CN115104943B - A high-altitude glass cleaning vehicle based on a new Mecanum wheel and its use method - Google Patents

Abstract

The invention relates to the field of wall mobile robots, specifically a high-altitude glass cleaning vehicle based on a new Mecanum wheel and a method of using the same. The high-altitude glass cleaning vehicle includes: a parallel wheel mechanism, a new Mecanum wheel, a roller wing, and a rotating mechanism. , bottom plate mechanism, water spray mechanism, buffer mechanism, and wiping mechanism. The specific steps are as follows: Step 1: The drum wing starts to rotate; Step 2: The new Mecanum wheel is firmly adsorbed on the surface of the glass; Step 3: Spray water The mechanism starts to spray water mist on the glass surface; Step 4: The motor in the wiping mechanism starts to operate; Step 5: Adjust the distance between the bottom plate mechanism and the glass surface; Step 6: The high-altitude glass cleaning vehicle moves forward, and the wiping cloth wipes the glass surface as it moves forward. When wiping, the present invention can replace human labor and save labor costs. At the same time, it has a high degree of automation, high work efficiency, and the speed and quality of work are much higher than human labor.

Description

A high-altitude glass cleaning vehicle based on a new Mecanum wheel and its use method

Technical field

The invention relates to the field of wall mobile robots, specifically a high-altitude glass cleaning vehicle based on a new type of Mecanum wheel and a method of using the same.

Background technique

Wall cleaning robots are used in glass cleaning operations on high-altitude floors. They are a type of mobile service robot that can move on vertical walls or tops to complete cleaning operations on their outer surfaces.

The outer walls of high-rise buildings are generally made of glass material. The surface area is very large and the height is close to one hundred meters. The surface is smooth and there are no handrails for climbing. This makes cleaning the walls of high-rise buildings very difficult and there are major problems. Dangerous and expensive to clean. At present, the cleaning work of high-rise buildings is generally done manually. We call these workers spider-men. This traditional cleaning method is extremely dangerous. The use of wall cleaning robots will greatly reduce the cleaning costs of high-rise buildings, improve the working environment of workers, and increase labor productivity. It has certain social and economic significance and broad application prospects. The successful development of this project will realize the automation of cleaning operations.

Currently, the main adsorption functions of wall cleaning robots on the market are divided into three categories: magnetic adsorption, vacuum adsorption, and thrust adsorption.

Vacuum adsorption uses a vacuum generating device to generate negative pressure in the inner cavity of the suction cup. The robot uses the pressure difference between the inside and outside of the suction cup to adhere to the wall. The vacuum adsorption method is not limited by the material of the wall and has a wide range of adaptability. However, when the surface of the wall is uneven, the suction cup is prone to air leakage, resulting in reduced adsorption force and reduced load-bearing capacity.

The magnetic adsorption method requires that the wall must be made of magnetically permeable material, but it has a simple structure, strong adsorption force, and strong adaptability to the unevenness of the wall. It does not have the air leakage problem of the vacuum adsorption method. Therefore, when the wall material is magnetically permeable, the magnetic adsorption method is used. Wall-climbing robots have outstanding advantages. The magnetic adsorption method is divided into two ways of generating magnetic force: permanent magnets and electromagnets.

Thrust adsorption draws on force aviation technology and uses propellers or ducted fans to generate appropriate thrust so that the robot can stably and reliably attach to the wall and move on the wall. This adsorption method has the advantages of good wall adaptability and easy obstacle crossing, but the control system is complicated.

Contents of the invention

In order to solve the above problems, the present invention proposes a high-altitude glass cleaning vehicle based on a new type of Mecanum wheel and a method of using the same.

A high-altitude glass cleaning vehicle based on the new Mecanum wheel, including:

Parallel mechanism for connecting components;

The new Mecanum wheel is installed on the parallel wheel mechanism and is used to absorb the glass surface so that the cleaning vehicle can work on the glass surface;

The roller wing is installed on the parallel wheel mechanism and applies pressure to the cleaning vehicle through rolling, thereby realizing the adsorption of the cleaning vehicle to the glass surface;

The rotating mechanism is installed on the parallel wheel mechanism and serves as a medium to connect components;

The bottom plate mechanism is installed on the parallel wheel mechanism through a rotating mechanism and is used to support and connect components;

The water spray mechanism is installed on the bottom plate mechanism and is used to wet the glass surface;

The buffer mechanism is installed on the base plate mechanism and is used to buffer and reduce vibration;

The wiping mechanism is installed on the bottom plate mechanism through the buffer mechanism and is used to wipe the glass surface.

As a further improvement of the present invention, the parallel turbine mechanism includes a parallel turbine box, connecting shafts one and two respectively installed on the left and right sides of the parallel turbine box, and a support plate one installed above the parallel turbine box.

As a further improvement of the present invention, the new Mecanum wheel includes a spoke, a connecting hole connected to two connecting shafts, a number of mandrels evenly distributed along the circumferential direction of the spokes, and a plurality of mandrels with rings installed on the corresponding mandrels. Micro suction cup rollers.

As a further improvement of the present invention, the drum wing includes a drum wing connecting plate connected to the support plate, a support frame arranged above the drum wing connecting plate, a drum disk installed on the support frame, and a drum disk installed in the middle of the drum wing. of paddles.

As a further improvement of the present invention, the rotating mechanism includes a rotating ring one connected to the connecting shaft one in the parallel wheel mechanism, a rotating ring two connected to the base plate mechanism, and a rotating ring located between the rotating ring one and the rotating ring The two rotating mechanisms connect the shafts.

As a further improvement of the present invention, the bottom plate mechanism includes a main support plate of the bottom plate mechanism, a bottom plate mechanism connecting shaft provided on the main support plate of the bottom plate mechanism, and a connecting nut connected to the buffer mechanism. The water spray mechanism is provided in front of the bottom plate mechanism. above.

As a further improvement of the present invention, the water spray mechanism includes a water storage tank and a sprinkler head connected to the water storage tank.

As a further improvement of the present invention, the buffer mechanism includes a connecting bolt that matches the connecting nut in the base plate mechanism, a buffer mechanism connecting hole provided on the connecting bolt and connected to the wiping mechanism, and a connecting bolt provided on the connecting bolt for cleaning. The shock-absorbing spring has a shock-absorbing effect on the entire car.

As a further improvement of the present invention, the wiping mechanism includes a wiping mechanism connecting shaft connected to the buffering mechanism connecting hole in the buffering mechanism, a wiping cloth arranged on the periphery of the wiping mechanism connecting shaft, and a wiping cloth installed at both ends and in the middle of the wiping mechanism. The transmission roller and the motor connected to the upper transmission roller.

As another improvement of the present invention, a method of using a high-altitude glass cleaning vehicle based on a new type of Mecanum wheel is proposed. The specific steps are as follows:

Step 1: The drum wing starts to rotate. By adjusting the angle of the paddle, the drum wing exerts pressure on the cleaning vehicle;

Step 2: After the roller wing applies pressure, the micro-suction cups on the new Mecanum wheel are firmly adsorbed on the surface of the glass due to the pressure, allowing the high-altitude glass cleaning vehicle to maintain a vertical position on the glass surface;

Step 3: The water spray mechanism starts to spray water mist on the glass surface to moisten the glass surface;

Step 4: The motor in the wiping mechanism starts to operate, causing the transmission roller to start rotating and driving the wiping cloth to start operating;

Step 5: The rotating mechanism rotates around the connecting axis in the parallel wheel mechanism within a range of 25° to adjust the distance between the bottom plate mechanism and the glass surface so that the wiper fully contacts the glass surface;

Step 6: The high-altitude glass cleaning vehicle moves forward, and the wiping cloth wipes the glass surface as it moves forward.

The beneficial effects of the invention are: the invention can replace human labor, save labor costs, have a high degree of automation, high work efficiency, and the speed and quality of work are much higher than human labor; it has strong adsorption and free movement on the glass. It can move safely and freely, reducing the danger of cleaning glass at high altitudes and reducing casualties; it is environmentally friendly, meets the national environmental protection requirements, and does not produce any waste; it has high durability and can work for a long time without being damaged.

Description of the drawings

The present invention will be further described below in conjunction with the accompanying drawings and examples.

Figure 1 is a schematic three-dimensional top view of the present invention;

Figure 2 is an overall top view of the present invention;

Figure 3 is a perspective view of the parallel wheel mechanism of the present invention;

Figure 4 is a perspective view of the new Mecanum wheel in the present invention;

Figure 5 is a perspective view of the roller wing in the present invention;

Figure 6 is a perspective view of the bottom plate mechanism of the present invention;

Figure 7 is a perspective view of the water spray mechanism in the present invention;

Figure 8 is a perspective view of the wiping mechanism in the present invention;

Figure 9 is a perspective view of the rotating mechanism in the present invention;

Figure 10 is a perspective view of the buffer mechanism in the present invention;

Figure 11 is a front structural view of the parallel wheel mechanism in the present invention;

Figure 12 is a side structural view of the parallel wheel mechanism in the present invention;

Figure 13 is a top structural view of the parallel wheel mechanism in the present invention;

Figure 14 is a front structural view of the wiping mechanism in the present invention;

Figure 15 is a side structural view of the wiping mechanism in the present invention;

Figure 16 is a top structural view of the wiping mechanism in the present invention;

Figure 17 is a schematic enlarged structural diagram of part A of Figure 7 in the present invention;

In the picture: 1. Parallel wheel mechanism; 1-1, parallel wheel machine box; 1-2, connecting shaft one; 1-3, connecting shaft two; 1-4, supporting plate one; 2. New Mecanum wheel; 2 -1. Spoke; 2-2. Mandrel; 2-3. Roller with micro suction cup; 2-4. Connection hole; 3. Drum wing; 3-1. Drum wing connecting plate; 3-2; Support frame ;3-3. Drum disc; 3-4. Propellers; 4. Rotating mechanism; 4-1. Rotating ring one; 4-2. Rotating mechanism connecting shaft; 4-3. Rotating ring two; 5. Bottom plate mechanism; 5-1, main support plate of the bottom plate mechanism; 5-2, connecting nut; 5-3, bottom plate mechanism connecting shaft; 6, water spray mechanism; 6-1, water storage tank; 6-2, sprinkler head; 7. Buffering mechanism; 7-1. Buffering mechanism connection hole; 7-2. Shock absorbing spring; 7-3. Connecting bolts; 8. Wiping mechanism; 8-1. Transfer roller; 8-2. Wiping cloth; 8-3. Electric motor; 8-4. Wiping mechanism connecting shaft; 9. New Mecanum wheel set one; 10. New Mecanum wheel set two; 11. New Mecanum wheel set three; 12. New Mecanum wheel set four .

Detailed ways

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further elaborated below.

As shown in Figures 1 to 17, a high-altitude glass cleaning vehicle based on the new Mecanum wheel includes:

The parallel wheel mechanism 1 is used to connect components and provide support for the roller wing 3;

The new Mecanum wheel 2 is installed on the parallel wheel mechanism 1 and is used to absorb the glass surface so that the cleaning vehicle can work on the glass surface;

The roller wing 3 is installed on the parallel wheel mechanism 1, and exerts pressure on the cleaning vehicle through rolling, thereby realizing the adsorption of the cleaning vehicle to the glass surface;

The rotating mechanism 4 is installed on the parallel wheel mechanism 1 and serves as a medium to realize component connection;

The bottom plate mechanism 5 is installed on the parallel wheel mechanism 1 through the rotating mechanism 4. It is used to support and connect components. As the core part of the overall mechanism, it connects the entire device and provides water spray mechanism 6, wiping mechanism 8, and rotating mechanism 4. support;

The water spray mechanism 6 is installed on the bottom plate mechanism 5 and is used to wet the glass surface;

The buffer mechanism 7 is installed on the base plate mechanism 5 and is used to buffer and reduce vibration;

The wiping mechanism 8 is installed on the bottom plate mechanism 5 through the buffer mechanism 7 and is used for wiping the glass surface.

The invention can replace human labor and save labor costs. At the same time, it has a high degree of automation, high work efficiency, and the speed and quality of work are much higher than that of human labor. It has strong adsorption and free mobility and can move safely and freely on the glass, reducing the It eliminates the danger of wiping glass at high altitudes and reduces casualties; it is environmentally friendly and complies with national environmental protection requirements and does not produce any waste; it has high durability and can work for a long time without being damaged.

The parallel turbine mechanism 1 includes a parallel turbine box 1-1, a connecting shaft 1-2 and a connecting shaft 2 1-3 respectively installed on the left and right sides of the parallel turbine box 1-1. -1 support plate above -1-4.

By rotating the drum wing 3, pressure is generated to adsorb the micro-suction cup array on the new Mecanum wheel 2 to the glass surface. Then the new Mecanum wheel 2 rotates under the control of the control chip, driving the device along the glass surface from left to top. Wipe the dust from the right; when it reaches the end, the device will realize in-situ steering and lateral movement through the special function of the new Mecanum wheel 2; then the device will wipe from right to left, and so on in the subsequent process.

The parallel turbine box 1-1 is provided with several sets of power sources inside, two of which are used to control the rotation of the new Mecanum wheel 2 connected thereto, and the other is used to control the angle adjustment of the rotating mechanism 4; The pressure generated by the supported roller wing 3 during operation will be directly applied to the parallel wheel mechanism 1 and then to the new Mecanum wheel 2. It has no direct impact on the base plate mechanism 5 and helps to protect the bearings of the connecting parts and increase Device durability.

The new Mecanum wheel 2 includes spokes 2-1, a connecting hole 2-4 connected to the connecting shaft 2-3, a number of mandrels 2-2 evenly distributed along the circumferential direction of the spokes 2-1, and installation. A roller 2-3 with micro-suction cups on the corresponding mandrel 2-2, wherein the micro-suction cups are also evenly arranged on the outer surface of the roller 2-3.

Further, the new Mecanum wheel 2 is divided into four groups, namely the new Mecanum wheel set 9 on the upper left, the new Mecanum wheel set 210 on the upper right, and the new Mecanum wheel set 10 on the lower right. Three 11, the new Mecanum wheel set four 12 on the lower left; the new Mecanum wheel set one 9 and the new Mecanum wheel set three 11 are composed of the same new Mecanum wheel, and the new Mecanum wheel set two 10 and the new Mecanum wheel set 4 and 12 are composed of another new Mecanum wheel. The relationship between the two new Mecanum wheels is a mirror image; the rollers 2-3 with micro suction cups and the spokes 2 -1 forms an included angle. When the new Mecanum wheel 2 rotates, due to the decomposition and synthesis of forces, multiple force directions such as forward, sideways, and closed vector circles can be formed to realize the advancement and lateral movement of the device. Various movement methods such as ground steering and tilt shift.

The use of wall cleaning robots will greatly reduce the cleaning costs of high-rise buildings, improve the working environment of workers, and increase labor productivity. It has certain social and economic significance and broad application prospects, and can realize the automation of cleaning operations.

The roller wing 3 includes a roller wing connection plate 3-1 connected to the support plate 1-4, a support frame 3-2 arranged above the drum wing connection plate 3-1, and a support frame 3-2 installed on the support frame 3-2. The drum disk 3-3 and the paddles 3-4 are installed in the middle of the drum wing 3. There are several paddles 3-4 and they are evenly arranged along the circumferential direction of the drum wing 3.

The rotating mechanism 4 includes a rotating ring 4-1 connected to the connecting shaft 1-2 in the parallel wheel mechanism 1, a rotating ring 4-3 connected to the bottom plate mechanism 5, and a rotating ring 4-3 located in the rotating ring. The rotating mechanism between the first 4-1 and the rotating ring 2 4-3 connects the shaft 4-2.

The rotating mechanism 4 also has the function of rotating and adjusting the angle, so that the bottom plate mechanism 5 and the glass surface form different angles.

The base plate mechanism 5 includes a base plate mechanism main support plate 5-1, a base plate mechanism connecting shaft 5-3 provided on the base plate mechanism main support plate 5-1, and a connecting nut 5-2 connected to the buffer mechanism 7. The water mechanism 6 is arranged directly above the bottom plate mechanism 5 .

The water spray mechanism 6 is installed inside the bottom plate mechanism 5. By adjusting the water pressure, the spray head 6-2 can spray water in the form of water column and water mist as needed to achieve the most suitable effect of moistening the glass surface.

The water spray mechanism 6 includes a water storage tank 6-1 and a sprinkler head 6-2 connected to the water storage tank 6-1.

The buffer mechanism 7 includes a connecting bolt 7-3 that matches the connecting nut 5-2 in the bottom plate mechanism 5, a buffer mechanism connecting hole 7-1 provided on the connecting bolt 7-3 and connected to the wiping mechanism 8, A shock-absorbing spring 7-2 is provided on the connecting bolt 7-3 to exert a shock-absorbing effect on the entire cleaning vehicle.

The wiping mechanism 8 is connected to the bottom plate mechanism 5 through the buffering mechanism 7; the buffering mechanism 7 has a shock-absorbing spring 7-2, which can well adjust the pressure between the wiping mechanism 8 and the glass surface to achieve full wiping. Effect.

The wiping mechanism 8 includes a wiping mechanism connecting shaft 8-4 connected to the buffering mechanism connecting hole 7-1 in the buffering mechanism 7, a wiping cloth 8-2 provided on the periphery of the wiping mechanism connecting shaft 8-4, and a wiping mechanism connecting shaft 8-4. The two ends of the wiper 8-2 and the transmission roller 8-1 in the middle, and the motor 8-3 connected with the upper transmission roller 8-1.

When wiping, the wiping cloth 8-2 will accumulate dust and gradually become dirty, causing the wiping effect to decrease. At this time, the transmission roller 8-1 can be driven by the motor 8-3 to rotate the other side of the wiping cloth to the glass surface. ; The timing of rotation is controlled by an external control system, and there is a chip inside the robot to predict the time when the wiper needs to change sides.

A method of using a high-altitude glass cleaning vehicle based on the new Mecanum wheel. The specific steps are as follows:

Step 1: The drum wing 3 starts to rotate. By adjusting the angle of the blades 3-4, the drum wing 3 exerts pressure on the cleaning vehicle;

Step 2: After the roller wing 3 applies pressure, the micro-suction cups on the new Mecanum wheel 2 are firmly adsorbed on the surface of the glass due to the pressure, allowing the high-altitude glass cleaning vehicle to maintain a vertical state on the glass surface;

Step 3: The water spray mechanism 6 starts to spray water mist on the glass surface to moisten the glass surface;

Step 4: The motor 8-3 in the wiping mechanism 8 starts to operate, causing the transmission roller 8-1 to start rotating, and driving the wiping cloth 8-2 to start operating;

Step 5: The rotating mechanism 4 rotates around the connecting axis 1-2 in the parallel wheel mechanism 1 within the range of 25°, and adjusts the distance between the bottom plate mechanism 5 and the glass surface, so that the wiper 8-2 fully contacts the glass surface. ;

Step 6: The high-altitude glass cleaning vehicle moves forward, and the wiping cloth 8-2 wipes the glass surface as it moves forward.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and descriptions is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various modifications. These changes and improvements all fall within the scope of the claimed invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims (8)

1. A high-altitude glass cleaning vehicle based on the new Mecanum wheel, which is characterized by: including: Parallel wheel mechanism (1), used to connect components; The new Mecanum wheel (2) is installed on the parallel wheel mechanism (1) and is used to absorb the glass surface so that the cleaning vehicle can work on the glass surface; The roller wing (3) is installed on the parallel wheel mechanism (1) and applies pressure to the cleaning vehicle through rolling, thereby realizing the adsorption of the cleaning vehicle to the glass surface; The rotating mechanism (4) is installed on the parallel wheel mechanism (1) and serves as a medium for connecting components; The bottom plate mechanism (5) is installed on the parallel wheel mechanism (1) through the rotating mechanism (4) and is used to support and connect components; The water spray mechanism (6) is installed on the bottom plate mechanism (5) and is used to wet the glass surface; The buffer mechanism (7) is installed on the base plate mechanism (5) and is used to buffer and reduce vibration; The wiping mechanism (8) is installed on the base plate mechanism (5) through the buffering mechanism (7) and is used to wipe the glass surface; The parallel turbine mechanism (1) includes a parallel turbine box (1-1), a connecting shaft one (1-2) and a connecting shaft two (1) respectively installed on the left and right sides of the parallel turbine box (1-1). -3), a support plate (1-4) installed above the parallel wheel machine box (1-1); the rotating mechanism (4) includes a connecting shaft (1-2) with the parallel wheel mechanism (1) ), a rotating ring one (4-1) connected to the bottom plate mechanism (5), a rotating ring two (4-3) connected to the bottom plate mechanism (5), located between the rotating ring one (4-1) and the rotating ring two (4 -3); the rotating mechanism (4) also has the function of rotating and adjusting the angle, so that the bottom plate mechanism 5 and the glass surface form different angles; the rotating mechanism (4) revolves around The connecting shaft one (1-2) in the parallel wheel mechanism (1) rotates within the range of 25° to adjust the distance between the bottom plate mechanism (5) and the glass surface, so that the wiping mechanism fully contacts the glass surface. 2. A high-altitude glass cleaning vehicle based on a new Mecanum wheel according to claim 1, characterized in that: the new Mecanum wheel (2) includes a spoke (2-1) and a connecting shaft. (1-3) connecting holes (2-4), several mandrels (2-2) evenly distributed along the circumferential direction of the spokes (2-1), installed on the corresponding mandrels (2-2) of rollers (2-3) with micro suction cups. 3. A high-altitude glass cleaning vehicle based on the new Mecanum wheel according to claim 1, characterized in that: the roller wing (3) includes a roller wing connection connected to the support plate (1-4) plate (3-1), a support frame (3-2) arranged above the drum wing connecting plate (3-1), a drum disk (3-3) installed on the support frame (3-2), and The propeller wing (3-4) in the middle of the drum wing (3). 4. A high-altitude glass cleaning vehicle based on the new Mecanum wheel according to claim 1, characterized in that: the base plate mechanism (5) includes a base plate mechanism main support plate (5-1), The base plate mechanism connecting shaft (5-3) on the main support plate (5-1) of the mechanism and the connecting nut (5-2) connected to the buffer mechanism (7). The water spray mechanism (6) is provided on the base plate mechanism. (5) Directly above. 5. A high-altitude glass cleaning vehicle based on a new Mecanum wheel according to claim 1, characterized in that: the water spray mechanism (6) includes a water storage tank (6-1) and a water storage tank (6 -1) Connected nozzle (6-2). 6. A high-altitude glass cleaning vehicle based on the new Mecanum wheel according to claim 4, characterized in that: the buffer mechanism (7) includes a connecting nut (5-2) in the bottom plate mechanism (5) ) matching connecting bolt (7-3), a buffer mechanism connecting hole (7-1) provided on the connecting bolt (7-3) and connected to the wiping mechanism (8), and a connecting hole (7-1) provided on the connecting bolt (7-3) The shock-absorbing spring (7-2) is used to absorb shock to the entire cleaning vehicle. 7. A high-altitude glass cleaning vehicle based on the new Mecanum wheel according to claim 6, characterized in that: the wiping mechanism (8) includes a connecting hole (7) with the buffering mechanism in the buffering mechanism (7) -1) The connected wiping mechanism connecting shaft (8-4), the wiping cloth (8-2) arranged on the periphery of the wiping mechanism connecting shaft (8-4), and the wiping cloth (8-2) installed at both ends and in the middle The transmission roller (8-1) and the motor (8-3) connected with the upper transmission roller (8-1). 8. A method of using a high-altitude glass cleaning vehicle based on a new type of Mecanum wheel according to any one of claims 1 to 7, characterized in that the specific steps are as follows: Step 1: The drum wing (3) starts to rotate. By adjusting the angle of the propeller wing (3-4), the drum wing (3) exerts pressure on the cleaning vehicle; Step 2: After the roller wing (3) applies pressure, the micro-suction cups on the new Mecanum wheel (2) are firmly adsorbed on the surface of the glass due to the pressure, allowing the high-altitude glass cleaning vehicle to maintain a vertical state on the glass surface; Step 3: The water spray mechanism (6) starts to spray water mist on the glass surface to moisten the glass surface; Step 4: The motor (8-3) in the wiping mechanism (8) starts to operate, causing the transmission roller (8-1) to start rotating, driving the wiping cloth (8-2) to start operating; Step 5: The rotating mechanism (4) rotates around the connecting shaft (1-2) in the parallel wheel mechanism (1) within the range of 25°, adjust the distance between the bottom plate mechanism (5) and the glass surface, and then make the wiping cloth (8-2) Full contact with the glass surface; Step 6: The high-altitude glass cleaning vehicle moves forward, and the wiping cloth (8-2) wipes the glass surface while moving forward.