High-rise curtain wall flying cleaning robot

Abstract

The utility model relates to the field of automation and robots, in particular to a high-rise curtain wall flying cleaning robot which comprises a flying power structure for providing driving power, does not need to additionally use a rope lifting appliance and can automatically recognize the condition of an object in front through an intelligent camera AI. The water tank and the control structures provide needed liquid and power energy for the whole machine to work, meanwhile, the power control structures arranged on the two sides of the tank body generate pressure on a contact face needing to be cleaned, and the cleaning efficiency of the machine can be improved. The fixed structure box bears the floating cleaning structure, the scraping plate and the laser radar sensor; by means of a three-layer cleaning structure and a multiple structure that a fourth layer of scraping plate removes residual liquid, it can be ensured that the cleanliness is high after single-time cleaning, and meanwhile a sensor can recognize corresponding obstacles and distances. The whole system can safely and efficiently complete cleaning work.

Description

Technical Field

[0001] The utility model relates to the field of automation and robots, and is a flying cleaning robot for curtain walls of high buildings. Background Art

[0002] At present, the current situation of glass curtain wall application in high-rise buildings is widespread and growing. First, with the acceleration of new infrastructure construction, building curtain walls, as an important part of urban buildings, continue to rise in the industry prosperity. This shows that the application of glass curtain walls in modern urban construction is becoming more and more common, and it has become the first choice for the exterior design of many buildings. Secondly, the application of glass curtain walls is also affected by cost and geographical factors. In areas with high housing prices, residential buildings are more willing to use curtain wall facades to enhance the value and sales speed of real estate because glass curtain walls can provide good lighting and insulation effects. This shows that glass curtain walls not only have their advantages in function, but also have attractive commercial value to real estate developers. In addition, according to statistics, the area of ​​high-altitude glass curtain walls in my country is about 2.5 billion square meters, and in the entire construction industry, glass curtain walls account for about 40%. This data reflects the popularity of glass curtain walls in high-rise buildings and their important position in modern architectural design. At the same time, with the advancement of technology and the renewal of design concepts, the application of glass curtain walls may continue to grow and become an important trend in future architectural design.

[0003] The cleaning of high-rise glass curtain walls does face some challenges and disadvantages. Due to safety and technical limitations, the cleaning of high-rise glass curtain walls can usually only be carried out 1 to 2 times a year, and the cleaning frequency is low. Whether hiring a professional cleaning company or using a cleaning robot, the cost is relatively high. Especially for high-rise buildings, professional equipment and personnel are required, which increases the overall cost of maintenance. For some types of glass curtain walls, such as inner-frame glass curtain walls, although they have the advantages of transparency and open vision, as the height of the floor increases, the difficulty of reinforcement increases exponentially, which limits the cleaning work. At the same time, high-altitude operations themselves have certain safety risks. Even if robots or other automated equipment are used, it is necessary to ensure the reliability of the equipment and the safety of the operators.

[0004] At present, there are many cleaning methods for high-rise glass curtain walls at home and abroad, including traditional manual cleaning, professional equipment and self-cleaning technology. The details are as follows: The traditional manual cleaning method uses the "Spider-Man" technology, that is, a worker carries a rope and cleaning tools to work at high altitude, starting from the top of the building and cleaning each layer of glass downward. Although this method is effective, there are certain safety risks; professional equipment cleaning uses a lifting platform or hanging basket to carry cleaners to work, so that efficient cleaning can be carried out under relatively safe conditions; the rooftop cable track system, by aiming the window inserter at the window for cleaning, this method is suitable for high and difficult to access building parts; the window cleaning robot can clean the exterior wall glass of high-rise buildings, which is a safe and efficient automated cleaning method.

[0005] The working principle of the existing high-rise curtain wall cleaning machines and window cleaning robots is mainly to generate negative pressure through the vacuum pump or fan at the bottom of the robot, and firmly adsorb it on the glass. Most robots also need to combine rope hanging and vacuum adsorption at the same time, usually through a single suction cup or double suction cup to achieve the adsorption function, among which the single suction cup robot uses two DC motors to drive the crawler to move, while the double suction cup robot uses two suction cups to alternately adsorb to move on the glass surface. However, when encountering obstacles such as bosses, grooves, rubber strips or seams, this suction cup may lose its adsorption ability, thereby increasing the risk of accidents. In addition, this type of robot has some common disadvantages: high requirements for the medium, resulting in only adsorption on very flat and smooth glass surfaces; facing obstacles on the window such as window frames, decorations, etc., it may not be able to effectively avoid them, affecting the cleaning effect; compared with other household cleaning robots, the price of window cleaning robots may be higher, and maintenance and replacement of accessories may also bring additional costs; for windows with unconventional shapes or tilts, window cleaning robots may not be able to fully cover the cleaning area, etc. Therefore, developing a robot that can adapt to various curtain walls, is easy to control, low-cost and efficient in cleaning will have broad application prospects and significant economic potential. Utility Model Content

[0006] According to the current status of high-rise curtain wall cleaning technology at home and abroad, the utility model creates a high-rise curtain wall flying cleaning robot, which is easy to use, simple to operate, and can clean the facade of the high-rise curtain wall efficiently and intelligently. Specifically, the flight power structure provides driving power, without the need for additional rope slings, and can automatically identify the situation of objects in front through the intelligent camera AI; the water tank and control structure provide the required liquid, the power energy for the whole machine to work, and the power control structure set on both sides of the box body generates pressure on the required cleaning contact surface, which can improve the cleaning efficiency of the machine; the fixed structure box carries the main mechanism of the cleaning machine: floating cleaning structure, wiper and laser radar sensor, through the three-layer cleaning structure and the fourth-layer wiper to remove the residual liquid of the multiple structure, can ensure a high degree of cleanliness after a single cleaning, and the sensor can identify the corresponding obstacles and distances; the landing gear provides bearing capacity.

[0007] The robot specifically comprises a flight power structure 1, a water tank and control structure 2, a fixed structure box 3, a wiper 4, a floating cleaning structure 5 and a landing gear 6;

[0008] The flight power structure 1 is an integrally formed structure as a connected main body, a smart camera 101 is arranged in front of the main body, brushless motors 1102 are arranged around it, the brushless motors 1102 are connected to propellers 1103, and a hatch 104 is arranged in the middle;

[0009] The water tank and control structure 2 includes a housing, a triple grille is provided inside the housing, and a battery pack 201, a control circuit board 202 and a water tank 203 are installed respectively. A water tank cover 204 is provided on the upper part of the water tank 203, and brushless motors II 205 are provided on both sides of the housing, and the brushless motors II 205 are connected to propellers II 206;

[0010] A fixed structure box 3, wherein a wiper 4 and a floating cleaning structure 5 are installed inside the fixed structure box 3, and a dewatering tank water pump 301 and a water tank water pump 302 are arranged on the back of the fixed structure box 3; laser radar sensors 304 are arranged on both sides of the fixed structure box 3 for detecting the distance to the working surface;

[0011] A wiper blade 4, which is arranged at the upper part of the fixed structure box 3;

[0012] The floating cleaning structure 5 is fixed on the floating back plate 8, and the floating back plate 8 is horizontally connected to the fixed structure box 3 in a floating manner; the floating cleaning structure 5 includes five layers of structures from bottom to top, wherein the first layer is a cleaning cylinder 501, the second layer is a water sprayer I502, the third layer is a cleaning cylinder 503, the fourth layer is a water sprayer II504, and the fifth layer is a combination of a water suction cylinder 505 and a water removal chamber 506. The five groups of structures are unified as a whole and installed on the floating back plate 8; wherein the cleaning cylinder and the cleaning cylinder water suction cylinder are connected to the transmission gear 13 through the roller gear 14 connected on their shafts, and the transmission gear 13 is connected to the motor gear 12, and the motor gear 12 is provided with driving force by the driving motor 11, and each driving motor 11 is fixed on the floating back plate 8;

[0013] The landing gear 6 is arranged at the bottom of the fixed structure box 3, the water tank and the control structure 2.

[0014] Furthermore, the dewatering tank water pump 301 connects the dewatering tank 506 and the sprinkler I502 through the water hose 303, and the water tank water pump 302 connects the water tank 203 and the sprinkler II504 through the water hose 303.

[0015] Furthermore, the wiper blade 4 is provided with three layers, and the wiper blade material is rubber.

[0016] Furthermore, the dewatering chamber 506 is provided with a convex inclined surface 17 and a filter hole 18. The convex inclined surface 17 squeezes the surface of the water absorption cylinder rotating through the surface, and flows into the dewatering chamber 506 through the filter hole 18; a baffle is provided at the filter hole 18.

[0017] Furthermore, the floating back plate 8 is horizontally floatingly connected to the fixed structure box 3; specifically, springs 9 are respectively provided at the four corners on the back side of the floating back plate 8, and six groups of positioning square holes 801 and six groups of floating limiting holes 802 are provided on the floating back plate 8; four spring grooves 306 and six connecting guide columns 305 are correspondingly provided on the fixed structure box 3; the spring 9 is located in the spring groove 306 and restricted by the spring groove 306, and the connecting guide column 305 inside the fixed structure box 3 is installed and restricted in the floating limiting hole 802 by the positioning square hole 801, and slides back and forth relative to the contact surface to realize floating connection.

[0018] Furthermore, the floating limiting hole 802 is formed by two oppositely arranged vertical plates, and specifically, long holes are arranged at relative positions on each vertical plate, and the two long holes form a floating limiting hole for the guide rail column to slide.

[0019] Compared with the prior art, the utility model has the following characteristics:

[0020] The flying power mechanism can realize the safe operation of the cleaning machine without the need to use both rope suspension and vacuum adsorption at the same time. The dangerous situation of the cleaning machine falling rapidly when the vacuum adsorption fails suddenly will not occur, which can improve the safety of the cleaning operation and reduce the corresponding labor costs.

[0021] By using the side propeller to drive the back thrust generated by the airflow, the stability of the contact surface is maintained to achieve the adsorption function. At the same time, the upper propeller provides power for the up, down, left and right movement of the machine, which can adapt to contact surfaces of different materials and different cleaning environments.

[0022] Through the intelligent camera on the flying power structure and the laser radar sensor on the side of the fixed structure box, equipped with AI algorithms, it can automatically detect various obstacles such as the distance of window corners, bosses, grooves, rubber strips or seams on the contact surface, plan the window cleaning path, and return to the initial position after cleaning, which can realize unmanned automatic cleaning operations;

[0023] By adopting a floating cleaning structure, it can ensure that the cleaning parts always maintain a certain pressure with the contact surface, so that the cleaning mechanism can work effectively. At the same time, the floating structure can also adapt to some obstacles on the contact surface and windows of unconventional shapes or inclinations, and can reach special cleaning areas that traditional window cleaning robots may not be able to fully cover, greatly improving the operating efficiency and cleaning completion of the cleaning robot;

[0024] The three-layer scraper is made of rubber, which can completely scrape away the residual liquid after cleaning the structure, effectively improve the cleanliness, greatly reduce the number of repeated cleanings, and improve the work efficiency.

[0025] The design of the water removal tank can make the cleaning liquid on the water suction cylinder have a secondary utilization effect, saving cleaning liquid. At the same time, the floating cleaning structure and the fixed structure box are floatingly connected, and the wiper and the fixed structure box are bolted. The cleaning mechanism has a certain movement stroke, and the four cleaning steps of sweeping, washing, wiping and scraping are concentrated in one component. Maintenance and replacement of accessories are simple, disassembly and assembly are convenient, and costs are effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the utility model high-rise curtain wall flying cleaning robot;

[0027] Figure 2 This is an exploded view of the main structure of the utility model high-rise curtain wall flying cleaning robot;

[0028] Figure 3 This is a schematic diagram of the "four-in-one" cleaning function mechanism of the utility model;

[0029] Figure 4 This is a rear view of the fixing box of the cleaning mechanism of the utility model;

[0030] Figure 5 It is a schematic diagram of the interior of the cleaning mechanism of the utility model;

[0031] Figure 6 This is a schematic diagram of the interior of the cleaning mechanism fixing box of the utility model;

[0032] Figure 7 This is an exploded view of the floating cleaning structure of the utility model;

[0033] Figure 8 This is a rear view of the "cleaning wipe" roller structure of the utility model;

[0034] Fig. 9 This is a schematic diagram of the structure of the dewatering tank of the utility model;

[0035] Fig.10 It is a side view of the water tank and power control structure of the utility model;

[0036] In the figure:

[0037] 1. Flight power structure; 101. Smart camera; 102. Brushless motor I; 103. Propeller I; 104. Hatch cover; 2. Water tank and control structure; 201. Battery pack; 202. Control circuit board; 203. Water tank; 204. Water tank cover; 205. Brushless motor II, 206. Propeller II; 3. Fixed structure box; 301. Dewatering tank water pump; 302. Water tank water pump; 303. Water hose; 304. LiDAR sensor; 305. Connecting guide column; 306. Spring slot; 4. Wiper structure; 5. Floating cleaning structure; 501. Cleaning cylinder; 502. Sprinkler I; 503. Cleaning cylinder; 504. Sprinkler II; 505. Water suction cylinder; 506. Dewatering chamber; 6. Landing gear; 7. Bolts; 8. Floating back plate; 801. Positioning square hole; 802. Floating limiting hole; 9. Spring; 10. Long screw hole; 11. Driving motor; 12. Motor gear; 13. Transmission gear; 14. Drum gear; 15. Water inlet; 16. Water outlet; 17. Convex slope; 18. Filter hole. DETAILED DESCRIPTION

[0038] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0039] refer to Figure 1-3 The utility model of the high-rise curtain wall flying cleaning robot comprises a flying power structure 1, a water tank and a control structure 2, a fixed structure box 3, a wiper 4, a floating cleaning structure 5 and a landing gear 6, and all the components form an integral whole.

[0040] The flight power structure 1 is an integrated design, serving as a connected main structure. A smart camera 101 is arranged in front of the flight power structure 1, and brushless motors I102 are arranged around it. The brushless motor I102 is connected to a propeller I103, and a cabin cover 104 is arranged in the middle.

[0041] refer to Fig.10 The water tank and control structure 2 are provided with a triple grille inside, on which a battery pack 201, a control circuit board 202 and a water tank 203 are installed respectively. A water tank cover 204 is provided on the upper part of the water tank. Brushless motors II205 are respectively provided on both sides of the water tank and the control structure 2, and the brushless motors II205 are connected to propellers II206.

[0042] refer to Figure 4-6 , a fixed structure box 3, wherein a plurality of wipers 4 and a floating cleaning structure 5 are respectively installed inside the fixed structure box 3, a dewatering tank water pump 301 and a water tank water pump 302 are arranged on the back of the fixed structure box 3, the dewatering tank water pump 301 connects the dewatering tank 506 and the sprinkler I502 through a water delivery hose 303, the water tank water pump 302 connects the water tank 203 and the sprinkler II504 through a water delivery hose 303, and laser radar sensors 304 are respectively arranged on both sides of the fixed structure box 3.

[0043] The wiper blade 4 is a three-layer design, and the wiper blade 4 is made of rubber. The wiper blade 4 is connected to the inside of the fixed structure box 3 by bolts 7.

[0044] The floating cleaning structure 5 is provided with four groups of springs 9 on the floating back plate 8, and the springs 9 are limited to the spring grooves 306 inside the fixed structure box 3. The floating back plate 8 is provided with six groups of positioning square holes 801 and six groups of floating limiting holes 802, so that the connecting guide rail column 305 inside the fixed structure box 3 is installed and limited in the floating limiting hole position 802 after passing through the positioning square hole 801. The floating limiting hole position 802 is formed by two oppositely arranged vertical plates, and specifically, a long hole is provided at a relative position on each vertical plate, and the two long holes form a floating limiting hole position for the guide rail column to slide.

[0045] refer to Figure 7-8The floating cleaning structure 5 is mainly composed of five structures: the first layer is a cleaning cylinder 501, the second layer is a water sprayer I502, the third layer is a cleaning cylinder 503, the fourth layer is a water sprayer II504, and the fifth layer is a combination of a water suction cylinder 505 and a water removal chamber 506. The five groups of structures are unified as a whole and installed on the floating back plate 8. Among them, the cleaning cylinder 501, the cleaning cylinder 503, and the water suction cylinder 505 are all controlled by setting a motor gear set, and the motor gear set includes a driving motor 11, a motor gear 12 and a transmission gear 13; wherein the driving motor 11 is started, the driving motor 11 drives the motor gear 12, the motor gear 12 drives the transmission gear 13, and the transmission gear 13 drives the corresponding roller to rotate around the axis to start working.

[0046] refer to Fig. 9 The dewatering chamber 506 is provided with a convex inclined surface 17 and a filter hole 18. The convex inclined surface 17 squeezes the surface of the water absorption cylinder rotating through the surface, and flows into the dewatering chamber 506 through the filter hole 18; a blocking member is provided at the filter hole 18.

[0047] The landing gear 6 is connected to the fixed structure box 3, the water tank and the bottom of the control structure 2 by bolts.

[0048] When the utility model is in use, first open the hatch 104, take out the water tank cover 204, add the required cleaning liquid into the water tank 203 and the dewatering chamber 506, then cover the water tank cover 204, close the hatch 104, and adjust the distances of the dewatering chamber 506, the sprinkler I502 and the sprinkler II504 relative to the working surface (cleaning contact surface) through the long screw holes 10 at the rear of the dewatering chamber 506, the sprinkler I502 and the sprinkler II504.

[0049] The cleaning operation is ready, the flight power structure 1 is powered on, the smart camera 101 and the laser radar sensor 304 start working, the brushless motor I102 starts, driving the propeller I103, and the cleaning robot flies up.

[0050] When the cleaning robot rises to the working height, the smart camera 101 and the lidar sensor 304 simultaneously scan the working area in front and transmit the scanned image and ranging information to the control module equipped with an AI algorithm, automatically detecting various obstacles such as the distance to the corners of the window, bosses, grooves, rubber strips or seams on the contact surface, and planning the window cleaning path.

[0051] The brushless motor II205 starts, driving the propeller II206 to move, and the whole machine generates back thrust, which produces a certain pressure on the cleaning contact surface, so that the whole machine is close to the cleaning contact surface. At the same time, the cleaning contact surface provides an inward pressure to the floating cleaning structure 5. Under the action of this pressure, the spring on the back plate of the floating cleaning structure 5 is compressed and the stroke is reduced. When the distance detected by the laser radar sensor 304 is less than a certain range of a given value (when no inward pressure is applied to the floating cleaning structure 5, the distance from the laser radar sensor 304 to the outermost side of the three cleaning rollers, that is, the distance to the working surface), the brushless motor II205 stops increasing the output power and remains stable.

[0052] After the floating cleaning structure 5 is in close contact with the cleaning contact surface, the driving motor 11 is started, the driving motor 11 drives the motor gear 12, the motor gear 12 drives the transmission gear 13, the transmission gear 13 drives the drum gear 14, and then the cleaning cylinder 501 moves counterclockwise around the axis to start the cleaning operation.

[0053] Through the flying power structure 1, the whole machine is gradually moved downward, and the water outlet 16 of the dewatering tank pump 301 is connected to the water inlet 15 of the dewatering tank 506 through the water supply hose 303, so that the residual liquid in the dewatering tank 506 is sprayed to the cleaning contact surface through the sprinkler I502.

[0054] The motor gear set of the cleaning cylinder is started, so that the cleaning cylinder 503 moves counterclockwise around the axis, and the cleaning operation begins.

[0055] The water tank pump 302 connects the water tank 203 to the water inlet 15 through the water delivery hose 303, so that the cleaning liquid in the water tank 203 is sprayed toward the cleaning contact surface through the sprinkler II504.

[0056] The driving motor 11 is started, and the driving motor 11 drives the motor gear 12, and the motor gear 12 drives the transmission gear 13, and the transmission gear 13 drives the roller gear 14, thereby causing the water suction cylinder 505 to move counterclockwise around the axis to start the water suction operation. At the same time, as the water suction cylinder moves counterclockwise around the axis, after the residual water after the contact surface is cleaned is sucked away, the convex inclined surface 17 on the water removal cylinder 1406 is squeezed to squeeze the water on the water suction cylinder 505 into the water removal chamber 506, thereby providing the required liquid for the sprinkler I502, achieving the purpose of secondary utilization and water saving.

[0057] The whole machine continues to move downward through the flying power structure 1, and the downward movement of the whole machine drives the wiper blade 4 to move downward. When the wiper blade 4 moves downward, the last remaining liquid on the cleaning contact surface is removed.

[0058] When the intelligent system identifies an obstacle that the floating cleaning structure 5 cannot passively overcome, it first reduces the output power of the brushless motor II205 so that the floating cleaning structure 5 temporarily does not produce pressure on the cleaning contact surface. Then, the floating cleaning structure 5 moves perpendicularly to the rear of the contact surface through the flying power structure 1. After crossing the obstacle, it moves perpendicularly to the front of the contact surface through the flying power structure 1. Finally, it increases the output power of the brushless motor II205 so that the floating cleaning structure 5 continues to produce pressure on the cleaning contact surface, and the entire machine continues to move downward.

[0059] When the robot detects low battery or insufficient cleaning fluid, it will return and land autonomously.

[0060] After landing, the battery pack can be replaced through the hatch 104, cleaning fluid can be added through the water tank cover 204, and corresponding accessories can be replaced.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-rise curtain wall flying cleaning robot, characterized by: It includes a flight power structure (1), a water tank and control structure (2), a fixed structure box (3), a wiper (4), a floating cleaning structure (5) and a landing gear (6); A flight power structure (1) includes a main body as a connection, a smart camera (101) is arranged in front of the main body, brushless motors I (102) are arranged around, the brushless motors I (102) are connected to propellers I (103), and a canopy (104) is arranged in the middle; A water tank and control structure (2) comprises a housing, wherein a triple grid is arranged inside the housing, and a battery pack (201), a control circuit board (202) and a water tank (203) are respectively installed thereon; a water tank cover (204) is arranged on the upper part of the water tank (203); brushless motors II (205) are respectively arranged on both sides of the housing, and the brushless motors II (205) are connected to propellers II (206); A fixed structure box (3), wherein a wiper blade (4) and a floating cleaning structure (5) are respectively installed inside the fixed structure box (3), and a dewatering tank water pump (301) and a water tank water pump (302) are arranged on the back of the fixed structure box (3); laser radar sensors (304) are respectively arranged on both sides of the fixed structure box (3) for detecting the distance to the working surface; A wiper blade (4) is arranged at the upper part of the fixed structure box (3); The floating cleaning structure (5) is fixed on the floating back plate (8), and the floating back plate (8) is horizontally connected to the fixed structure box (3); the floating cleaning structure (5) comprises five layers from bottom to top, wherein the first layer is a cleaning cylinder (501), the second layer is a water sprayer I (502), the third layer is a cleaning cylinder (503), the fourth layer is a water sprayer II (504), and the fifth layer is a combination of a water suction cylinder (505) and a water removal chamber (506). The five layers are unified as a whole and are installed on the floating back plate (8); wherein the cleaning cylinder, the cleaning cylinder and the water suction cylinder are all driven by a motor gear set connected on their shafts; The landing gear (6) is arranged on the bottom of the fixed structure box (3) and the water tank and control structure (2).

2. The high-rise curtain wall flying cleaning robot according to claim 1, characterized in that: The motor gear set comprises a driving motor (11), a motor gear (12), a transmission gear (13) and a roller gear (14); the roller gear (14) is connected to the transmission gear (13), the transmission gear (13) is connected to the motor gear (12), the motor gear (12) is provided with driving force by the driving motor (11), and each driving motor (11) is fixed on the floating back plate (8).

3. The high-rise curtain wall flying cleaning robot according to claim 1, characterized in that: The dewatering tank water pump (301) connects the dewatering tank (506) and the sprinkler I (502) through a water delivery hose (303), and the water tank water pump (302) connects the water tank (203) and the sprinkler II (504) through a water delivery hose (303).

4. The high-rise curtain wall flying cleaning robot according to claim 1, characterized in that: The wiper blade (4) is provided with three layers, and the wiper blade is made of rubber.

5. The high-rise curtain wall flying cleaning robot according to claim 1, characterized in that: The dewatering chamber (506) is provided with a convex inclined surface (17) and a filter hole (18); the convex inclined surface (17) squeezes the surface of the water absorption cylinder rotating through the surface, and flows into the dewatering chamber (506) through the filter hole (18); a blocking member is provided at the filter hole (18).

6. The high-rise curtain wall flying cleaning robot according to claim 1, characterized in that: The floating back plate (8) is horizontally connected to the fixed structure box (3); specifically, springs (9) are respectively provided at the four corners of the back side of the floating back plate (8); six groups of positioning square holes (801) and six groups of floating limiting holes (802) are provided on the floating back plate (8); four spring grooves (306) and six connecting guide rail columns (305) are correspondingly provided on the fixed structure box (3); the spring (9) is located in the spring groove (306) and is restricted by the spring groove (306); the connecting guide rail column (305) inside the fixed structure box (3) is installed and restricted in the floating limiting hole (802) through the positioning square hole (801) and slides back and forth relative to the contact surface to achieve floating connection.

7. The high-rise curtain wall flying cleaning robot according to claim 6, characterized in that: The floating limiting hole position (802) is formed by two vertical plates arranged opposite to each other. Specifically, a long hole is arranged at a relative position on each vertical plate, and the two long holes form a floating limiting hole position for the guide rail column to slide.

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