Wall-climbing cleaning robot

Abstract

The utility model relates to the technical field of robots, and discloses a wall-climbing cleaning robot which comprises a water tank, an upper frame body, more than two upper self-adaptive telescopic leg assemblies which are vertically arranged on one side of the upper frame body and are in central symmetry, and first cleaning mechanisms are arranged on the outer sides of the upper self-adaptive telescopic leg assemblies; the lower frame body is arranged on the inner side of the lower portion of the upper frame body in parallel, two or more lower self-adaptive telescopic leg assemblies in central symmetry are perpendicularly arranged on one side of the lower frame body, and a second cleaning mechanism is arranged on the inner sides of the lower self-adaptive telescopic leg assemblies; the translation mechanism is arranged between the upper frame body and the lower frame body, so that the upper frame body and the lower frame body do relative translation motion; and the rotating mechanism is arranged between the translation mechanism and the lower frame body and drives the translation mechanism and the upper frame body to rotate relative to the lower frame body. The problems that an existing outer wall cleaning robot is large in size, poor in flexibility, high in cost, low in efficiency, high in dangerousness and the like in outer wall cleaning and maintaining are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a wall-climbing cleaning robot. Background Art

[0002] With urban development and the proliferation of high-rise buildings, the demand for exterior wall cleaning and maintenance is growing. Traditional exterior wall cleaning methods rely primarily on manual labor, which is inefficient and dangerous. To effectively address these challenges, exterior wall-climbing cleaning robots have emerged.

[0003] Exterior wall climbing cleaning robots can significantly improve cleaning efficiency and greatly reduce operational risks by flexibly moving on the surface of the exterior walls of buildings and performing cleaning operations. For example, CN108116523A discloses a cleaning climbing robot, but in actual use, existing exterior wall robots still have some shortcomings in practical applications.

[0004] A key issue is the large size, resulting in poor flexibility and high cost. Therefore, the performance and effectiveness of existing facade robots in terms of flexibility need to be further improved and optimized. Utility Model Content

[0005] In response to the shortcomings of the existing technology, the utility model provides a multifunctional wall-climbing cleaning robot with a simple structure, small size, flexible movement, the ability to perform cleaning operations efficiently and flexibly, and good obstacle-crossing ability, which can be used in multiple scenarios. It solves the problems of existing exterior wall cleaning robots in cleaning and maintenance of exterior walls, such as large size, poor flexibility, high cost, low efficiency, and high risk.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions.

[0007] The utility model is a wall-climbing cleaning robot comprising: a water tank,

[0008] An upper frame, wherein one side of the upper frame is vertically provided with two or more centrally symmetrical upper adaptive telescopic leg assemblies, and a first cleaning mechanism is provided on the outer side of the upper adaptive telescopic leg assembly;

[0009] The lower frame is arranged parallel to the inner side of the lower frame, and one side of the lower frame is vertically provided with two or more centrally symmetrical lower adaptive telescopic leg assemblies, the inner side of the lower adaptive telescopic leg assembly is provided with a second cleaning mechanism, and the upper adaptive telescopic leg assembly and the lower adaptive telescopic leg assembly are arranged in the same direction;

[0010] The translation mechanism is arranged between the upper frame and the lower frame, so that the upper frame and the lower frame can perform relative translation movement;

[0011] The rotating mechanism is arranged between the translation mechanism and the lower frame, and the rotating mechanism drives the translation mechanism and the upper frame to rotate relative to the lower frame.

[0012] Further improvement is that: the rotating mechanism includes: a rotating plate arranged above the lower frame, a rotating shaft passing through the center position of the lower frame and fixedly connected to the rotating plate at one end, a rotating shaft support sleeve mounted on the outside of the rotating shaft and fixedly connected to the lower frame at the top, and a driving structure arranged at the lower end of the rotating shaft support sleeve and connected to the other end of the rotating shaft.

[0013] A further improvement is that: the driving structure is set as a driving motor or is set to be composed of a driving motor and a transmission structure connected between the rotating shaft and the driving motor, the transmission structure is composed of a worm gear, a worm and a transmission base arranged at the bottom of the rotating shaft, the transmission base is connected to the bottom end of the rotating shaft support sleeve, a transmission cavity is provided in the transmission base, a worm connecting through hole is provided on one side of the transmission cavity, and the worm is connected to the output shaft of the driving motor.

[0014] A further improvement is that the rotating shaft support sleeve includes: a support sleeve body, an upper connecting part and a lower connecting part respectively arranged at both ends of the support sleeve body, the upper connecting part is fixedly connected to the lower frame, and the lower connecting part is connected to the transmission base; the lower connecting part is also provided with a limiting support part that is adapted to abut against the worm.

[0015] Further improvement is that: the translation mechanism includes: a driving cylinder fixed on the rotating plate, slide rails symmetrically arranged on both sides of the driving cylinder and a slide seat fixed on the upper frame and adapted to the slide rails, and the push rod of the driving cylinder is connected to the lower end surface of the upper frame through a push rod fixing seat.

[0016] A further improvement is that an upwardly convex rotating shaft connecting seat is provided at the center of the rotating plate, slide rail mounting platforms are symmetrically provided on both sides of the rotating shaft connecting seat, and a cylinder support seat is provided at the top of the rotating shaft connecting seat.

[0017] Further improvements are: the upper frame and the lower frame are set as central radial sheet structures, and the central radial sheet structure is provided with more than two centrally symmetrical supporting wings. The upper adaptive telescopic leg assembly and the first cleaning mechanism and the lower adaptive telescopic leg assembly and the second cleaning mechanism are respectively vertically connected under the corresponding supporting wings. The upper adaptive telescopic leg assembly and the lower adaptive telescopic leg assembly are respectively composed of a telescopic structure and a roller and a suction cup connected to the lower end of the telescopic structure. One end of the telescopic structure is connected to the supporting wing arm, and the other end is connected to the suction cup.

[0018] Further improvements are: there are more than two suction cups, which are symmetrically arranged at the lower end of the telescopic structure through the center of the supporting foot plate; the supporting wing arms of the upper frame are provided with vertically downward supporting leg seats; one end of the telescopic structure is connected to the supporting leg seat, and the other end is connected to the supporting foot plate; the suction cup is connected to the bottom of the supporting foot plate through a spherical hinge; the suction cup is a vacuum suction cup structure.

[0019] A further improvement is that: the upper frame is further provided with an extension arm detachably connected to the supporting wing arm, and a first cleaning mechanism is fixedly provided on the extension arm.

[0020] A further improvement is that the first cleaning mechanism and the second cleaning mechanism are composed of a driving motor and a cleaning brush body, the cleaning brush body is configured as a disc structure, and a diatom composite fleece material layer is provided at the bottom of the disc structure.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present application provides a translation mechanism between upper and lower frames arranged in parallel with each other, and cooperates with the adaptive telescopic leg assemblies provided on the upper and lower frames respectively. By alternately adsorbing the suction cups on the adaptive telescopic leg assemblies and moving the upper and lower frames in parallel and the upper and lower telescopic legs in the vertical direction, the robot is assisted in achieving stride movement, thereby achieving free parallel or stride movement on the wall surface. The structure is simple and the operation is reliable.

[0023] By setting a rotating mechanism between the translation mechanism and the lower frame, the translation mechanism and the upper frame are driven to rotate relative to the lower frame, and then the translation mechanism is coordinated with the parallel movement in the same plane, thereby realizing a 360-degree all-round translational movement of the upper frame and the lower frame in the same plane, driving the first cleaning mechanism and the second cleaning mechanism to clean alternately or simultaneously without interruption;

[0024] By setting up the upper and lower frames with central radial sheet structures, the robot structure is minimized and simplified to the greatest extent, effectively controlling the overall volume and weight, and providing a guarantee for the miniaturization of the robot. It is more flexible and free in the limited space of exterior wall environments, easily shuttling between narrow corners and complex building structures, and reaching areas that are difficult for large robots to reach, thereby achieving more comprehensive and detailed cleaning effects.

[0025] The self-adaptive telescopic leg assembly is equipped with a composite telescopic leg assembly with a spherical hinge connecting the roller and the suction cup. The assembly can rotate flexibly and freely, and can fit the wall surface at different angles, thereby improving the adaptability and adsorption support stability.

[0026] In summary, the utility model is a small and micro-structured robot, which has the characteristics of flexibility, simplified structure, light weight, low energy consumption and low cost. Due to its small and micro-structure, and the ability to move across obstacles in multiple directions and replaceable cleaning brush heads, it is not only suitable for the field of exterior wall cleaning, but also for different work scenarios such as high-altitude exterior walls, train cleaning, the inner walls of swimming pools with complex environments, and walls at home, and has extremely strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model.

[0028] Figure 2 It is a schematic diagram of the three-dimensional structure of the other side of the utility model.

[0029] Figure 3 It is a three-dimensional structural diagram of the lower frame and translation mechanism components of the utility model.

[0030] Figure 4 It is an exploded schematic diagram of the rotating mechanism of the utility model.

[0031] Figure 5 It is a schematic diagram of the rotating plate of the present utility model.

[0032] Figure 6 It is a schematic diagram of the upper and lower frames of the present utility model.

[0033] Figure ID:

[0034] Water tank 1, upper frame 2, upper adaptive telescopic leg assembly 21, first cleaning mechanism 22, extension arm 23, support leg seat 24, lower frame 3, lower adaptive telescopic leg assembly 31, second cleaning mechanism 32, translation mechanism 4, slide 41, slide rail 42, drive cylinder 43, push rod fixing seat 44, rotation mechanism 5, rotation plate 51, shaft connecting seat 511, slide rail mounting platform 512, cylinder support seat 513, shaft 52, shaft support sleeve 53, support sleeve body 531, upper connecting portion 532, lower connecting portion 533, position limiting support portion 534, drive structure 54. Worm gear 541, worm 542, transmission base 543, transmission cavity 544, connecting through hole 545, telescopic structure 6, suction cup 7, support foot plate 8, support wing arm 9. DETAILED DESCRIPTION

[0035] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings. This embodiment is only used to explain the present invention and does not constitute a limitation on the scope of protection of the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the combination or elements referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0037] The present invention will be further described below with reference to the accompanying drawings and in combination with embodiments.

[0038] Figure 1-6 The utility model is shown as a wall-climbing cleaning robot, comprising: a water tank 1 and a control unit arranged at the top center of an upper frame 2; two or more centrosymmetrical upper adaptive telescopic leg assemblies 21 are vertically provided on the bottom side of the upper frame 2, and a first cleaning mechanism 22 is provided on the outer side of the upper adaptive telescopic leg assemblies 21; a lower frame 3 is arranged parallel to the lower inner side of the upper frame 2, and two or more centrosymmetrical lower adaptive telescopic leg assemblies 31 are vertically provided on the bottom side of the lower frame 3, and are arranged in the same direction and parallel to the upper adaptive telescopic leg assemblies 21, and a second cleaning mechanism 32 is provided on the inner side of the lower adaptive telescopic leg assemblies 31;

[0039] The translation mechanism 4 is arranged between the upper frame 2 and the lower frame 3, so that the upper frame 2 and the lower frame 3 perform relative translation movement, and then cooperate with the upper adaptive telescopic leg assembly 21 and the lower adaptive telescopic leg assembly 31 to control the up and down adaptive telescopic movement, thereby realizing parallel movement in the same plane and movement across obstacles within the maximum telescopic range of the telescopic legs perpendicular to the translation plane; preferably: the translation mechanism 4 includes: a driving cylinder 43 fixed on the rotating plate 51, slide rails 42 symmetrically arranged on both sides of the driving cylinder 43 and a slide seat 41 fixed on the upper frame 2 and adapted to the slide rails 42, and the push rod of the driving cylinder 43 is connected to the lower end surface of the upper frame 2 through a push rod fixing seat 44;

[0040] The rotating mechanism 5 is arranged between the translation mechanism 4 and the lower frame 3. The rotating mechanism 5 drives the translation mechanism 4 and the upper frame 2 to rotate relative to the lower frame 3, and then cooperates with the parallel movement of the translation mechanism 4 in the same plane, thereby realizing the 360-degree all-round translation back and forth of the upper frame 2 and the lower frame 3 in the same plane, driving the first cleaning mechanism 22 and the second cleaning mechanism 32 to clean alternately or simultaneously; wherein, the rotating mechanism 5 includes: a rotating plate 51 arranged above the lower frame 3, a rotating plate 51 passing through the lower frame 3, The rotating shaft 52 is inserted into the center hole and fixedly connected to the bottom end surface of the rotating plate 51 at one end; a rotating shaft support sleeve 53 is sleeved on the outside of the rotating shaft 52 and fixedly connected to the top of the lower frame 3; and a driving structure 54 is fixedly arranged at the lower end of the rotating shaft support sleeve 53 and connected to the other end of the rotating shaft 52. The driving structure 54 can be set as a driving motor; the outer shell of the driving motor is connected to the rotating shaft support sleeve 53 and fixedly connected to the lower frame 3, and the rotating shaft 52 passing through the rotating shaft support sleeve 53 is respectively connected to the motor shaft and the rotating plate 51, thereby driving the rotating plate to rotate relative to the lower frame 3;

[0041] Since the upper frame 2 and the lower frame 3 are configured as central radial sheet structures, such as Figure 6As shown: the central radial sheet structure is provided with more than two centrally symmetrical supporting wing arms 9, the upper adaptive telescopic leg assembly 21 and the first cleaning mechanism 22 and the lower adaptive telescopic leg assembly 31 and the second cleaning mechanism 32 are respectively vertically connected below the corresponding supporting wing arms 9, the upper adaptive telescopic leg assembly 21 and the lower adaptive telescopic leg assembly 31 are respectively composed of a telescopic structure 6 and a roller and a suction cup 7 connected to the lower end of the telescopic structure 6, one end of the telescopic structure 6 is connected to the supporting wing arm 9, and the other end is connected to the roller and the suction cup 7; wherein the suction cup 7 is provided with More than two are symmetrically arranged at the lower end of the telescopic structure through the center of the supporting foot plate 8. A vertical downward supporting leg seat 24 is provided on the supporting wing arm 9 of the upper frame 2. One end of the telescopic structure 6 is connected to the supporting leg seat 24, and the other end is connected to the supporting foot plate 8. The suction cup 7 and the roller are connected to the bottom of the supporting foot plate 8 through a ball hinge. The suction cup 7 is a vacuum suction cup structure. The roller and the suction cup 7 can be used at the same time or one of them can be used selectively; wherein the telescopic structure 6 can be set as a cylinder with controllable flow and air pressure or a lifting structure driven by a controllable servo motor; through the ball hinge The chain-like adaptive telescopic leg assembly provides a certain degree of adaptability, allowing it to conform to walls at different angles, giving the robot strong obstacle-crossing and wall-adaptability. The roller arrangement facilitates faster movement on horizontal surfaces, improving cleaning efficiency. The vacuum suction cups enable a firm and stable attachment to vertical walls. The parallel stacking of the upper and lower frames of the central radial sheet structure and the vertical and parallel arrangement of the adaptive telescopic leg assemblies simplify the upper and lower frame structures, reducing the overall size and weight of the robot, eliminating unnecessary components and redundant space, making the entire body simpler and lighter, while not affecting its adsorption stability and motion performance. This makes it possible to design the robot in a miniaturized form, making it more flexible and comfortable in space-constrained exterior wall environments. Compared to traditional larger cleaning equipment, it can easily navigate narrow corners and complex building structures, reaching areas that are difficult for large robots to reach, thereby achieving a more comprehensive and detailed cleaning effect. At the same time, the lighter weight reduces the load pressure on the building's exterior wall, reducing the potential risk of damage.

[0042] Preferably: the upper frame 2, the lower frame 3 and the supporting foot plate 8 are respectively arranged in the same plane with three supporting wings distributed at equal angles of 120° to each other, forming a central radial sheet structure; with such an arrangement, the support walking and adsorption are more stable and firm, so that the robot as a whole can climb the wall and cross obstacles smoothly and reliably.

[0043] An optional implementation method, such as Figure 4As shown, the rotating mechanism 5 is configured to be composed of a driving motor and a transmission structure connected between the rotating shaft 52 and the driving motor. The transmission structure is composed of a worm wheel 541, a worm 542 and a transmission base 543 arranged at the bottom of the rotating shaft 52. The transmission base 543 is connected to the bottom end of the rotating shaft support sleeve 53. A transmission cavity 544 is provided in the transmission base 543. A worm connecting through hole 545 is provided on one side of the transmission cavity 544. The worm 542 is connected to the output shaft of the driving motor; wherein the driving motor is not shown; the driving motor set up in this structure can be used in conjunction with the drive of other structures, and the rotation is distributed through the clutch to reduce the use of the driving motor, thereby simplifying the overall structure and providing the possibility of achieving overall miniaturization.

[0044] An optional implementation method, such as Figure 4 As shown, the shaft support sleeve 53 comprises a support sleeve body 531, an upper connecting portion 532 and a lower connecting portion 533 disposed at either end of the support sleeve body 531. The upper connecting portion 532 is fixedly connected to the lower frame 3, while the lower connecting portion 533 is connected to the transmission base 543. The shaft 52 is inserted into the inner hole of the support sleeve body 531, and a flat bearing is provided between the rotating plate 51 and the lower frame 3. The lower connecting portion 533 is also provided with a limit support portion 534 that fits and abuts against the worm 542. This configuration of the shaft support sleeve 53 ensures a secure and reliable connection and smooth transmission.

[0045] An optional implementation method, such as Figure 5 As shown, an upwardly convex shaft connecting seat 511 is provided at the center of the rotating plate 51 , slide rail mounting platforms 512 are symmetrically provided on both sides of the shaft connecting seat 511 , and a cylinder support seat 513 is provided at the top of the shaft connecting seat 511 .

[0046] An optional implementation method, such as Figure 1 、 2 As shown in Figures 6 and 7, the upper frame 2 is also provided with an extension arm 23 which is detachably connected to the supporting wing arm 9, and a first cleaning mechanism 22 is fixed on the extension arm 23; the first cleaning mechanism 22 is detachably mounted on the top of the supporting wing arm 9 through the extension arm 32, thereby expanding the cleaning area to avoid interference and facilitate cleaning of some hard-to-clean corners.

[0047] An optional implementation method, such as Figure 1-3 As shown, the first cleaning mechanism 22 and the second cleaning mechanism 32 are composed of a driving motor and a cleaning brush body, and the cleaning brush body is configured as a disc structure; preferably, the cleaning brush body is in a replaceable form so as to adapt to the cleaning operation requirements in various environments; a diatom composite velvet material layer is provided at the bottom of the disc structure, and the diatom composite velvet material is used to create the water-absorbing component of the wall-climbing robot, which has extremely strong water absorption and extremely rapid adsorption capacity, and can quickly absorb and retain excess water on the wall after the water spray cleaning is completed.

[0048] Movement mode: The initial state is that the suction cup 7 of the lower adaptive telescopic leg assembly 31 is in the adsorption state, and the cleaning brush body of the second cleaning mechanism 32 is in close contact with the glass wall. The following actions are all executed starting from the initial state.

[0049] Action 1: Cleaning action

[0050] Start the cleaning drive motor to drive the cleaning brushes of the first cleaning mechanism 22 and / or the second cleaning mechanism 32 to rotate and clean the wall surface;

[0051] Action 2: Plane movement

[0052] The robot's motor starts up, transmitting power through a transmission device to the rollers on the upper adaptive telescopic leg assembly 21 and / or the lower adaptive telescopic leg assembly 31. The rollers begin to rotate, driving the robot to move along the wall. By controlling the direction and speed of the motors, the robot can move forward, backward, left, and right on the surface. The robot can also turn as needed by adjusting the movement of the rollers. When the movement task is completed or it needs to stop, the motor stops, and the rollers also stop moving.

[0053] Action 3: Vertical walking and stepping over obstacles

[0054] The robot's wall-climbing and obstacle-crossing function consists of an adaptive telescopic leg assembly and a pneumatic translation upper and lower frame structure arranged in parallel. During operation, the robot is realized by a rotating mechanism to achieve all-round translation and adsorption along the wall surface. When the robot is working normally, if the lower frame 3 is fixed to the wall by the vacuum suction cup, the upper frame 2 can move in both directions along the direction of the driving cylinder 43 under the action of the driving cylinder 43, and at the same time, the telescopic legs are moved under the action of the telescopic structure 6 vertically arranged on the adaptive telescopic leg assembly 21. Under the control of the control unit, after the upper frame runs to the target position, its vacuum suction cup is controlled to be adsorbed on the wall, and the suction cup of the lower plate is released. The lower frame 3 is then controlled to run to the next target position in the same way. This alternation is performed to complete the vertical walking and stride obstacle-crossing movement.

[0055] Of course, the control system should include but not be limited to the transmission and feedback of relevant data such as position sensors, pressure sensors, electric drives, and pneumatic drives.

[0056] The embodiments disclosed in the present invention are preferred embodiments, but are not limited to them. Ordinary technicians in this field can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. As long as they do not deviate from the spirit of the present invention, they are all within the scope of protection of the present invention.

Claims

1. A wall-climbing cleaning robot, characterized by: include: Water tank (1), An upper frame (2), wherein two or more centrally symmetrical upper adaptive telescopic leg assemblies (21) are vertically provided on one side of the upper frame (2), and a first cleaning mechanism (22) is provided on the outer side of the upper adaptive telescopic leg assembly (21); The lower frame (3) is arranged parallel to the inner side of the lower portion of the upper frame (2), and one side of the lower frame (3) is vertically provided with two or more centrally symmetrical lower adaptive telescopic leg assemblies (31), the inner side of the lower adaptive telescopic leg assembly (31) is provided with a second cleaning mechanism (32), and the upper adaptive telescopic leg assembly (21) and the lower adaptive telescopic leg assembly (31) are arranged in the same direction; A translation mechanism (4) is provided between the upper frame (2) and the lower frame (3), so that the upper frame (2) and the lower frame (3) perform relative translation movement; The rotating mechanism (5) is arranged between the translation mechanism (4) and the lower frame (3), and the rotating mechanism (5) drives the translation mechanism (4) and the upper frame (2) to perform rotational motion relative to the lower frame (3).

2. The wall-climbing cleaning robot according to claim 1, characterized in that: The rotating mechanism (5) comprises: a rotating plate (51) arranged above the lower frame (3), a rotating shaft (52) passing through the center of the lower frame (3) and fixedly connected to the rotating plate (51) at one end, a rotating shaft support sleeve (53) sleeved on the outside of the rotating shaft (52) and fixedly connected to the lower frame (3) at the top, and a driving structure (54) arranged at the lower end of the rotating shaft support sleeve (53) and connected to the other end of the rotating shaft (52).

3. The wall-climbing cleaning robot according to claim 2, characterized in that: The driving structure (54) is configured as a driving motor or is configured as consisting of a driving motor and a transmission structure connected between the rotating shaft (52) and the driving motor. The transmission structure is composed of a worm wheel (541), a worm (542) and a transmission base (543) arranged at the bottom of the rotating shaft (52). The transmission base (543) is connected to the bottom end of the rotating shaft support sleeve (53). A transmission cavity (544) is provided in the transmission base (543). A worm connecting through hole (545) is provided on one side of the transmission cavity (544). The worm (542) is connected to the output shaft of the driving motor.

4. The wall-climbing cleaning robot according to claim 3, characterized in that: The rotating shaft support sleeve (53) comprises: a support sleeve body (531), an upper connecting portion (532) and a lower connecting portion (533) respectively provided at both ends of the support sleeve body (531); the upper connecting portion (532) is fixedly connected to the lower frame (3), and the lower connecting portion (533) is connected to the transmission base (543); the lower connecting portion (533) is further provided with a limiting support portion (534) adapted to abut against the worm (542).

5. The wall-climbing cleaning robot according to claim 1, characterized in that: The translation mechanism (4) comprises: a driving cylinder (43) fixed on the rotating plate (51), slide rails (42) symmetrically arranged on both sides of the driving cylinder (43), and a slide seat (41) fixed on the upper frame (2) and adapted to the slide rails (42). The push rod of the driving cylinder (43) is connected to the lower end surface of the upper frame (2) through a push rod fixing seat (44).

6. The wall-climbing cleaning robot according to claim 5, characterized in that: An upwardly convex rotating shaft connecting seat (511) is provided at the center of the rotating plate (51), slide rail mounting platforms (512) are symmetrically provided on both sides of the rotating shaft connecting seat (511), and a cylinder support seat (513) is provided at the top of the rotating shaft connecting seat (511).

7. The wall-climbing cleaning robot according to any one of claims 1 to 6, characterized in that: The upper frame (2) and the lower frame (3) are configured as central radial sheet structures, and the central radial sheet structures are provided with two or more centrally symmetrical supporting wing arms (9). The upper adaptive telescopic leg assembly (21) and the first cleaning mechanism (22) and the lower adaptive telescopic leg assembly (31) and the second cleaning mechanism (32) are respectively vertically connected below the corresponding supporting wing arms (9). The upper adaptive telescopic leg assembly (21) and the lower adaptive telescopic leg assembly (31) are respectively composed of a telescopic structure (6) and a roller and a suction cup (7) connected to the lower end of the telescopic structure (6). One end of the telescopic structure (6) is connected to the supporting wing arm (9), and the other end is connected to the suction cup (7).

8. The wall-climbing cleaning robot according to claim 7, characterized in that: The suction cups (7) are provided with more than two and are symmetrically arranged at the lower end of the telescopic structure through the support foot (8). The support wing arm (9) of the upper frame (2) is provided with a vertically downward support leg seat (24). One end of the telescopic structure (6) is connected to the support leg seat (24) and the other end is connected to the support foot (8). The suction cup (7) is connected to the bottom of the support foot (8) through a spherical hinge. The suction cup (7) is a vacuum suction cup structure.

9. The wall-climbing cleaning robot according to claim 7, characterized in that: The upper frame (2) is further provided with an extension arm (23) detachably connected to the supporting wing arm (9), and a first cleaning mechanism (22) is fixedly provided on the extension arm (23).

10. The wall-climbing cleaning robot according to claim 7, characterized in that: The first cleaning mechanism (22) and the second cleaning mechanism (32) are composed of a driving motor and a cleaning brush body. The cleaning brush body is configured as a disc structure, and a diatom composite fleece material layer is provided at the bottom of the disc structure.

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