to the fixed frame 4. Combined with the sliding guide action between the slide rod 505 and the fixed frame 4, the stability of the horizontal plate 506's movement can be ensured. At this time, the first spring 507 is compressed under force. When the slide rod 505 slides under force, it synchronously drives the convex rack 504 to move. Combined with the meshing transmission action between the convex rack 504 and the gear 503, the mounting plate 501 can be rotated under force, thereby synchronously driving the water tank 6 to rotate, realizing the angle adjustment function of the water tank 6, ensuring that the water tank 6 always remains perpendicular to the ground, that is, ensuring that the center of gravity of the water tank 6 remains unchanged, thus effectively ensuring the stability of the drone body 1's flight during the rinsing process.

[0021] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0022] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A modular, mounted, cleaning drone comprising a drone body (1), characterized in that: The lower end face of the UAV body (1) is symmetrically inclined and fixed with support rods (2). The support rods (2) and round rods (3) are fixed to each other. A fixing frame (4) is fixed between the round rods (3). A balance adjustment mechanism (5) is installed on the fixing frame (4). The balance adjustment mechanism (5) is used to realize the balance control of the center of gravity of the water tank (6) during the rinsing process. The balance adjustment mechanism (5) is equipped with a water tank (6). The balance adjustment mechanism (5) is also equipped with a locking mechanism (7) for locking the water tank (6). The balance adjustment mechanism (5) is also equipped with a cleaning mechanism (8) for rinsing.

2. The modular mounted cleaning drone according to claim 1, characterized in that: A camera (101) is fixed on the drone body (1), and a connecting frame (102) is fixed at equal angles on the outside of the drone body (1). A motor (103) is fixed on the connecting frame (102), and a propeller (104) is fixed at the output end of the motor (103). The connecting frame (102) and the motor (103) are distributed in a one-to-one correspondence.

3. The modular mounted cleaning drone according to claim 1, characterized in that: The balance adjustment mechanism (5) includes a mounting plate (501) rotatably connected to the fixed frame (4) via a rotating shaft, and a torsion spring is connected between the mounting plate (501) and the fixed frame (4). A guide groove (502) is provided on the mounting plate (501), and the guide groove (502) is symmetrically distributed about the center of the mounting plate (501).

4. A modular mounted cleaning drone according to claim 3, characterized in that: A gear (503) is also fixed on the rotating shaft connecting the mounting plate (501) and the fixing frame (4). The gear (503) is symmetrically distributed about the center line of the mounting plate (501). The gear (503) and the convex rack (504) are meshed. The convex rack (504) and the gear (503) are distributed in a one-to-one correspondence. A water tank (6) and a locking mechanism (7) are installed on the mounting plate (501).

5. A modular mounted cleaning drone according to claim 4, characterized in that: The toothed rack (504) is fixed to one end of the slide rod (505), and the other end of the slide rod (505) is fixed to the horizontal plate (506). The slide rod (505) is symmetrically distributed about the center line of the horizontal plate (506). The slide rod (505) is slidably connected to the fixing frame (4). The horizontal plate (506) is fixed to one end of the first spring (507), and the other end of the first spring (507) is fixed to the fixing frame (4). The first spring (507) is symmetrically distributed about the center line of the horizontal plate (506). A cleaning mechanism (8) is fixed on the horizontal plate (506).

6. A modular mounted cleaning drone according to claim 5, characterized in that: The water inlet of the water tank (6) is connected to the water inlet sealing cover (601) by a thread, and the water tank (6) is also equipped with a threaded socket (602). Furthermore, the water tank (6) is symmetrically fixed with toothed plates (604) on the side, and the toothed plates (604) slide in contact with the mounting plate (501).

7. A modular mounted cleaning drone according to claim 6, characterized in that: The water tank (6) has a sliding plate (603) fixed symmetrically on the lower end face, and the sliding plate (603) and the guide groove (502) are slidably connected.

8. A modular mounted cleaning drone according to claim 7, characterized in that: The locking mechanism (7) includes brackets (701) that are symmetrically fixed on the mounting plate (501) from left to right. The brackets (701) and the connecting rod (702) are slidably connected, and the connecting rod (702) and the mounting plate (501) are slidably connected. At the same time, one end of the connecting rod (702) is fixed to the locking block (703), and the locking block (703) and the locking plate (604) form a locking connection.

9. A modular mounted cleaning drone according to claim 8, characterized in that: The other end of the connecting rod (702) is fixed on the base plate (704), and the connecting rod (702) is symmetrically distributed about the center line of the base plate (704). The lower end face of the base plate (704) is lower than the lower end face of the round rod (3). A round plate (705) is also fixed on the connecting rod (702), and the round plate (705) is fixed to one end of the second spring (706), and the other end of the second spring (706) is fixed to the lower end face of the mounting plate (501).

10. A modular mounted cleaning drone according to claim 9, characterized in that: The cleaning mechanism (8) includes a water pump (801) fixed on a horizontal plate (506), and the water inlet of the water pump (801) is connected to a threaded socket (602) through a conduit and a connector, and the water outlet of the water pump (801) is connected to a water guide pipe (802) through a conduit. One end of the water guide pipe (802) is fixed on the horizontal plate (506), and the other end of the water guide pipe (802) is equipped with a detachable high-pressure nozzle (803).

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