Indoor glass curtain wall cleaning robot and transfer delivery device

Abstract

The application relates to the technical field of curtain wall cleaning robots, in particular to an indoor glass curtain wall cleaning robot and a transfer and delivery device, wherein the cleaning robot comprises a power supply and a control module, a rack, a suction module, a bidirectional moving module, a cleaning module and a sensing and detecting module; the suction module comprises a vacuum pump and an independent suction unit; the bidirectional moving module comprises a horizontal caterpillar group and a vertical caterpillar group; the cleaning module comprises a mounting rack, a driving mechanism, a cleaning disc brush and a cleaning cloth; and the sensing and detecting module is used for boundary identification and obstacle detection of the glass curtain wall. The application effectively improves the cleaning width and covers the edge and corner areas, avoids liquid dripping caused by the traditional wet type rolling brush mode, realizes the bidirectional movement of horizontal and vertical switching in a simple and convenient way, improves the adaptability to irregular surfaces and local protrusions and the obstacle surmounting stability, realizes the automatic transfer and delivery of the cleaning robot, reduces the manual carrying link and improves the overall efficiency.

Description

Technical Field

[0001] This application relates to the field of curtain wall cleaning robot technology, and in particular to an indoor glass curtain wall cleaning robot and a transfer and delivery device. Background Technology

[0002] Glass curtain walls, as a type of building envelope or decorative structure composed of a supporting structural system, can be single-layered or double-layered. This structure is not only widely used on building facades, but also frequently used as a wall in interior spaces, serving both supporting and decorative functions.

[0003] Currently, the cleaning of indoor glass curtain walls still mainly relies on manual wiping or simple auxiliary tools. However, when the glass curtain wall area is large, the structure is continuous, and the cleaning frequency is high, manual operation suffers from low efficiency, high labor intensity, and high operation organization costs. For indoor scenarios with high requirements for environmental comfort, such as airport terminals and commercial complexes, cleaning operations need to simultaneously meet requirements such as low noise, high safety, no obvious dripping, and no wetting or soiling of carpets and surrounding facilities; existing glass curtain wall wet cleaning equipment is prone to liquid splashing or residual liquid dripping. For example, a multi-functional glass curtain wall cleaning robot with publication number CN106264309A and a tracked suction cup type glass curtain wall cleaning robot and method with publication number CN117084601A, respectively, use a combination of roller brush and atomizing nozzle, which easily drips water stains during operation, making it difficult to meet the requirements of no obvious dripping and no wetting or soiling of carpets.

[0004] Indoor glass curtain walls are often accompanied by obstacles such as frames, sealant gaps, column edges, seats, and railings. The working height of the glass surface, the boundary shape, and the surrounding clearance conditions also vary. Existing wall-mounted robots with a single mode of movement are not adaptable enough in terms of turning, changing lanes, crossing gaps, and avoiding boundaries, making it difficult to balance stable adsorption, flexible movement, and efficient cleaning. A vertical reversing device for the tracked movement of a glass cleaning robot, disclosed in CN205801286U, uses a dual-rotation screw to drive the pressure belt unit to achieve vertical reversing and has reversing function. However, its transmission chain is long, its structural fault tolerance is low, and its adaptability to obstacles such as frames is limited.

[0005] Furthermore, when dealing with large-area curtain wall cleaning tasks, manually transporting equipment across areas not only diminishes the efficiency advantages of automated cleaning but also increases the difficulty of equipment docking and the risks to personnel. While some existing technologies propose deploying multiple sub-robots via a mother cabin base station (such as the glass curtain wall cleaning robot with publication number CN119405226A), these robots rely on linear telescopic connections with push rods, resulting in low tolerance for docking errors. This makes it difficult to meet the demands of continuous operation in large spaces in terms of equipment deployment, retrieval, and cross-area transfer. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention provides an indoor glass curtain wall cleaning robot and a transfer and delivery device. The technical solution adopted by the present invention is as follows: An indoor glass curtain wall cleaning robot includes: A power supply and control module, which provides power and controls the adsorption module, bidirectional movement module, cleaning module and transfer and dispensing device to work together. The rack provides mounting support; An adsorption module, comprising a vacuum pump and several independent adsorption units arranged asymmetrically, wherein each adsorption unit is connected to the vacuum pump to provide stable adsorption support. A bidirectional movement module, comprising a transverse track assembly and a vertical track assembly disposed below the frame; The cleaning module includes a mounting frame, a drive mechanism, a cleaning disc brush, and a cleaning cloth. The cleaning cloth is disposed on the outer surface of the cleaning disc brush. The cleaning disc brush is connected to the drive mechanism, which is used to drive the cleaning disc brush to rotate. The drive mechanism is disposed inside the mounting frame, and the mounting frame is fixedly disposed on both sides of the frame. The sensing and detection module is used for boundary identification and obstacle detection of the glass curtain wall.

[0007] Furthermore, the adsorption unit includes a negative pressure chamber top plate, a connecting shaft, a first mounting plate, a second mounting plate, and a suction cup. The upper end of the suction cup is fixedly connected to the lower end face of the first mounting plate, the upper end face of the first mounting plate is fixedly connected to the second mounting plate, and the second mounting plate is fixedly connected to the negative pressure chamber top plate through the connecting shaft. A negative pressure chamber is formed between the suction cup and the negative pressure chamber top plate, and the negative pressure chamber top plate is connected to a vacuum pump.

[0008] Furthermore, both the transverse track assembly and the vertical track assembly include a first drive motor, a drive wheel, a driven wheel, and a track. The track is tensioned between the drive wheel and the driven wheel. A third mounting plate is rotatably connected to one side of the drive wheel and the driven wheel. The first drive motor is fixedly mounted on the third mounting plate, and the output end of the first drive motor is fixedly connected to the drive wheel.

[0009] Furthermore, a lifting switching structure is provided on one side of both the transverse track assembly and the vertical track assembly. The lifting switching structure includes a fourth mounting plate, a second drive motor, a first screw, a drive seat, and a movable plate. One end face of the movable plate is fixedly connected to a third mounting plate, and the other end face of the movable plate is fixedly connected to the drive seat. The drive seat is connected to the first screw by thread engagement. The end of the first screw is fixedly connected to the output end of the second drive motor. The second drive motor is fixedly mounted on the fourth mounting plate. The fourth mounting plate is fixedly connected to the frame, and the movable plate is slidably connected to the fourth mounting plate.

[0010] Furthermore, the cleaning disc brush includes a first disc brush and a second disc brush, both of which are connected to a drive mechanism. The second disc brush is located on both sides of the first disc brush. The drive mechanism includes a third drive motor, a first drive shaft, a first drive wheel, a second drive wheel, and a second drive shaft. One end of the second drive shaft is fixedly connected to the second disc brush, and the other end is rotatably connected to a mounting bracket. The second drive shaft is keyed to the second drive wheel, which is connected to the first drive wheel via gear meshing. The first drive wheel is keyed to the first drive shaft. One end of the first drive shaft is fixedly connected to the first disc brush, and the other end is fixedly connected to the output end of the third drive motor. The third drive motor is fixedly connected to the mounting bracket.

[0011] Furthermore, the sensing and detection module includes a ranging sensor and an ultrasonic sensor. The ultrasonic sensor is disposed on the left and right sides of the frame and is used to detect obstacles on both sides of the frame. The ranging sensor is disposed on the front and rear sides of the frame and is used to detect the vertical position of the cleaning robot. The vertical position of the cleaning robot is the vertical height of the cleaning robot and the distance from the top obstacle.

[0012] Furthermore, a hook lock is provided on one side of the ultrasonic sensor, and the hook lock is fixedly connected to the frame; magnetic steel plates are provided on both sides of the ranging sensor, and the magnetic steel plates are fixedly connected to the frame, with guide limit pins fixedly provided on the outer end face of the magnetic steel plates.

[0013] A transfer and delivery device for an indoor glass curtain wall cleaning robot includes: Mobile chassis; An XZ-direction moving robot arm is connected to a mobile chassis. A support and limiting carrier is connected to a robotic arm that moves in the XZ direction and is used to support the cleaning robot.

[0014] Furthermore, the XZ-direction moving robot includes an X-direction moving component and a Z-direction moving component; the X-direction moving component includes a fourth drive motor, a first mounting base, a second screw, and an X-direction moving plate. A first moving block is fixedly disposed on the lower end face of the X-direction moving plate. The first moving block is connected to the second screw by a threaded engagement. One end of the second screw is rotatably connected to the first mounting base. The first mounting base is fixedly connected to the moving chassis. The other end of the second screw is fixedly connected to the output end of the fourth drive motor. The Z-direction moving component includes a fifth drive motor, a second mounting base, a third screw, a support plate, and a Z-direction moving plate. A second moving block is fixedly disposed on the side end face of the Z-direction moving plate. The second moving block is connected to the third screw by a threaded engagement. One end of the third screw is rotatably connected to the second mounting base. The second mounting base is fixedly disposed on the upper end of the support plate. The support plate is fixedly disposed on the upper end face of the X-direction moving plate. The other end of the third screw is connected to the fifth drive motor.

[0015] Furthermore, the support and limiting carrier is fixedly connected to the Z-direction moving plate. The support and limiting carrier is arranged in an L-shape. The horizontal section of the support and limiting carrier has a positioning pin hole corresponding to the guide limiting pin, and the upper end face of the vertical section of the support and limiting carrier has a locking groove corresponding to the hook lock.

[0016] The beneficial effects of this invention are: By setting up a cleaning module consisting of a mounting bracket, a drive mechanism, cleaning disc brushes, and a cleaning cloth, the cleaning disc brushes form a disc brush array, which effectively increases the cleaning width and coverage of edges and corners compared to roller brush cleaning. The cleaning cloth, a flexible contact medium, removes dust, fingerprints, and water stains, avoiding liquid dripping caused by traditional wet roller brush methods, thus meeting the strict requirements of indoor environments to avoid wetting carpets and surrounding facilities.

[0017] By setting up a bidirectional movement module and a lifting switching mechanism that alternately works with horizontal and vertical track groups to adhere to the wall, the cleaning robot can achieve bidirectional movement that switches between horizontal and vertical without rotating the entire robot. It can stably walk and change lanes in confined spaces with obstacles by alternating to adhere to the wall, which significantly improves its adaptability to complex wall conditions.

[0018] By setting up several independent adsorption units in an asymmetrical layout, each adsorption unit forms a relatively independent negative pressure cavity with the glass surface, which enhances the overall adsorption reliability and can maintain effective adsorption when passing through the sealant gap, boundary transition area or local obstacles, thus improving the adaptability to irregular surfaces and local protrusions and the stability of obstacle crossing.

[0019] By setting up a transfer and delivery device, the cleaning robot can automatically transfer and deliver items, significantly reducing manual handling. Furthermore, the transfer and delivery device is easy to operate and convenient to connect, thereby improving the overall efficiency of continuous operation of multiple glass sections. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural schematic diagram of the present invention.

[0021] Figure 2 This is a three-dimensional structural diagram of the cleaning robot of the present invention.

[0022] Figure 3 This is a schematic diagram of the bidirectional moving module and adsorption module of the present invention.

[0023] Figure 4 This is a cross-sectional view of the cleaning module of the present invention.

[0024] Figure 5 This is a schematic diagram of the drive mechanism in the cleaning module of the present invention.

[0025] Figure 6 This is a three-dimensional structural diagram of the cleaning module of the present invention.

[0026] Figure 7 This is a cross-sectional view of the adsorption module of the present invention.

[0027] Figure 8 This is a schematic diagram of the bidirectional moving module and lifting switching structure of the present invention.

[0028] Figure 9 This is a schematic diagram of a part of the cleaning robot of the present invention.

[0029] Figure 10 This is a three-dimensional structural diagram of the transfer and delivery device of the present invention.

[0030] Figure 11 This is a schematic diagram of the power supply and control module of the present invention.

[0031] Figure 12 This is the application roadmap of the present invention.

[0032] In the picture: 1. Power supply and control module; 2. Frame; 3. Adsorption module; 31. Vacuum pump; 32. Adsorption unit; 321. Negative pressure chamber top plate; 322. Connecting shaft; 323. First mounting plate; 324. Second mounting plate; 325. Suction cup; 4. Bidirectional movement module; 41. Lateral track assembly; 42. Vertical track assembly; 43. First drive motor; 44. Drive wheel; 45. Driven wheel; 46. Track; 5. Cleaning module; 51. Mounting frame; 52. Drive mechanism; 521. Third drive motor; 522. First transmission shaft; 523. First transmission wheel; 524. Second transmission wheel; 525. Second transmission shaft; 53. Cleaning disc brush; 531. First disc brush; 532. Second disc brush; 54. Cleaning cloth; 6. Sensing and detection module; 61. Distance sensor; 62. Ultrasonic sensor; 7. 8. Third mounting plate; 8. Lifting and switching structure; 81. Fourth mounting plate; 82. Second drive motor; 83. First screw; 84. Drive seat; 85. Moving plate; 9. Hook lock; 10. Magnetic steel plate; 11. Guide limit pin; 12. Moving chassis; 13. XZ direction moving robot; 131. X direction moving assembly; 1311. Fourth drive motor; 1312. First mounting seat; 1313. Second screw; 1314. X direction moving plate; 1315. First moving block; 132. Z direction moving assembly; 1321. Fifth drive motor; 1322. Second mounting seat; 1323. Third screw; 1324. Support plate; 1325. Z direction moving plate; 1326. Second moving block; 14. Support and limit carrier; 15. Positioning pin hole; 16. Locking groove. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will now be described in further detail with reference to the accompanying drawings and the following embodiments, so that the public can better understand the implementation method of this invention. The specific implementation scheme of this invention is as follows: Example 1:

[0034] An indoor glass curtain wall cleaning robot includes a power supply and control module 1, a frame 2, an adsorption module 3, a bidirectional movement module 4, a cleaning module 5, and a sensing and detection module 6. The power supply and control module 1 provides power and controls the adsorption module 3, the bidirectional movement module 4, the cleaning module 5, and the transfer and delivery device to work together. The frame 2 provides mounting support. The adsorption module 3 includes a vacuum pump 31 and several independent adsorption units 32 arranged asymmetrically. Each adsorption unit 32 is connected to the vacuum pump 31 to provide stable adsorption support. The bidirectional movement module 4 includes a horizontal track group 41 and a vertical track group 42 disposed below the frame 2. The cleaning module 5 includes a mounting frame 51, a drive mechanism 52, a cleaning disc brush 53, and a cleaning cloth 54. The cleaning cloth 54 is disposed on the outer surface of the cleaning disc brush 53. The cleaning disc brush 53 is connected to the drive mechanism 52, which drives the cleaning disc brush 53 to rotate. The drive mechanism 52 is disposed within the mounting frame 51, which is fixedly disposed on both sides of the frame 2. The sensing and detection module 6 is used for boundary recognition and obstacle detection of the glass curtain wall. This invention effectively increases the cleaning width and coverage of edge and corner areas, avoiding liquid dripping caused by traditional wet roller brush methods; it can achieve bidirectional movement switching between horizontal and vertical without rotating the entire cleaning robot; it improves the adaptability to irregular surfaces and local protrusions and the stability of obstacle crossing; it realizes automatic transfer and delivery of the cleaning robot, significantly reducing manual handling and improving the overall efficiency of continuous operation of multiple glass sections.

[0035] It should be noted that the adsorption unit 32 includes a negative pressure chamber top plate 321, a connecting shaft 322, a first mounting plate 323, a second mounting plate 324, and a suction cup 325. The upper end of the suction cup 325 is fixedly connected to the lower end face of the first mounting plate 323, and the upper end face of the first mounting plate 323 is fixedly connected to the second mounting plate 324. The second mounting plate 324 is fixedly connected to the negative pressure chamber top plate 321 via the connecting shaft 322. A negative pressure chamber is formed between the suction cup 325 and the negative pressure chamber top plate 321. The negative pressure chamber top plate 321 is provided with an air port and is connected to the vacuum pump 31 through a pipeline. Each adsorption unit 32 forms a relatively independent negative pressure chamber with the glass surface, which enhances the overall adsorption reliability and can maintain effective adsorption when passing through adhesive strip seams, boundary transition areas, or local obstacles, improving the adaptability to irregular surfaces and local protrusions and obstacle-crossing stability.

[0036] Preferably, the adsorption module 3 is provided with 6 independent adsorption units 32. Two independent adsorption units 32 can meet the adsorption force required when the cleaning robot is stationary, and three or more independent adsorption units 32 can meet the stable adsorption force required when the cleaning robot is cleaning.

[0037] It should be noted that both the horizontal track assembly 41 and the vertical track assembly 42 include a first drive motor 43, a drive wheel 44, a driven wheel 45, and a track 46. The track 46 is tensioned between the drive wheel 44 and the driven wheel 45. A third mounting plate 7 is rotatably connected to one side of the drive wheel 44 and the driven wheel 45. The first drive motor 43 is fixedly mounted on the third mounting plate 7, and the output end of the first drive motor 43 is fixedly connected to the drive wheel 44. The horizontal track assembly 41 is used for the cleaning robot to move left and right on the glass curtain wall, and the vertical track assembly 42 is used for the cleaning robot to move up and down on the glass curtain wall. During the vertical (up and down) movement of the cleaning robot, the tracks 46 of the vertical track assembly 42 are in contact with the glass and move under the drive of the corresponding first drive motor 43, while the entire horizontal track assembly 41 is in a raised state (not in contact with the glass). During the repositioning process, the tracks 46 of the horizontal track assembly 41 are in contact with the glass and move under the drive of the corresponding first motor, while the entire vertical track assembly 42 is in a raised state. Through this alternating contact method, the cleaning robot can achieve bidirectional movement switching between horizontal and vertical directions without rotating the entire robot. It can stably walk and change lanes in confined spaces with obstacles by alternating contact with the wall, significantly improving its adaptability to passage under complex wall conditions.

[0038] Furthermore, a lifting and switching structure 8 is provided on one side of both the transverse track assembly 41 and the vertical track assembly 42. The lifting and switching structure 8 includes a fourth mounting plate 81, a second drive motor 82, a first screw 83, a drive seat 84, and a moving plate 85. One end face of the moving plate 85 is fixedly connected to the third mounting plate 7, and the other end face of the moving plate 85 is fixedly connected to the drive seat 84. The drive seat 84 is threadedly connected to the first screw 83. The end of the first screw 83 is fixedly connected to the output end of the second drive motor 82. The second drive motor 82 is fixedly mounted on the fourth mounting plate 81, which is fixedly connected to the frame 2. The moving plate 85 is slidably connected to the fourth mounting plate 81. This structure is mainly used to control the transverse track assembly 41 and the vertical track assembly 42 to either contact or lift the glass.

[0039] Specifically, the second drive motor 82 starts and drives the first screw 83 to rotate. The rotation of the first screw 83 causes the drive seat 84 to move along the axial direction of the first screw 83. The movement of the drive seat 84 will drive the moving plate 85 to move along the fourth mounting plate 81 towards or away from the glass. The movement of the moving plate 85 will drive the transverse track assembly 41 or the vertical track assembly 42 to move towards or away from the glass, so that the transverse track assembly 41 or the vertical track assembly 42 is in contact with the glass or in a raised state.

[0040] It should be noted that the cleaning disc brush 53 includes a first disc brush 531 and a second disc brush 532. Both the second disc brush 532 and the first disc brush 531 are connected to the drive mechanism 52. The second disc brush 532 is located on both sides of the first disc brush 531. The drive mechanism 52 includes a third drive motor 521, a first drive shaft 522, a first drive wheel 523, a second drive wheel 524, and a second drive shaft 525. One end of the second drive shaft 525 is fixedly connected to the second disc brush 532, and the other end of the second drive shaft 525 is rotatably connected to the mounting bracket 51. The second drive shaft 525 is keyed to the second drive wheel 524. The second drive wheel 524 is connected to the first drive wheel 523 by gear meshing. The first drive wheel 523 is keyed to the first drive shaft 522. One end of the first drive shaft 522 is fixedly connected to the first disc brush 531, and the other end of the first drive shaft 522 is fixedly connected to the output end of the third drive motor 521. The third drive motor 521 is fixedly connected to the mounting bracket 51. The structure is designed to drive several cleaning brushes 53 to rotate relative to the glass surface to perform cleaning operations on the glass curtain wall.

[0041] Specifically, the third drive motor 521 starts, driving the first drive shaft 522 to rotate. The first drive shaft 522 drives the first drive wheel 523 to rotate. The rotation of the first drive wheel 523 drives the second drive wheels 524 on both sides. The rotation of the second drive wheels 524 drives the second drive shaft 525 to rotate. The rotation of the second drive shaft 525 drives the second disc brush 532 to rotate. The rotation of the first drive shaft 522 drives the first disc brush 531 to rotate. The cleaning cloth 54, which plays a wiping role, also rotates with the first disc brush 531 and the second disc brush 532, thereby wiping the stains on the glass.

[0042] Preferably, both the first brush 531 and the second brush 532 use flexible sponge as a base. The flexible sponge base is elastic and compressible, which allows the first brush 531 and the second brush 532 to fit closely to the glass surface during operation. The flexible sponge base also serves as a buffer medium, which can effectively disperse contact stress and avoid scratches or wear on the glass curtain wall surface or decorative frame caused by excessive local pressure during wiping operations.

[0043] In another embodiment, a low-volume atomization auxiliary module is provided within the mounting bracket 51 of the cleaning module 5. This module sprays a measured amount of liquid onto the glass surface in an atomized form, enhancing the removal of stubborn stains while ensuring no residual liquid drips. The low-volume atomization auxiliary module includes at least one ultrasonic atomizing plate and spray holes (not marked in the figures) on the side end face of the mounting bracket 51. The ultrasonic atomizing plate converts the liquid cleaning liquid into micron-sized droplets through high-frequency oscillation, guiding the droplets to be sprayed onto the glass surface through the spray holes. To meet the requirement of no dripping, the low-volume atomization auxiliary module is configured with an atomization rate of 0.2 ml / min to 1.5 ml / min for each spray hole. Within this rate range, the droplets sprayed onto the glass surface by the spray holes can be instantly absorbed by the rotating wiping action of the cleaning cloth 54, thereby effectively dissolving and removing stubborn dirt such as fingerprints and water stains while preventing excessive liquid accumulation and dripping, ensuring the glass and surrounding environment remain dry and clean after cleaning.

[0044] It should be noted that the sensing and detection module 6 includes a ranging sensor 61 and an ultrasonic sensor 62. The ultrasonic sensor 62 is installed on the left and right sides of the frame 2 and is used to detect obstacles on both sides of the frame 2, thereby realizing boundary recognition, obstacle avoidance and automatic reordering. The ranging sensor 61 is installed on the front and rear sides of the frame 2 and is used to detect the vertical height of the cleaning robot and the distance from the top obstacle, so that the power supply and control module 1 can correct the posture of the cleaning robot and keep the cleaning robot in a preset direction during vertical cleaning.

[0045] Furthermore, a hook lock 9 is provided on one side of the ultrasonic sensor 62, and the hook lock 9 is fixedly connected to the frame 2; the hook lock 9 is connected to the locking groove 16 to achieve the limiting and anti-tipping fixation of the cleaning robot. Magnetic steel plates 10 are provided on both sides of the ranging sensor 61, and the magnetic steel plates 10 are fixedly connected to the frame 2. Guide limiting pins 11 are fixedly provided on the outer end face of the magnetic steel plates 10. This structure is mainly used to connect the cleaning robot with the support limiting carrier 14 of the transfer and delivery device. The magnetic steel plates 10 are made of ferromagnetic material.

[0046] It should be noted that the power supply and control module 1 is equipped with a BMS management unit for overcharging, over-discharging, short circuit, and abnormal battery protection. The control module is sealed inside a control box, which also integrates a vacuum pump 31. The inner wall of the control box is made of sound-insulating material. The control module has several preset motion and cleaning programs and can automatically plan the cleaning path based on preset parameters and historical path records.

[0047] A specific application example is a large-flat glass scene: The cleaning robot first moves to the bottom of the glass and performs cleaning operations vertically along the glass. After completing the cleaning operation of a single row, it uses the lifting and switching structure 8 to lift the vertical track group 42 and bring the horizontal track group 41 into contact with the glass to achieve the row switching operation. The whole robot covers the entire glass area in an arc shape. After completing the cleaning operation along the arc shape, the cleaning robot returns to the preset recycling point to wait. Example 2:

[0048] A transfer and delivery device for an indoor glass curtain wall cleaning robot includes a mobile chassis 12, an XZ-direction moving manipulator 13, and a support and limiting carrier 14. The XZ-direction moving manipulator 13 is connected to the mobile chassis 12; the support and limiting carrier 14 is connected to the XZ-direction moving manipulator 13 and is used to carry the cleaning robot. By setting up the transfer and delivery device, the automatic transfer and delivery of the cleaning robot can be realized, significantly reducing the manual handling process. Moreover, the transfer and delivery device is simple to operate and convenient to dock, thereby improving the overall efficiency of continuous operation of multiple glass sections.

[0049] It should be noted that the XZ direction moving robot 13 includes an X direction moving component 131 and a Z direction moving component 132; the X direction moving component 131 is used to adjust the front-to-back distance between the cleaning robot and the glass, driving the suction cup 325 to gradually adhere to the glass; the Z direction moving component 132 is used to adjust the relative height between the support limiting carrier 14 and the cleaning robot, so that the cleaning robot and the support limiting carrier 14 can achieve guided docking.

[0050] The X-direction moving assembly 131 includes a fourth drive motor 1311, a first mounting base 1312, a second screw 1313, and an X-direction moving plate 1314. A first moving block 1315 is fixedly disposed on the lower end face of the X-direction moving plate 1314. The first moving block 1315 is connected to the second screw 1313 by threaded engagement. One end of the second screw 1313 is rotatably connected to the first mounting base 1312. The first mounting base 1312 is fixedly connected to the moving chassis 12. The other end of the second screw 1313 is fixedly connected to the output end of the fourth drive motor 1311.

[0051] Specifically, the fourth drive motor 1311 starts, driving the second screw 1313 to rotate. The rotation of the second screw 1313 will drive the first moving block 1315 to move linearly along the X direction. The movement of the first moving block 1315 will drive the X-direction moving plate 1314 to move linearly along the X direction, thereby adjusting the front-to-back distance between the cleaning robot and the glass.

[0052] The Z-direction moving assembly 132 includes a fifth drive motor 1321, a second mounting base 1322, a third screw 1323, a support plate 1324, and a Z-direction moving plate 1325. One end face of the Z-direction moving plate 1325 is fixedly connected to the support limiting carrier 14, and a second moving block 1326 is fixedly disposed on the other end face of the Z-direction moving plate 1325. The second moving block 1326 is connected to the third screw 1323 by threaded engagement. One end of the third screw 1323 is rotatably connected to the second mounting base 1322, which is fixedly disposed on the upper end of the support plate 1324. The support plate 1324 is fixedly disposed on the upper end face of the X-direction moving plate 1314, and the other end of the third screw 1323 is connected to the fifth drive motor 1321. The fifth drive motor 1321 drives the third screw 1323 to rotate through a reducer.

[0053] Specifically, the fifth drive motor 1321 starts, driving the third screw 1323 to rotate. The rotation of the third screw 1323 will drive the second moving block 1326 to move vertically up and down along the support plate 1324. The movement of the second moving block 1326 will drive the Z-direction moving plate 1325 to move vertically up and down along the support plate 1324. The movement of the Z-direction moving plate 1325 will drive the support limiting carrier 14 to move vertically up and down along the support plate 1324, thereby adjusting the relative height between the support limiting carrier 14 and the cleaning robot.

[0054] It should be noted that the supporting and limiting carrier 14 is fixedly connected to the Z-direction moving plate 1325. The supporting and limiting carrier 14 has an L-shaped structure. The horizontal section of the supporting and limiting carrier 14 has a positioning pin hole 15 corresponding to the guide limiting pin 11, and the upper end face of the vertical section of the supporting and limiting carrier 14 has a locking groove 16 corresponding to the hook lock 9. This structure is mainly used for the cooperation, positioning, and docking of the cleaning robot and the supporting and limiting carrier 14.

[0055] Specifically, during the deployment phase, the support and limiting carrier 14 supports and restricts the posture of the cleaning robot. When the mobile chassis moves to the preset position, the X-direction moving component 131 drives the cleaning robot to approach the glass surface until the adsorption module 3 of the cleaning robot is stably adsorbed. Then, the Z-direction moving component 132 removes the cleaning robot from the support and limiting carrier 14. The fifth drive motor 1321 drives the third screw 1323 to rotate. The third screw 1323 drives the second moving block 1326 to move downward along the support plate 1324, which in turn drives the Z-direction moving plate 1325 and the support and limiting carrier 14 to move downward along the support plate 1324. This causes the guide limiting pin 11 of the cleaning robot to disengage from the positioning pin hole 15 on the support and limiting carrier 14. At the same time, the hook lock 9 also disengages from the locking groove 16. During the recycling phase, after the transfer and delivery device moves to the preset position, the vertical section of the support and limiting carrier 14 is brought closer to the cleaning robot by the X-direction moving component 131, and the lateral section of the support and limiting carrier 14 is brought closer to the cleaning robot by the Z-direction moving component 132, until the guide limiting pin 11 is fully inserted into the positioning pin hole 15. At the same time, the hook lock 9 is also connected with the locking groove 16 to ensure that the cleaning robot avoids tipping or collision when leaving the glass surface. Example 3:

[0056] Both the cleaning robot and the transfer and delivery device are equipped with self-positioning modules. The self-positioning module of the cleaning robot is used to determine the position and attitude of the cleaning robot in the local coordinates of the glass surface. It uses the encoder of the drive wheel 44, combined with the distance sensor 61, ultrasonic sensor 62, visual markers, glass frame features, adhesive strip seam features, column boundary features, or the status information of the adsorption unit 32, to correct the relative position and attitude angle of the cleaning robot on the glass surface. The self-positioning module of the transfer and delivery device is used to determine the global pose of the mobile chassis 12 in the indoor environment and the initial pose relative to the target glass for docking. The self-positioning module of the transfer and delivery device uses two-dimensional LiDAR SLAM, visual SLAM, QR code or AprilTag-based manual marker positioning, UWB positioning, magnetic strip or magnetic nail navigation for positioning. The power supply and control module 1 generates the navigation path and parking status of the mobile chassis 12 based on the global map information, the marker information of the target glass, and the information of the local features of the docking area.

[0057] The power supply and control module 1 performs layered fusion processing on the global positioning information of the mobile chassis 12, the self-positioning information of the cleaning robot, and the docking area information. The global positioning information of the mobile chassis 12 is used to complete cross-workstation navigation, the self-positioning information of the cleaning robot is used to complete the control of the wall-hugging cleaning trajectory, and the docking area information is used for positioning during the delivery and retrieval process.

[0058] In this embodiment, the transfer and delivery device uses two-dimensional lidar SLAM for positioning. The power supply and control module 1 pre-constructs an environmental map of the indoor passage, columns, walls, and curtain wall workstations. During operation, the laser point cloud is matched with the map to output the planar position and heading angle of the mobile chassis 12 in real time. After approaching the target workstation, the parking position and orientation are further refined by combining fixed markers or local reflective features in the docking area. The cleaning robot uses the encoder of the drive wheel 44 and boundary feature fusion positioning. Short-term mileage is calculated based on the encoder of the drive wheel 44, and the robot's posture is corrected based on the ultrasonic sensor 62, vertical ranging sensor 61, glass frame position, adhesive strip seam position, column position, line laser contour or visual marker features, thereby suppressing the cumulative error during long-distance cleaning.

[0059] In another embodiment, the transfer and delivery device uses artificial markers for positioning. This is achieved by placing QR codes, April Tags, reflectors, UWB base stations, magnetic strips, or magnetic nails near the glass. The power supply and control module 1 acquires observation information via cameras, UWB tag readers, or magnetic sensors to periodically correct the current position of the mobile chassis 12. This solution is suitable for scenarios involving fixed glass curtain walls, frequent repetitive operations, and high consistency in connections. The cleaning robot employs landmark-based local precision positioning. Visual markers or reflective points are placed on the glass frame, bottom baseline, recycling point, or key locations. When the cleaning robot moves to the corresponding area, the power supply and control module 1 triggers local repositioning to recalibrate the cleaning robot's longitudinal position, lateral repositioning position, and attitude angle within the local glass coordinate system.

[0060] It should be noted that the power supply and control module 1 selects different fusion algorithms according to the complexity of the sensor configuration. When the number of sensors is small, extended Kalman filtering or complementary filtering is used for state estimation. When the environmental features require higher positioning accuracy, particle filtering, sliding window optimization, graph optimization or factor graph optimization methods are used to unify the global positioning of the mobile chassis 12, the docking area positioning, the cleaning robot's own positioning and local repositioning results into the same control framework.

[0061] The working principle and process of this invention are as follows: After the cleaning task is assigned, the transfer and delivery device moves the cleaning robot to the glass area where the work is to be done; The cleaning robot is attached to the glass surface by the X-direction moving component 131. The power supply and control module 1 controls the adsorption module 3 to start. The vacuum pump 31 and adsorption unit 32 make the cleaning robot adhere tightly to the glass surface. Then, the Z-direction moving component 132 makes the support limiting carrier 14 detach from the cleaning robot. The cleaning robot's posture is adjusted by the ranging sensor 61 of the sensing and detection module 6; The cleaning robot moves and changes positions on the glass surface via the bidirectional movement module 4, and performs cleaning operations on the glass surface via the cleaning module 5. After the cleaning operation is completed, the cleaning robot returns to the preset recycling point to wait for the transfer and delivery device. After receiving the instruction to recycle the cleaning robot, the transfer and delivery device will move to the preset location of the cleaning robot and recycle the cleaning robot by moving the robotic arm 13 in the XZ direction.

[0062] In the description of this invention, although the invention has been described with respect to a limited number of embodiments, those skilled in the art should understand from the foregoing description that other embodiments may be conceived within the scope of the invention thus described.

Claims

1. An indoor glass curtain wall cleaning robot, characterized in that, include: Power supply and control module (1); A frame (2) that provides mounting support; The adsorption module (3) includes a vacuum pump (31) and several independent adsorption units (32) arranged in an asymmetrical manner. The several adsorption units (32) are all connected to the vacuum pump (31) to provide stable adsorption support. The bidirectional movement module (4) includes a horizontal track group (41) and a vertical track group (42) disposed below the frame (2); The cleaning module (5) includes a mounting frame (51), a drive mechanism (52), a cleaning disc brush (53), and a cleaning cloth (54). The cleaning cloth (54) is disposed on the outer surface of the cleaning disc brush (53). The cleaning disc brush (53) is connected to the drive mechanism (52). The drive mechanism (52) is used to drive the cleaning disc brush (53) to rotate. The drive mechanism (52) is disposed inside the mounting frame (51). The mounting frame (51) is fixedly disposed on both sides of the frame (2). The sensing and detection module (6) is used for boundary identification and obstacle detection of the glass curtain wall.

2. The indoor glass curtain wall cleaning robot according to claim 1, characterized in that: The adsorption unit (32) includes a negative pressure chamber top plate (321), a connecting shaft (322), a first mounting plate (323), a second mounting plate (324), and a suction cup (325). The upper end of the suction cup (325) is fixedly connected to the lower end face of the first mounting plate (323). The upper end face of the first mounting plate (323) is fixedly connected to the second mounting plate (324). The second mounting plate (324) is fixedly connected to the negative pressure chamber top plate (321) through the connecting shaft (322). A negative pressure chamber is formed between the suction cup (325) and the negative pressure chamber top plate (321). The negative pressure chamber top plate (321) is connected to the vacuum pump (31).

3. The indoor glass curtain wall cleaning robot according to claim 1, characterized in that: Both the transverse track assembly (41) and the vertical track assembly (42) include a first drive motor (43), a drive wheel (44), a driven wheel (45), and a track (46). The track (46) is tensioned between the drive wheel (44) and the driven wheel (45). A third mounting plate (7) is rotatably connected to one side of the drive wheel (44) and the driven wheel (45). The first drive motor (43) is fixedly mounted on the third mounting plate (7). The output end of the first drive motor (43) is fixedly connected to the drive wheel (44).

4. The indoor glass curtain wall cleaning robot according to claim 3, characterized in that: The horizontal track assembly (41) and the vertical track assembly (42) are each provided with a lifting switching structure (8) on one side. The lifting switching structure (8) includes a fourth mounting plate (81), a second drive motor (82), a first screw (83), a drive seat (84), and a moving plate (85). One end face of the moving plate (85) is fixedly connected to the third mounting plate (7), and the other end face of the moving plate (85) is fixedly connected to the drive seat (84). The drive seat (84) is connected to the first screw (83) by thread engagement. The end of the first screw (83) is fixedly connected to the output end of the second drive motor (82). The second drive motor (82) is fixedly mounted on the fourth mounting plate (81). The fourth mounting plate (81) is fixedly connected to the frame (2), and the moving plate (85) is slidably connected to the fourth mounting plate (81).

5. The indoor glass curtain wall cleaning robot according to claim 1, characterized in that: The cleaning disc brush (53) includes a first disc brush (531) and a second disc brush (532). Both the second disc brush (532) and the first disc brush (531) are connected to the drive mechanism (52). The second disc brush (532) is located on both sides of the first disc brush (531). The drive mechanism (52) includes a third drive motor (521), a first drive shaft (522), a first drive wheel (523), a second drive wheel (524), and a second drive shaft (525). One end of the second drive shaft (525) is fixedly connected to the second disc brush (532), and the other end of the second drive shaft (525) is rotatably connected to the mounting bracket (51). The second drive shaft (525) is keyed to the second drive wheel (524). The second drive wheel (524) is connected to the first drive wheel (523) by gear meshing. The first drive wheel (523) is keyed to the first drive shaft (522). One end of the first drive shaft (522) is fixedly connected to the first disc brush (531), and the other end of the first drive shaft (522) is fixedly connected to the output end of the third drive motor (521). The third drive motor (521) is fixedly connected to the mounting bracket (51).

6. The indoor glass curtain wall cleaning robot according to claim 1, characterized in that: The sensing and detection module (6) includes a ranging sensor (61) and an ultrasonic sensor (62). The ultrasonic sensor (62) is located on the left and right sides of the frame (2) and is used to detect obstacles on both sides of the frame (2). The ranging sensor (61) is located on the front and rear sides of the frame (2) and is used to detect the vertical position of the cleaning robot.

7. The indoor glass curtain wall cleaning robot according to claim 1, characterized in that: The ultrasonic sensor (62) is provided with a hook lock (9) on one side, and the hook lock (9) is fixedly connected to the frame (2); the distance sensor (61) is provided with magnetic steel plates (10) on both sides, and the magnetic steel plates (10) are fixedly connected to the frame (2), and a guide limit pin (11) is fixedly provided on the outer end face of the magnetic steel plate (10).

8. A transfer and delivery device for an indoor glass curtain wall cleaning robot, characterized in that, include: Mobile chassis (12); XZ direction moving manipulator (13), the XZ direction moving manipulator (13) is connected to the moving chassis (12); A support and limiting carrier (14) is connected to an XZ-direction moving manipulator (13) and is used to carry the cleaning robot.

9. The transfer and delivery device for an indoor glass curtain wall cleaning robot according to claim 8, characterized in that: The XZ direction moving robot (13) includes an X direction moving component (131) and a Z direction moving component (132); The X-direction moving assembly (131) includes a fourth drive motor (1311), a first mounting base (1312), a second screw (1313), and an X-direction moving plate (1314). A first moving block (1315) is fixedly disposed on the lower end face of the X-direction moving plate (1314). The first moving block (1315) is connected to the second screw (1313) by a threaded engagement. One end of the second screw (1313) is rotatably connected to the first mounting base (1312). The first mounting base (1312) is fixedly connected to the moving chassis (12). The other end of the second screw (1313) is fixedly connected to the output end of the fourth drive motor (1311). The Z-direction moving assembly (132) includes a fifth drive motor (1321), a second mounting base (1322), a third screw (1323), a support plate (1324), and a Z-direction moving plate (1325). A second moving block (1326) is fixedly disposed on the side end face of the Z-direction moving plate (1325). The second moving block (1326) is connected to the third screw (1323) by threaded engagement. One end of the third screw (1323) is rotatably connected to the second mounting base (1322). The second mounting base (1322) is fixedly disposed on the upper end of the support plate (1324). The support plate (1324) is fixedly disposed on the upper end face of the X-direction moving plate (1314). The other end of the third screw (1323) is connected to the fifth drive motor (1321).

10. The transfer and delivery device for an indoor glass curtain wall cleaning robot according to claim 9, characterized in that: The support limiting carrier (14) is fixedly connected to the Z-direction moving plate (1325). The support limiting carrier (14) is arranged in an L-shape. The horizontal section of the support limiting carrier (14) is provided with a positioning pin hole (15) corresponding to the guide limiting pin (11). The upper end face of the vertical section of the support limiting carrier (14) is provided with a locking groove (16) corresponding to the hook lock (9).

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