阅读说明：本技术 一种用于异形幕墙清洁的多关节机器人 (Be used for clear articulated robot of special-shaped curtain ) 是由 刘云龙 唐述宏 吴萍 杜德 程志强 亓会平 于 2019-08-26 设计创作，主要内容包括：本发明提出了一种用于异形幕墙清洁的多关节机器人,包括第一底座,第一底座上转动安装有第一机身,第一机身上转动安装有一第一大臂,第一大臂转动安装有一第二大臂,第二大臂与第一大臂结构相同,第二大臂另一端转动安装有第二机身,第二机身与第一机身结构相同,第二机身下方转动安装有一第二底座,第二底座与第一底座结构相同；各转动安装处之间构成多个转动关节,根据幕墙位置、大小和形状,通过关节转动调节作业面积,能够便捷安全的清洁异形幕墙,第一底座和第二底座可交替作为固定端,仿人工擦窗方式旋转移动,能够迅速移位、高效清洁,从而解决了关节机器人维护成本高、性能不稳定,难于适用于复杂异形幕墙清洁的技术难题。(The invention provides a multi-joint robot for cleaning a special-shaped curtain wall, which comprises a first base, wherein a first machine body is rotatably arranged on the first base, a first big arm is rotatably arranged on the first machine body, a second big arm is rotatably arranged on the first big arm, the second big arm has the same structure with the first big arm, the other end of the second big arm is rotatably arranged on the second machine body, the second machine body has the same structure with the first machine body, a second base is rotatably arranged below the second machine body, and the second base has the same structure with the first base; a plurality of rotary joints are formed between the rotary installation positions, the operation area is adjusted through joint rotation according to the position, the size and the shape of the curtain wall, the special-shaped curtain wall can be conveniently and safely cleaned, the first base and the second base can be alternately used as fixed ends, the manual window cleaning mode is imitated, the special-shaped curtain wall can be rapidly shifted and efficiently cleaned, and therefore the technical problems that a joint robot is high in maintenance cost and unstable in performance and is difficult to be suitable for cleaning of the complex special-shaped curtain wall are solved.)

1. The multi-joint robot for cleaning the special-shaped curtain wall is characterized by comprising a first base, wherein a first machine body is rotatably arranged on the first base, a first big arm is rotatably arranged on the first machine body, a second big arm is rotatably arranged on the first big arm, the other end of the second big arm is rotatably arranged on the second machine body, a second base is rotatably arranged below the second machine body, the rotating axes of the first machine body and the second machine body are symmetrically arranged, the rotating axes of the first big arm and the second big arm and the rotating axis between the first big arm and the second big arm are parallel to each other, and the rotating axes of the first machine body and the second machine body are perpendicular to the rotating axis of the first big arm;

the first base and the second base respectively comprise a base shell, each base shell is internally provided with an adsorption device, a waist rotating mechanism driven by a machine body servo motor is arranged above each adsorption device, and the lower end of each base shell is provided with a detachable cleaning cloth capable of being used for cleaning;

the first machine body and the second machine body respectively comprise machine body shells, a large arm servo motor is arranged in each machine body shell, and a speed reducing device is respectively arranged between each large arm servo motor and the first large arm and between each large arm servo motor and the second large arm;

first big arm and the big arm of second all include big arm casing, each all install a middle servo motor in the big arm casing, each middle servo motor with be equipped with a switching-over transmission between the big arm of first big arm and second respectively, each install an RV reduction gear between switching-over transmission and the middle servo motor that corresponds respectively.

2. The multi-joint robot for cleaning the special-shaped curtain wall according to claim 1, wherein each of the adsorption devices comprises an adsorption cavity arranged in the base shell, one end of each of the adsorption cavities is arranged to be open, a vacuum-pumping negative pressure fan is arranged in each of the adsorption cavities, the other end of each of the adsorption cavities is communicated with an air duct for exhausting air of the vacuum-pumping negative pressure fan, and each of the air ducts is communicated with the outside of the corresponding base shell.

3. The multi-joint robot for cleaning the special-shaped curtain wall as claimed in claim 1, wherein each waist rotating mechanism comprises a first rotating shaft rotatably mounted in the base shell, a first bevel gear is mounted at the lower end of each first rotating shaft, each first bevel gear is respectively meshed with a second bevel gear mounted on the corresponding body servo motor, a first gear is mounted at the upper end of each first rotating shaft, and each first gear is meshed with an inner gear ring rotatably mounted in the corresponding base shell; each internal gear circle all with correspond fuselage casing passes through the bolt fastening.

4. The multi-joint robot for cleaning the special-shaped curtain wall as claimed in claim 1, wherein each speed reducer comprises a first flange shaft and a second rotating shaft which are arranged in parallel with a motor shaft of the large-arm servo motor, a flange end of each first flange shaft is fixedly connected with the corresponding large-arm shell, a second gear is mounted on each first flange shaft, a third gear and a fourth gear are mounted on each second rotating shaft, each third gear is meshed with the corresponding second gear, and each fourth gear is meshed with a fifth gear mounted on the corresponding large-arm servo motor.

5. The multi-joint robot for cleaning the special-shaped curtain wall as claimed in claim 1, wherein each input end of the RV reducer is connected with the corresponding intermediate servo motor, and a third rotating shaft is mounted at the output end of each RV reducer; each reversing transmission device comprises a second flange shaft which is rotatably arranged in the large arm shell, the flange end of each second flange shaft is fixedly connected with the corresponding large arm shell, a third bevel gear is arranged on each second flange shaft, and each third bevel gear is meshed with a fourth bevel gear arranged on the corresponding third rotating shaft.

6. The multi-joint robot for cleaning shaped curtain walls as claimed in claim 3, wherein a first bearing is respectively installed at both ends of each first rotating shaft, each first gear is connected with the corresponding first rotating shaft through a key, and a second bearing is installed between each inner gear ring and the corresponding base shell.

7. The multi-joint robot for cleaning the special-shaped curtain wall as claimed in claim 4, wherein each first flange shaft is fixed with the corresponding large arm shell through a bolt, a third bearing is installed between each first flange shaft and the corresponding machine body shell, and a fourth bearing is also installed between each second rotating shaft and the corresponding machine body shell.

8. The multi-joint robot for cleaning the special-shaped curtain wall as claimed in claim 5, wherein each second flange shaft is fixed with the corresponding large arm shell through a bolt, and a fifth bearing is installed between each second flange shaft and the corresponding large arm shell.

9. The multi-joint robot for cleaning the special-shaped curtain wall as claimed in claim 1, wherein a circumferential groove for installing the cleaning cloth is formed in the circumferential surface of each base shell, the cleaning cloth is sleeved on the bottom surface of the base shell, and an elastic fixing ring is arranged on the cleaning cloth and installed in the circumferential groove.

10. The multi-joint robot for cleaning the special-shaped curtain wall as claimed in claim 1, wherein the first base, the second base, the first body, the second body, the first large arm and the second large arm are all structural members made of pom engineering plastics.

Technical Field

The invention relates to the technical field of curtain wall cleaning, in particular to a multi-joint robot for cleaning a special-shaped curtain wall.

Background

Modern urban buildings pursue beauty and harmony, and the multi-surface glass curtain wall enables the appearance of a high-rise building to be more and more brilliant and colorful. Along with the complexity and the variability of the exterior of a high-rise building, more and more glass curtain walls are designed into special-shaped curtain walls adaptive to the exterior of the building. The complicated design of the special-shaped curtain wall makes the high-rise building cleaning problem increasingly serious, the cleaning area is large, the position is high, and the difficulty of cleaning work is greatly increased.

Disclosure of Invention

The invention provides a multi-joint robot for cleaning a special-shaped curtain wall, which not only can clean a plane curtain wall, but also can realize continuous movement on a special-shaped surface because the multi-joint robot has a plurality of joints, rotates and moves in a manual window cleaning mode, and each joint can rotate, so that the technical problems that the joint robot is high in maintenance cost, unstable in performance and difficult to be suitable for cleaning the complex special-shaped curtain wall are solved.

The technical scheme of the invention is as follows: the multi-joint robot for cleaning the special-shaped curtain wall comprises a first base, wherein a first machine body is rotatably arranged on the first base, a first large arm is rotatably arranged on the first machine body, a second large arm is rotatably arranged on the first large arm, the other end of the second large arm is rotatably arranged on the second machine body, a second base is rotatably arranged below the second machine body, the rotating axes of the first machine body and the second machine body are symmetrically arranged, the rotating axes of the first large arm and the second large arm and the rotating axis between the first large arm and the second large arm are parallel to each other, and the rotating axes of the first machine body and the second machine body are perpendicular to the rotating axis of the first large arm;

the first base and the second base respectively comprise a base shell, each base shell is internally provided with an adsorption device, a waist rotating mechanism driven by a machine body servo motor is arranged above each adsorption device, and the lower end of each base shell is provided with a detachable cleaning cloth capable of being used for cleaning;

the first machine body and the second machine body respectively comprise machine body shells, a large arm servo motor is arranged in each machine body shell, and a speed reducing device is respectively arranged between each large arm servo motor and the first large arm and between each large arm servo motor and the second large arm;

first big arm and the big arm of second all include big arm casing, each all install a middle servo motor in the big arm casing, each middle servo motor with be equipped with a switching-over transmission between the big arm of first big arm and second respectively, each install an RV reduction gear between switching-over transmission and the middle servo motor that corresponds respectively.

As an improvement of the present invention, each of the adsorption devices includes an adsorption cavity disposed in the base housing, one end of each of the adsorption cavities is open, a vacuum-pumping negative pressure fan is disposed in each of the adsorption cavities, the other end of each of the adsorption cavities is communicated with an air duct for exhausting air from the vacuum-pumping negative pressure fan, and each of the air ducts is communicated with the outside of the corresponding base housing.

As an improvement of the present invention, each waist rotating mechanism comprises a first rotating shaft rotatably mounted in the base housing, a first bevel gear is mounted at a lower end of each first rotating shaft, each first bevel gear is respectively engaged with a second bevel gear mounted on the corresponding body servo motor, a first gear is mounted at an upper end of each first rotating shaft, and each first gear is engaged with an inner gear ring rotatably mounted in the corresponding base housing; each internal gear circle all with correspond fuselage casing passes through the bolt fastening.

As an improvement of the present invention, each of the speed reduction devices includes a first flange shaft and a second rotating shaft that are arranged in parallel with a motor shaft of the large arm servo motor, a flange end of each of the first flange shafts is fixedly connected to the corresponding large arm housing, a second gear is mounted on each of the first flange shafts, a third gear and a fourth gear are mounted on each of the second rotating shafts, each of the third gears is engaged with the corresponding second gear, and each of the fourth gears is engaged with a fifth gear mounted on the corresponding large arm servo motor.

As an improvement of the invention, the input end of each RV reducer is connected with the corresponding intermediate servo motor, and the output end of each RV reducer is provided with a third rotating shaft; each reversing transmission device comprises a second flange shaft which is rotatably arranged in the large arm shell, the flange end of each second flange shaft is fixedly connected with the corresponding large arm shell, a third bevel gear is arranged on each second flange shaft, and each third bevel gear is meshed with a fourth bevel gear arranged on the corresponding third rotating shaft.

As an improvement of the present invention, two ends of each first rotating shaft are respectively provided with a first bearing, each first gear is connected with the corresponding first rotating shaft through a key, and a second bearing is arranged between each inner gear ring and the corresponding base shell.

As an improvement of the present invention, each of the first flange shafts is fixed to the corresponding large arm housing by bolts, a third bearing is installed between each of the first flange shafts and the corresponding body housing, and a fourth bearing is also installed between each of the second rotating shafts and the corresponding body housing.

As an improvement of the present invention, each of the second flange shafts is fixed to the corresponding large arm housing by bolts, and a fifth bearing is installed between each of the second flange shafts and the corresponding large arm housing.

As an improvement of the invention, a circumferential groove for installing the cleaning cloth is formed on the circumferential surface of each base shell, the cleaning cloth is sleeved on the bottom surface of the base shell, and an elastic fixing ring is arranged on the cleaning cloth and is installed in the circumferential groove.

As an improvement of the invention, the first base, the second base, the first machine body, the second machine body, the first large arm and the second large arm are all structural members made of pom engineering plastics.

By adopting the technical scheme, the invention has the beneficial effects that: the multi-joint robot for cleaning the special-shaped curtain wall comprises a first base, wherein a first machine body is rotatably arranged on the first base, a first large arm is rotatably arranged on the first machine body, a second large arm is rotatably arranged on the first large arm, the other end of the second large arm is rotatably arranged on a second machine body, a second base is rotatably arranged below the second machine body, the rotating axes of the first machine body and the second machine body are symmetrically arranged, the rotating axes of the first large arm and the second large arm and the rotating axis between the first large arm and the second large arm are parallel to each other, and the rotating axes of the first machine body and the second machine body are perpendicular to the rotating axis of the first large arm; adopt above-mentioned mechanism, possess a plurality of joints, according to curtain position, size and shape, rotate through the joint and adjust the operation area, convenient safe clean dysmorphism curtain, first base and second base can regard as the stiff end alternately to shift and clean.

The first base and the second base respectively comprise a base shell, an adsorption device is arranged in each base shell, a waist rotating mechanism driven by a machine body servo motor is arranged above each adsorption device, and a detachable cleaning cloth capable of being used for cleaning is arranged at the lower end of each base shell;

the first machine body and the second machine body respectively comprise machine body shells, a large arm servo motor is arranged in each machine body shell, and a speed reducing device is respectively arranged between each large arm servo motor and the first large arm and between each large arm servo motor and the second large arm;

the first large arm and the second large arm respectively comprise large arm shells, a middle servo motor is installed in each large arm shell, a reversing transmission device is arranged between each middle servo motor and the first large arm and between each middle servo motor and the second large arm, and an RV reducer is installed between each reversing transmission device and the corresponding middle servo motor.

By adopting the structure, the cleaning device has a plurality of joints, so that the cleaning device can clean a common curtain wall or a special-shaped curtain wall, the waist rotating mechanism drives the first machine body to rotate, the window cleaning mode is similar to a manual mode, no mark is left, and the cleaning is cleaner; when the first base is used as a fixed end and the second base is used as a cleaning end, the second base is used for cleaning and wiping on a glass plane through the rotating fit among all joints; when the cleaning of this region finishes, first big arm and the big arm of second all keep with curtain parallel state, and the second base adsorbs on the curtain wall as the stiff end, and first base stops adsorbing, carries out work as clean end.

Each adsorption equipment all includes one and sets up the absorption chamber in the base casing, and the one end in every absorption chamber is all uncovered setting, all is equipped with a evacuation negative-pressure air fan in every absorption chamber, and the other end in every absorption chamber all communicates and has a wind channel that is used for evacuation negative-pressure air fan air-out, and each wind channel intercommunication corresponds the outside of base casing. The vacuum-pumping negative pressure fan adsorbs, so that the adsorption force is improved, and the falling is not easy.

The circumferential surface of each base shell is provided with a circumferential groove for installing cleaning cloth, the bottom surface of each base shell is sleeved with the cleaning cloth, and the cleaning cloth is provided with an elastic fixing ring which is arranged in the circumferential groove. The cleaning cloth is convenient to disassemble and replace, and the cleanliness is ensured.

Because first base, second base, first fuselage, second fuselage, first big arm and the big arm of second are the structure that pom engineering plastics made formed, pom engineering material texture is light and hard, has reduced the complete machine quality, makes it difficult to drop.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a cross-sectional view taken at A-A of FIG. 2;

FIG. 4 is a bottom view of the first base;

FIG. 5 is a control schematic of the present invention;

wherein: 1-a first base; 2-a first fuselage; 3-a first large arm; 4-the second big arm; 5-a second fuselage; 6-a second base; 7-a base housing; 8-an adsorption device; 9-vacuumizing a negative pressure fan; 10-an air duct; 11-a body servo motor; 12-a waist rotation mechanism; 13-a first rotating shaft; 14-a first bevel gear; 15-a second bevel gear; 16-a first gear; 17-internal gear ring; 18-a first bearing; 19-a second bearing; 20-a rag; 21-a circumferential groove; 22-elastic fixing ring; 23-a fuselage shell; 24-a large arm servo motor; 25-a reduction unit; 26-a first flange shaft; 27-a second axis of rotation; 28-a second gear; 29-a third gear; 30-a fourth gear; 31-fifth gear; 32-a third bearing; 33-a fourth bearing; 34-a large arm housing; 35-intermediate servo motor; 36-a reversing gear; 37-RV reducers; 38-third rotational axis; 39-a second flange shaft; 40-a fifth bearing; 41-third bevel gear; 42-a fourth bevel gear; 43-adsorption chamber.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The multi-joint robot for cleaning the special-shaped curtain wall as shown in fig. 1 to 5 comprises a first base 1, wherein a first machine body 2 is rotatably installed on the first base 1, a first big arm 3 is rotatably installed on the first machine body 2, a second big arm 4 is rotatably installed on the first big arm 3, the second big arm 4 is identical to the first big arm 3 in structure, a second machine body 5 is rotatably installed at the other end of the second big arm 4, the second machine body 5 is identical to the first machine body 2 in structure, a second base 6 is rotatably installed below the second machine body 5, the second base 6 is identical to the first base 1 in structure, the rotating axes of the first machine body 2 and the second machine body 5 are symmetrically arranged, the rotating axes of the first big arm 3 and the second big arm 4 and the rotating axes of the first big arm 3 and the second big arm 4 are parallel to each other, and the rotating axes of the first machine body 2 and the second machine body 5 are perpendicular to the rotating axes of the first big arm 3; first fuselage 2 can rotate along with first base 1, can rotate equally between first big arm 3 and the first fuselage 2, big arm 4 of second can rotate each other with first big arm 3 simultaneously, big arm 4 of second keeps away from first big arm 3 department and rotates equally on second fuselage 5, second fuselage 5 is rotatable on second base 6, whole robot mechanism possesses a plurality of joints, according to curtain position, size and shape, rotate through the joint, can adjust the operation area of clean dysmorphism curtain, first base and second base can be regarded as the stiff end alternately. The first base 1, the second base 6, the first machine body 2, the second machine body 5, the first large arm 3 and the second large arm 4 are all made of pom engineering plastics.

First base 1 and second base 6 all include a base housing 7, all install an adsorption equipment 8 in each base housing 7, adsorption equipment 8 all includes one and sets up the absorption chamber 43 in base housing 7, the equal uncovered setting of one end in each absorption chamber 43, each adsorbs the intracavity and all is equipped with a vacuum negative pressure positive air fan 9, the other end in each absorption chamber 43 all communicates there is the wind channel 10 that is used for vacuum negative pressure positive air fan 9 air-out, each wind channel 10 all communicates the outside that corresponds base housing 7, vacuum negative pressure positive air fan 9 adsorbs, the adsorption affinity has been improved, be difficult for dropping. A waist rotating mechanism 12 driven by a machine body servo motor 11 is arranged above the adsorption device 8, the waist rotating mechanism 12 comprises a first rotating shaft 13 rotatably arranged in the base shell 7, a first bevel gear 14 is arranged at the lower end of the first rotating shaft 13, the first bevel gear 14 is meshed with a second bevel gear 15 arranged on the machine body servo motor 11, a first gear 16 is arranged at the upper end of the first rotating shaft 13, and the first gear 16 is meshed with an inner gear ring 17 rotatably arranged in the base shell 7; first bearings 18 are respectively installed at two ends of the first rotating shaft 13, the first gear 16 and the first rotating shaft 13 are fixed through keys, a second bearing 19 is installed between the internal gear ring 17 and the base shell 7, and the internal gear ring 17 and the machine body shell 23 are fixed through bolts.

7 lower extreme settings of base casing 7 can be used to clear dismantlement formula rag 20, be provided with the circumference recess 21 that is used for installing rag 20 on base casing 7 global, the 7 bottom surfaces of base casing are established to rag 20 cover, be provided with the solid fixed ring of elasticity 22 on the rag 20, the solid fixed ring of elasticity 22 is installed in circumference recess 21, when the installation dismantlement formula rag 20, through dismantling the solid fixed ring of installation elasticity 22, with rag 20 joint income recess 21 or from the inside taking off of recess 21.

The first machine body 2 and the second machine body 5 both comprise machine body shells 23, the machine body shells 23 and the waist rotating mechanism 12 are fixed through bolts, large arm servo motors 24 are installed in the machine body shells 23, and a speed reducing device 25 is installed between each large arm servo motor 24 and the first large arm 3 and the second large arm 4 respectively; the speed reducer 25 includes a first flange shaft 26 and a second rotating shaft 27 which are arranged in parallel with a motor shaft of the large arm servo motor 24, a flange end of the first flange shaft 26 is fixed to the large arm housing 34 through bolts, a second gear 28 is mounted on the first flange shaft 26, a third gear 29 and a fourth gear 30 are mounted on the second rotating shaft 27, the third gear 29 is engaged with the second gear 28, and the fourth gear 30 is engaged with a fifth gear 31 mounted on the large arm servo motor 24. The servo motor 24 drives the fifth gear 31 to rotate, and further the fourth gear 30 meshed with the fifth gear 31 rotates, meanwhile, the first flange shaft 26 rotates to drive the second gear 28 on the first flange shaft 26 to rotate, and because the gear numbers of the second gear 28 and the fourth gear 30 are inconsistent, the operation of the speed reducer 25 can be effectively realized, the third bearing 32 is installed between the first flange shaft 26 and the body shell 23, and the fourth bearing 33 is installed between the second rotating shaft 27 and the body shell 23.

The first large arm 3 and the second large arm 4 both comprise large arm shells 34, a middle servo motor 35 is installed in each large arm shell 34, a reversing transmission device 36 is further arranged between each middle servo motor 35 and the corresponding second large arm 4, and an RV reducer 37 is further installed between each reversing transmission device 36 and each middle servo motor 35. The input end of the RV reducer 37 is connected with the middle servo motor 35, and the output end of the RV reducer 37 is provided with a third rotating shaft 38; the reversing transmission device 36 comprises a second flange shaft 39 rotatably mounted in the large arm shell 34, a fifth bearing 40 is mounted between the second flange shaft 39 and the large arm shell 34, a flange end of the second flange shaft 39 is fixed with the corresponding large arm shell 34 through a bolt, a third bevel gear 41 is mounted on the second flange shaft 39, the third bevel gear 41 is meshed with a fourth bevel gear 42 mounted on the third rotating shaft 38, the third rotating shaft 38 is driven to rotate through the servo motor 35, the second flange shaft 39 is further driven to rotate, the third bevel gear 41 and the fourth bevel gear 42 are driven to rotate in a meshed mode, and the angle between the first large arm 3 and the second large arm 4 is adjusted.

Because this embodiment robot possess a plurality of joints, consequently can accomplish the multi-angle rotation and the laminating of special-shaped curtain of clean end, realize the high efficiency cleaning work of special-shaped curtain. The waist rotating mechanism 12 drives the first machine body 2 to rotate, the window cleaning mode is similar to a manual mode, no mark is left, and the cleaning is cleaner; when the first base 1 is used as a fixed end, the second base 6 is used as a cleaning end, the vacuumizing negative pressure fan 9 in the first base 1 works to enable the first base 1 to be adsorbed on a curtain wall, the large-arm servo motor 24 and the middle servo motor 35 also work simultaneously to enable the cleaning end to be attached to the surface of the curtain wall, the machine body servo motor 11 works to enable the first machine body 2 to rotate through the waist rotating mechanism 12, and the first machine body 2 drives the cleaning end to move on the curtain wall to finish cleaning work; the boom servo motor 24 rotates the first boom 3 through the reduction gear 25, while the intermediate servo motor 35 drives the boom housing 34 to rotate through the RV reducer 37 and the reversing gear 36, thereby changing the distance between the first chassis 1 and the second chassis 6, so that the cleaning work area is changed; when the cleaning of the operation area is finished, the big arm servo motor 24 enables the first big arm 3 to rotate through the speed reducer 25, meanwhile, the middle servo motor 35 drives the big arm shell 34 to rotate through the RV speed reducer 37 and the reversing transmission device 36, so that the first big arm 3 and the second big arm 4 are kept in a parallel state with the curtain wall, the vacuum-pumping negative pressure fan 9 in the second base 6 works, the second base 6 is firstly adsorbed on the curtain wall to serve as a fixed end, and the vacuum-pumping negative pressure fan 9 in the first base 1 stops adsorbing and works as a cleaning end; or the first base 1 and the second base 6 alternately rotate and adsorb, so that the moving and cleaning processes of the multi-joint robot are realized.

In this embodiment, the control of the body servo motor 11, the large arm servo motor 24 and the middle servo motor 35 is performed by using a PC + servo card control method; the PC + servo card is connected with a 5G communication module, and further can be controlled in real time at the mobile phone end, and the control principle of the PC + servo card on the body servo motor 11, the boom servo motor 24 and the middle servo motor 35 is well known to those skilled in the art and is not described herein again.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.