CN207341707U - A kind of glass curtain wall obstacle detouring clean robot - Google Patents

Abstract

A glass curtain wall obstacle cleaning robot, including a control system and a detection system, the control system is connected to the detection system, and also includes a main frame of the robot and a winch auxiliary system connected to the control system, and a device connected to the control system is installed on the main frame of the robot Cleaning system, purely mechanical self-adaptive obstacle surmounting device, sewage recycling system, wind pressure bonding device connected with the control system, winch auxiliary system connected with the main frame of the robot to control the lifting of the main frame of the robot, which are symmetrically arranged on the main frame of the robot The upper and lower ends of the frame, the cleaning system is located at the upper end of the main frame of the robot, and is connected with the sewage recycling system, and the pure mechanical adaptive obstacle surmounting device is connected with the cleaning system, and the cleaning system is controlled to lift or fall with the pure mechanical adaptive obstacle surmounting device , so that the cleaning surface of the cleaning system is always attached to the glass curtain wall. By detecting the cleanliness of the wall, the robot automatically adjusts the speed of ascent and descent to clear obstacles.

Description

A glass curtain wall obstacle cleaning robot

technical field

The utility model relates to a robot, in particular to a glass curtain wall cleaning obstacle-surmounting robot, which belongs to the technical field of automatic glass curtain wall cleaning.

Background technique

In the construction industry, due to the good lighting performance of glass, good thermal insulation and moisture-proof performance, colored glass is practical and beautiful, more and more high-rise buildings adopt the structure of glass curtain wall. The survey results show that China's current construction area reaches 50 billion square meters, of which the curtain wall Accounting for 5%, China will build about 90 million square meters of glass curtain walls every year. However, due to the influence of rainy and snowy weather and dust in the air, the glass curtain wall is easily contaminated with water stains, dust and other dirt, so the glass curtain wall needs to be cleaned regularly, and the average cleaning cycle is about 4 months. However, there are only two cleaning methods for this kind of glass curtain wall: "spiderman" cleaning and window cleaning machine cleaning, which have the disadvantages of low cleaning efficiency, high risk, and high cleaning cost.

The geometric shapes of curtain walls are rich and colorful, including vertical, inclined, cylindrical, edged and spherical surfaces, among which the flat curtain wall with horizontal or vertical window frames is the most common. "Obstacles" such as horizontal or vertical window frames of the overall curtain wall will cause unevenness of the wall surface. The dirt on the glass wall includes black paint, mud, paper scraps, dust, oil stains and accumulated dust. Therefore, the following design requirements are put forward for the flat glass curtain wall cleaning robot: 1. Guarantee the cleaning effect 2. High safety and reliability, prevent falling, impact and damage to the curtain wall during the cleaning process; Certain adaptability; 3. It is not sensitive to the geometric error of the wall surface and the obstacle of the window frame caused by the construction, and has good adsorption stability and can cross the obstacle.

Utility model content

The purpose of this utility model is to solve the problem that the cleaning work of the existing glass curtain wall has certain difficulties, and proposes that the hoisting machine moves on the wall surface, and the rolling device and scraping device of the cleaning system rely on the wind pressure bonding device during the moving process. Attached to the surface of the curtain wall, the wall is cleaned in sequence. During the cleaning process, the sewage is filtered and reused through the sewage recycling system. , a glass curtain wall cleaning detection robot that automatically adjusts the speed of rising and falling by detecting the cleanliness of the wall.

The utility model specifically adopts the following technical scheme: a glass curtain wall obstacle-clearing robot, including a control system and a detection system, the control system is connected to the detection system, and also includes a main frame of the robot and a winch auxiliary system connected to the control system. The frame is equipped with a cleaning system connected to the control system, a purely mechanical self-adaptive obstacle surmounting device, a sewage recycling system, and a wind pressure bonding device connected to the control system. There are even sets of lifting and wind pressure bonding devices, which are symmetrically arranged on the upper and lower ends of the main frame of the robot. The cleaning system is located on the upper end of the main frame of the robot and is connected with the sewage recycling system. The purely mechanical self-adaptive obstacle surmounting device and The cleaning system is connected, and the cleaning system is controlled to lift or fall with the purely mechanical self-adaptive obstacle surmounting device, so that the cleaning surface of the cleaning system is always attached to the glass curtain wall.

The air pressure bonding device described in the utility model is a ducted fan.

The cleaning system described in the utility model includes a spraying device, a rolling device and a scraping device, the spraying device is arranged on the upper end of the main frame of the robot, and the rolling device and the scraping device are connected with a purely mechanical self-adaptive obstacle surmounting device.

The spraying device described in the utility model includes a high-pressure nozzle, a soap pump, a pipeline mixer, a high-pressure centrifugal pump and a concentrated cleaning solution, and each component is connected through a rubber hose, and the soap pump pumps the concentrated cleaning agent into the pipeline mixer, and Water is mixed, and the mixed cleaning solution is pumped from the high-pressure nozzle to the wall through the high-pressure centrifugal pump.

The rolling rubbing device described in the utility model comprises a blocking device, a transmission device and a rolling brush device, the blocking device is arranged above the rolling brush device, the transmission device is connected with the rolling brush device, and the transmission device is controlled by the control system to drive the rolling brush device to rotate.

The scraping device described in the utility model is a "V"-shaped scraper with an inclination angle of 15 degrees, and a small hole is opened below it, and the water outlet of the small hole guides the sewage to the sewage circulation through a rubber hose. regenerative system.

The sewage circulation regeneration system described in the utility model includes a sewage coarse filter, a sewage fine filter, a sewage collection device, a liquid level sensor and a micro-diaphragm water pump. The sewage collection device and the micro-diaphragm water pump are connected through a rubber hose, and the scraping device collects The sewage is filtered through the sewage coarse filter and the sewage fine filter in turn. The filtered water is stored in the sewage collection device. The liquid level sensor is installed in the sewage collection device to detect the water level of the sewage collection device. When the water level reaches the preset height At the same time, the micro-diaphragm water pump pumps the stored water into the injection device through the rubber hose.

The hoist auxiliary system described in the utility model includes an outer frame, an electric winch, a slide rail, a lead screw, a connecting rod A, a slider one, a slider two, a rope, a water pipe, a wire and a fixed pulley, the slide rail, the lead screw And the connecting rod A are set on the outer frame, the electric winch is connected with the first slider on the slide rail, the fixed pulley is connected with the second slider on the connecting rod A, and the wire rope wound on the electric winch is connected to the main frame of the robot by going around the fixed pulley .

The purely mechanical self-adaptive obstacle surmounting device described in the utility model is fixedly arranged on the main frame of the robot, and includes an amplification mechanism and a limit mechanism;

The amplifying mechanism includes a primary amplifying mechanism and a secondary amplifying mechanism. The primary amplifying mechanism includes an obstacle-crossing support rod, a connecting block, hinge one, and hinge two. Above, the obstacle-crossing support rod and the connecting rod are respectively connected to the two ends of the one-piece rod through hinge one and hinge two. Including slider, hinge 3, connecting rod B, one end of the slider and connecting rod B is connected by hinge 3, and the other end of connecting rod B is connected to the integrated rod through hinge 2, so that the integrated rod rotates around the optical axis;

The limiting mechanism includes a first-level limiting mechanism and a second-level limiting mechanism, the first-level limiting mechanism is arranged at the first-level amplifying mechanism, the second-level limiting mechanism is arranged behind the second-level amplifying mechanism, and the first-level limiting mechanism includes A rack and pinion mechanism and an arc groove straight groove mechanism. The rack and pinion mechanism includes a gear, a rack, a limit spring, and a support shaft. The rack on the base is engaged, one end of the limit spring is connected to the rack, and the other end is connected to the base. , to drive the support bar to rotate, the secondary limit mechanism includes a short compression spring, a long compression spring, a baffle, a slide bar, a U-shaped chute is opened on the base, a baffle is provided on one side of the chute, and a baffle is arranged on the baffle There are two parallel sliding rods fixed on the top, the sliding block is slidably set on the sliding rod, and a pair of short compression springs and a pair of long compression springs are respectively arranged on the two sliding rods on both sides of the sliding block. The two ends of the short compression spring are respectively connected with the slide block and the base, and the two ends of the long compression spring are respectively connected with the baffle plate and the slide block.

The beneficial effects of the utility model are:

A glass curtain wall cleaning and detection robot of the utility model solves the problem of certain difficulties in the existing glass curtain wall cleaning work, is innovative, has a perfect structure, low cost of use, low risk, high efficiency, meets market demand, and has Environmental protection and energy saving advantages. At present, there is no similar product for sale in the domestic market, which has a good market prospect.

Among the existing robots of the same kind, some have no obstacle-surmounting mechanism, and some are electric obstacle-surmounting, and electric obstacle-surmounting has defects such as unstable operation, inability to clean the frame, power consumption, etc., while the purely mechanical self-adaptive and more Barrier devices can make up for these shortcomings.

The water consumption of a robot cleaning the glass curtain wall of a building is very large, but there is no design for sewage treatment and recycling in similar works, and the sewage recycling system designed by the utility model can well solve the problem of large water consumption and effectively save energy .

Some works of the same kind use leg-type suction cups for adsorption, but the continuous fit and release of the suction cups and glass will affect the cleaning effect of the machine, and the design is complicated. Some works of the same kind use propellers to provide pressure, which are large in size, low in pressure and loud in noise , The utility model adopts wind pressure bonding, and uses ducted fans to provide pressure for the robot to attach to the wall. The ducted fan is smaller than the propeller, with high pressure and low noise.

The scraping device adopts a V-shaped design, which can better scrape off the residual water stains on the glass curtain wall, and transfer the water stains to the waste water treatment device, effectively solving the problem of residual waste water on the walls after similar robots clean the walls The problem.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is the main frame structure schematic diagram of the present utility model;

Fig. 3 is the structural representation of the cleaning system of the present utility model;

Fig. 4 is the structural representation of the injection device of the present utility model;

Fig. 5a is a structural schematic diagram of the rolling rubbing device of the present invention;

Fig. 5b is a structural schematic diagram of the rolling rubbing device of the present invention;

Fig. 6 is a schematic structural diagram of a purely mechanical self-adaptive obstacle surmounting device of the present invention;

Fig. 7 is a structural schematic diagram of the amplification mechanism of the present utility model;

Fig. 8 is a schematic diagram of the primary limit structure of the utility model;

Fig. 9 is a schematic diagram of the secondary limiting structure of the present invention;

Fig. 10 is a road map of the sewage recycling system of the present utility model;

Fig. 11 is a structural schematic diagram of the wind pressure bonding device of the present invention;

Fig. 12a is a schematic structural diagram of the hoist auxiliary system of the present invention;

Figure 12b is a schematic structural diagram of the hoist auxiliary system of the present invention;

Fig. 13 is a schematic diagram of a detection element of the present invention;

Figure 14 is a schematic structural view of the scraping device of the present invention;

Fig. 15 is a structural schematic diagram of the cooperation between the purely mechanical self-adaptive obstacle surmounting device of the present invention and other structures;

Fig. 16 is a continuous schematic diagram of the purely mechanical self-adaptive obstacle surmounting mechanism of the present invention completing a complete obstacle surmounting state;

Fig. 17 is a schematic diagram of the assembly structure of the first deformable baffle, the second deformable baffle and the third deformable baffle of the present invention.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be further elaborated below in conjunction with the accompanying drawings and specific embodiments and specific embodiments.

Referring to Fig. 1-Fig. 13, a glass curtain wall cleaning obstacle surmounting robot includes a robot main frame 1-7, a cleaning system for cleaning walls, and a purely mechanical self-adaptive obstacle surmounting device 1-2 for crossing curtain wall frame obstacles , Sewage recycling system 1-5 for treating sewage generated in the cleaning process, wind pressure laminating device 1-8 for attaching the cleaning device to the wall, and providing mobile power, water and electricity and safety protection for the robot The winch auxiliary system, the detection system 1-3 for detecting the cleanliness of the wall, and the control system for controlling the coordinated work of the robot and the winch.

As shown in Figure 2, the robot main frame 1-7 comprises a front frame 2-1, a middle frame 2-2, a rear frame 2-5, a bottom plate 2-4 and an upper plate 2-3, and the injection device 3- 1 is set on the bottom plate 2-4 of the front frame 2-1, the purely mechanical self-adaptive obstacle surmounting device 1-2 is set on the middle frame 2-2, and the sewage recycling system 1-5 is set on the rear frame 2-5 On the bottom plate 2-4, the wind pressure bonding device 1-8, the detection system 1-3 and the robot control system are arranged on the upper plate 2-3, and the winch auxiliary system is connected with the front frame 2-1 or the rear frame 2- 5 connected by rope.

The wind pressure bonding device 1-8 is formed by a pair of ducted fans 11-1, and the pair of ducted fans 11-1 are connected with the upper plate 2-3 of the front frame 2-1 and the rear frame 2 respectively. The upper board 2-3 of -5 is connected. The ducted fan 11-1 rotates at a high speed to generate thrust, so that the robot can be attached to the wall for cleaning, ensuring the stability of the robot's work.

As shown in Figure 3, the cleaning system includes a spraying device 3-1, a rolling device 3-2 and a scraping device 3-3, and the spraying device 3-1 is arranged on the bottom plate 2-4 of the front frame 2-1 , the rolling rubbing device 3-2 and the scraping device 3-3 are connected to the purely mechanical adaptive obstacle-climbing device 1-2.

As shown in Figure 4, the spraying device 3-1 includes a high-pressure spray head 4-1, a soap pump 4-2, a pipeline mixer 4-3, a high-pressure centrifugal pump 4-5 and a concentrated cleaning solution 4-4, through a rubber hose Connected, the soap liquid pump 4-2 pumps the concentrated cleaning agent into the pipeline mixer 4-3, mixes with water, and the cleaning solution after mixing is pumped to the wall from the high-pressure nozzle 4-1 through the high-pressure centrifugal pump 4-5.

The rolling rubbing device 3-2 includes a blocking device, a transmission device and a rolling brush device, and the rolling brush device includes a deformable baffle 5-1, a deformable baffle 2 5-3, a deformable baffle 3 5-7, and a motor 5-5, the rotating shaft 5-4, and the connecting ring 5-2 are used to block the water thrown out by the high-speed rotation of the roller brush. The deformable baffle 5-1 is fixedly connected with the obstacle-breaking device, and the motor 5-5 is set On the deformable baffle 1 5-1, the rotating shaft is connected with the motor 1 5-5, one end of the connecting ring is connected with the rotating shaft, and the other end is connected with the deformable baffle 2 5-3 or the deformable baffle 3 5 -7 are connected, and the motor 5-5 drives the rotating shaft to rotate, thereby driving the deformable baffle plate 2 5-3 or the deformable baffle plate 3 5-7 to lift, and the transmission device includes a belt 5-9, a pair of gears A 5-10, Motor two 5-6, motor support 5-8, motor two 5-6 is installed on the motor support 5-8, and motor support is connected with deformable baffle plate 9-2 one, and a pair of gear B 8-2 is installed on motor respectively On the shaft and the roller brush shaft, the belt cooperates with a pair of gears A 5-10, and the roller brush device includes a roller brush 5-11 and a right-angle rotary joint 5-12, and the roller brush 5-11 is hollow inside and has many small holes outside. Right-angle swivel joint 5-12 is installed in the rolling brush axis 5-13 place, links to each other with the water supply hose, supplies water in the rolling brush 5-11, by the high-speed rotation of rolling brush 5-11, water is thrown out.

The deformable baffle is made up of three baffles as shown in Figure 17, wherein two motors are installed on the deformable baffle 2 5-3, each motor is fixedly connected with a rotating shaft 5-4, each rotating shaft 5- 4 is fixedly connected with two connecting rings 5-2, and the connecting rings on the left and right sides of the deformable baffle plate 2 5-3 are respectively fixedly connected with the deformable baffle plate 1 5-1 and the deformable baffle plate 3 5-7. Through the above structure, it can be realized that: the rotation of the motor drives the second deformation of the deformable baffle and the third deformation of the deformable baffle.

The scraping device 3-3 adopts a "V" shape design, and the "V" shape has an inclination angle of 15 degrees. There are small holes below for collecting sewage, and the water outlets of the small holes are connected with rubber hoses. The scraping device 3-3 collects and confluences the residual water stains on the surface of the glass curtain wall to the sewage collecting device of the sewage recycling system connected with the "V" type scraping device 3-3.

The purely mechanical self-adaptive obstacle surmounting device 1-2 is fixedly connected with the middle frame 2-2 by screws, and includes an enlargement mechanism 6-2 and a limit mechanism 6-1.

The amplification mechanism 6-2 includes a primary amplification mechanism and a secondary amplification mechanism. The primary amplifying mechanism includes an obstacle-crossing support rod 7-2, a connecting block 7-1, a hinge one 7-3, and a hinge two 7-5. The obstacle-crossing support rod 7-2 is fixedly connected with the connection block 7-1, and the obstacle-crossing support rod 7-2 and the connecting rod B7-8 are respectively connected to the integral rod 7-4 through the hinge one 7-3 and the hinge two 7-5, The integral rod 7-4 rotates around the optical axis 7-9. The secondary amplifying mechanism comprises an obstacle-crossing support rod 7-2, a connecting block 7-1, an integral rod 7-4, a connecting rod B7-8, a slide block 7-6, and an optical axis 7-9. The slider 7-6 and the connecting rod B7-8 are connected by three hinges. The integrated rod 7-4 and the optical axis 7-9 form a secondary amplification mechanism. The integrated rod 7-4 is fixed on the base 7-10 through the optical axis 7-9. , and rotate around the optical axis 7-9, the primary amplifying mechanism and the secondary amplifying machine are connected by a hinge 7-3.

The limit mechanism 6-1 includes a primary limit mechanism and a secondary limit mechanism, and the primary limit mechanism 6-1 includes a gear B 8-2-rack 8-3 mechanism, an arc groove-straight groove mechanism, and a gear B 8-2—rack 8-3 mechanism includes gear B 8-2, rack 8-3, limit spring 8-4, support shaft 8-1, and gear B 8-2 passes through support shaft 8-1 and The gear rack 8-3 is engaged, and one end of the limit spring 8-4 is connected with the rack 8-3, and one end is connected with the base 7-10. The main function of the limit spring 8-4 is to control the swing of the obstacle-crossing support rod 7-2 Angle, arc groove-straight groove mechanism includes pawl, arc groove, polished rod, straight groove, pawl passes through support shaft 8-1, secondary limit mechanism includes short compression spring 9-5, long compression spring 9- 4, baffle plate 9-2, slide bar 9-1, U-shaped straight groove 9-3, a pair of short compression springs 9-5 and a pair of long compression springs 9-4 each in two sections respectively set on two slide bars 9 On -1, the two ends of the short compression spring 9-5 are respectively connected with the slide block 7-6 and the base 7-10, and the two ends of the long compression spring 9-4 are respectively connected with the baffle plate 9-2 and the slide block 7-6.

The purely mechanical self-adaptive obstacle surmounting device is installed on both sides of the robot through screws, connected with the cleaning device of the robot, and realizes the obstacle surmounting function of the cleaning device when an obstacle is encountered. When the robot moves on the surface of the glass curtain wall, the obstacle clearance device is in a self-locking state, and the robot cleans the glass curtain wall smoothly. When encountering an obstacle, the obstacle-crossing support rod 7-2 touches the obstacle, the light rod 8-6 begins to slide in the straight groove 8-7, and the integrated rod 7-4 begins to rotate around the fixed optical axis 7-9, and the pawl 8-5 starts to break away from the obstacle-crossing support rod 8-1, and the self-locking function of the limit mechanism gradually weakens until it disappears. The second stage amplifying mechanism that axle 7-9 forms completes the first step obstacle surmounting jointly, and when polished rod 8-6 moves to the end of straight groove 8-7, obstacle surmounting support rod 7-2 rotates around polished rod 8-6, limited The position spring 8-4 limits the swing angle of the obstacle-surmounting support rod 7-2, and the device continues to overcome the obstacle, and the obstacle-surmounting support rod 7-2 expands the obstacle-surmounting stroke again by the first-stage amplifying mechanism in the process of rotating. When the obstacle-crossing support rod 7-2 leaves the obstacle, the obstacle-crossing device resets under the restoration force of the short compression spring 9-5, the long compression spring 9-4 and the limit spring 8-4, and the self-locking function recovers. After completing the entire obstacle-crossing process, the robot continues to clean the vertical glass curtain wall.

The sewage recycling system 1-5 includes a sewage coarse filter 10-5, a sewage fine filter 10-3, a sewage collection device 10-1, a liquid level sensor 10-2 and a micro-diaphragm water pump 10-4, and the sewage collection device 10- 1 is connected with the micro-diaphragm water pump 10-4 through a rubber hose, and the sewage collected by the scraping device 3-3 is filtered through the sewage coarse filter 10-5 and the sewage fine filter 10-3 in sequence, and the filtered water is Store in the sewage collection device 10-1, the liquid level sensor 10-2 detects the water level in the sewage collection device 10-1, when the water level reaches a preset height, the micro-diaphragm water pump 10-4 starts to work, and the stored Water is pumped into the injection device 3-1 through a rubber hose.

The winch auxiliary system includes outer frame 12-2, electric winch 12-4, slide rail 12-3, screw rod 12-1, connecting rod A 12-8 slider one 12-5, slider two 12-6, rope, Water pipe, lead and fixed pulley 12-7, described slide rail 12-3, screw mandrel 12-1 and connecting rod A 12-8 are all arranged on the outer frame 12-2, described electric capstan 12-4 and described slide The slide block one 12-5 on the rail 12-3 links to each other, and the fixed pulley 12-7 links to each other with the slide block two 12-6 on the connecting rod A 12-8, and the wire rope wound around the electric winch 12-4 goes around the The fixed pulley 12-7 is connected with the front frame 2-1 or the rear frame 2-5.

The detection system 1-3 includes an ultrasonic sensor 13-1 and a color mark sensor 13-2, the ultrasonic sensor 13-1 and the color mark sensor 13-2 are connected to the robot control system and the winch control system in communication, and the ultrasonic sensor 13- 1 Measuring the distance between the machine and the top and bottom of the building, the distance between the shielding device and the frame barrier, and the color mark sensor 13-2 detects the cleanliness of the wall surface.

The control system includes a robot control system and a winch control system, which are connected in communication with the detection system 1-3 to control the start, stop, moving speed and moving distance of the robot, control the speed, start and stop of the rolling brush device, and control the movement of the blocking device. Lifting, the work and stop of the micro-diaphragm water pump 10-4, and the start, stop and rotating speed of the ducted fan 11-1 are controlled.

The whole process of a glass cleaning detection robot based on the utility model is:

The utility model relies on the winch in the auxiliary system of the hoist to connect with the robot through a rope. Driven by the electric winch 12-4, the robot will move on the wall at a preset speed. The device 1-8 sucks the composite airflow and provides pressure to the rolling device 3-2 and the scraping device 3-3, so that the two are attached to the wall, and the wall is cleaned in turn. The machine is cleaned by a three-step cleaning method of "spraying, wiping, and scraping". First, the spray device 3-1 sprays out the liquid mixed with the clear water conveyed on the roof and the concentrated cleaning liquid 4-4, and then the motor rotates, and the roller brush is driven to rotate at a high speed through the belt drive to clean the glass curtain wall. While the roller brush rotates at high speed, clean water is thrown out, on the one hand, it reduces the residual cleaning liquid on the wall, and on the other hand, it makes the roller brush self-cleaning. Finally, the sewage is sequentially introduced into the sewage coarse filter 10-5 and the sewage fine filter 10-3 through the scraping device 3-3, and finally stored in the sewage collection device 10-1, and the sewage is reused through the sewage recycling system 1-5 . The rolling device 3-2 and the scraping device 3-3 are installed on the purely mechanical self-adaptive obstacle surmounting device 1-2. 6-1 and the enlargement mechanism 6-2 pass through the obstacle surface, and the robot automatically adjusts the speed of ascent and descent by detecting the cleanliness of the wall.

The utility model has been described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the above-mentioned implementation description, within the knowledge of those of ordinary skill in the art, it can also be done without departing from the purpose of the utility model. Various changes.

Claims (9)

1. a kind of glass curtain wall obstacle detouring clean robot, including control system and detecting system, control system connects with detecting system Connect, it is characterised in that：The hoist engine auxiliary system for further including robot main frame and being connected with control system, in the main frame of robot The cleaning systems being connected with control system, purely mechanic adaptive obstacle crossing device, effluent cycle regenerative system and control are installed on frame The wind pressure laminating apparatus of system processed connection, hoist engine auxiliary system are connected with robot main frame, control robot main frame Lifting, wind pressure laminating apparatus are equipped with even number set, it is symmetrically separately positioned on the top and bottom of robot main frame, cleaning systems It is connected in the upper end of robot main frame, and with effluent cycle regenerative system, purely mechanic adaptive obstacle crossing device is with cleaning System connection, control cleaning systems are lifted or fallen with purely mechanic adaptive obstacle crossing device, the clean surface of cleaning systems is pasted always Invest glass curtain wall.

A kind of 2. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：The wind pressure fitting dress It is set to ducted fan.

A kind of 3. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：The cleaning systems bag Include injection apparatus, abrasive tumbling device and scratch device, the injection apparatus is arranged on the upper end of robot main frame, abrasive tumbling device and Scratch device is connected with purely mechanic adaptive obstacle crossing device.

A kind of 4. glass curtain wall obstacle detouring clean robot as claimed in claim 3, it is characterised in that：The injection apparatus bag Include high-pressure nozzle, soap pump, pipe-line mixer, high pressure centrifugal pump and concentration cleaning solution, each component by rubber hose to be connected, soap Liquid pump is pumped into pipe-line mixer by detergent is concentrated, and is mixed with water, and mixed cleaning solution is through high pressure centrifugal pump from high-pressure nozzle Place is pumped to metope.

A kind of 5. glass curtain wall obstacle detouring clean robot as claimed in claim 3, it is characterised in that：The abrasive tumbling device bag Radical occlusion device, transmission device and brush device are included, radical occlusion device is arranged on the top of brush device, transmission device and brush device Connection, transmission device is controlled by control system drives brush device to rotate.

A kind of 6. glass curtain wall obstacle detouring clean robot as claimed in claim 3, it is characterised in that：The scratch device is " V " font scraper plate, " V " font inclination angle are 15 degree, are provided with aperture below, and aperture water outlet is by rubber hose by sewage water conservancy diversion To effluent cycle regenerative system.

A kind of 7. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：The effluent cycle is again Raw system includes sewage coarse filter, sewage fine filter, sewage collection equipment, liquid level sensor and miniature diaphragm water pump, the dirt Water collecting device is connected with miniature diaphragm water pump by rubber hose, and the sewage that scratch device is collected passes through sewage coarse filter successively Realize and filter with sewage fine filter, the water after filtering is stored in sewage collection equipment, and liquid level sensor is arranged on sewage The water level of detection sewage collection equipment in collection device, when water level reaches height set in advance, miniature diaphragm water pump will store up The water deposited is pumped into injection apparatus by rubber hose.

A kind of 8. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：The hoist engine auxiliary System includes outer framework, electric capstan, slide, leading screw, connecting rod A, sliding block one, sliding block two, rope, water pipe, conducting wire and fixed pulley, The slide, leading screw and connecting rod A are arranged on outer framework, and electric capstan is connected with the sliding block one on slide, fixed pulley and company Sliding block two on bar A is connected, and is wrapped in the steel wire rope of electric capstan and is connected around fixed pulley with robot main frame.

A kind of 9. glass curtain wall obstacle detouring clean robot as claimed in claim 1, it is characterised in that：Described is purely mechanic adaptive Obstacle crossing device is answered to be fixed on robot main frame, including enlarger and position-limit mechanism；

The enlarger includes level-one enlarger and two level enlarger, and level-one enlarger includes obstacle detouring supporting rod, connects Connect block, hinge one, hinge two, obstacle detouring supporting rod is connected with contiguous block, and contiguous block is connected on cleaning systems, obstacle detouring supporting rod and Connecting rod is connected by hinge one and hinge two with the both ends of integrated rod respectively, and integrated rod is in bending, it bends lowermost end and passes through Optical axis is connected on base, and second level enlarger includes sliding block, be hinged three, connecting rod B, and one end of sliding block and connecting rod B passes through hinge Chain three connects, and the other end of connecting rod B is integrally connected bar by hinge two, integrated rod is rotated on optical axis；

The position-limit mechanism includes level-one position-limit mechanism and two level position-limit mechanism, and level-one position-limit mechanism is arranged on level-one enlarger Place, two level position-limit mechanism are arranged on two level enlarger rear, and level-one position-limit mechanism includes rack and pinion mechanism, arc groove straight trough Mechanism, rack and pinion mechanism include gear, rack, limit spring, support shaft, and support shaft is located above obstacle detouring supporting rod, gear It is threaded through in support shaft and the rack with being arranged on base engages, limit spring one end is connected with rack, and one end connects with base Connecing, support shaft is connected by the arc groove straight trough mechanism on obstacle detouring supporting rod with obstacle detouring supporting rod, when obstacle detouring supporting rod is swung, Supporting rod is driven to rotate, two level position-limit mechanism includes short compression spring, long compression spring, baffle, slide bar, is offered on base U-shaped sliding slot, baffle is equipped with the side of sliding slot, is fixed with two parallel slide bars on baffle, and sliding block is slidably located in cunning On bar, a pair of short compression spring and a pair of long each two sections of spring that compresses are respectively equipped with the both sides of sliding block on two slide bars, it is short Compression both ends of the spring is connected with sliding block and base respectively, and long compression both ends of the spring is connected with baffle and sliding block respectively.