Cleaning robot

Abstract

The present invention provides a cleaning robot, comprising a robot body, a walking device, an adsorption device and a pneumatic pick, wherein the walking device, the adsorption device and the pneumatic pick are arranged on the robot body, the adsorption device is used to adsorb a working surface, the walking device is used to drive the robot body to walk along the working surface, and the pneumatic pick is used to perform a cleaning operation on an object to be cleaned. The present invention is conducive to improving the cleaning effect.

Description

Technical Field

[0001] The invention relates to walking equipment technology, in particular to a cleaning robot. Background Art

[0002] With the rapid development of modern society and science and technology, cleaning robots are being increasingly used in various complex environments.

[0003] The existing cleaning robot includes a robot body, a track device and a cleaning device. The track device and the cleaning device are arranged on the robot body. The track device includes a driving wheel, a track member and a magnetic device. The magnetic device is arranged on the surface of the track member. The track member can be adsorbed on the working surface through the magnetic device. In addition, the track member is mounted on the driving wheel and meshed with the driving wheel. The driving wheel is used to drive the track member to operate, so that the track device can walk on the working surface, and then drive the robot body to move along the working surface. At the same time, the cleaning device can perform cleaning operations on the objects to be cleaned.

[0004] Existing cleaning robots usually use cleaning devices such as water guns or roller brushes to clean the objects to be cleaned, but cannot thoroughly clean the dirt or rust on the objects to be cleaned, thus resulting in a poor cleaning effect. Summary of the invention

[0005] The invention provides a cleaning robot to improve the cleaning effect.

[0006] The present invention provides a cleaning robot, comprising a robot body, a walking device, an adsorption device and a pneumatic pick, wherein the walking device, the adsorption device and the pneumatic pick are arranged on the robot body, the adsorption device is used for adsorbing a working surface, the walking device is used for driving the robot body to walk along the working surface, and the pneumatic pick is used for performing cleaning operations on objects to be cleaned.

[0007] Based on the above, the cleaning robot provided by the present invention can, when in use, adsorb the working surface through the adsorption device, and drive the robot body to walk along the working surface through the walking device, while performing cleaning operations on the object to be cleaned through the pneumatic pick. Since the pneumatic pick can continuously impact the dirt or rust on the object to be cleaned, the dirt or rust with higher hardness can be crushed and cleaned, thereby helping to improve the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A schematic diagram of the structure of a cleaning robot provided by an embodiment of the present invention;

[0009] Figure 2 A bottom view of a cleaning robot provided by an embodiment of the present invention;

[0010] Figure 3A schematic diagram of a partial structure of a cleaning robot provided by an embodiment of the present invention;

[0011] Figure 4 A schematic diagram of the structure of a walking device of a cleaning robot provided by an embodiment of the present invention;

[0012] Figure 5 A schematic diagram of a partial structure of a walking device of a cleaning robot provided by an embodiment of the present invention;

[0013] Figure 6 A front view of an adsorption device of a cleaning robot provided by an embodiment of the present invention;

[0014] Figure 7 A three-dimensional diagram of an adsorption device of a cleaning robot provided in an embodiment of the present invention.

[0015] Reference numerals:

[0016] 100: adsorption device; 101: adsorption member; 102: connection plate;

[0017] 103: elastic member; 104: guide device; 105: connecting rod;

[0018] 106: first pin; 107: perforation; 108: stopper;

[0019] 109: guide wheel; 110: second pin shaft; 111: frame;

[0020] 112: magnetic block; 201: robot body; 202: walking device;

[0021] 203: first main body; 204: hinge; 205: second main body;

[0022] 206: first rotating shaft; 207: second rotating shaft; 208: bracket;

[0023] 209: first connecting frame; 210: second connecting frame; 211: driven wheel;

[0024] 212: driven wheel shaft; 213: driving wheel; 214: driving wheel shaft;

[0025] 215: track member; 216: limit system; 217: limit part;

[0026] 218: screw rod; 219: limit device; 220: threaded hole;

[0027] 221: transmission chain; 222: limiting groove; 223: clamping device;

[0028] 224: pressing plate; 225: pressing wheel; 226: wheel body;

[0029] 227: limiting protrusion; 228: elastic device; 229: pneumatic pick;

[0030] 230: connecting seat; 231: first connecting member; 232: supporting arm;

[0031] 233: Second connecting piece. DETAILED DESCRIPTION

[0032] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0033] Please refer to Figure 1 An embodiment of the present invention provides a cleaning robot, including a robot body 201, a walking device 202, an adsorption device 100 and a pneumatic pick 229. The walking device 202, the adsorption device 100 and the pneumatic pick 229 are arranged on the robot body 201. The adsorption device 100 is used to adsorb the working surface, the walking device 202 is used to drive the robot body 201 to walk along the working surface, and the pneumatic pick 229 is used to clean the object to be cleaned.

[0034] When in use, the cleaning robot in this embodiment can adsorb the working surface through the adsorption device 100, and drive the robot body 201 to walk along the working surface through the walking device 202, and at the same time perform cleaning operations on the object to be cleaned through the pneumatic pick 229. Since the pneumatic pick 229 can continuously impact the dirt or rust on the object to be cleaned, it can crush and clean the dirt or rust with higher hardness, thereby helping to improve the cleaning effect.

[0035] In this embodiment, preferably, the cleaning robot further includes a connection seat 230, the connection seat 230 includes a first connection member 231, a support arm 232, and a second connection member 233, the first connection member 231 is connected to the first end of the support arm 232 and connected to the pneumatic pick 229, and the second end of the support arm 232 is connected to the robot body 201 through the second connection member 233. Thus, the pneumatic pick 229 can be conveniently connected to the robot body 201 through the connection seat 230, and the pneumatic pick 229 can be formed into a set posture through the support of the support arm 232, thereby improving the convenience of the cleaning operation.

[0036] In this embodiment, preferably, the pneumatic pick 229 is provided with a clamping portion, and the first connecting member 231 is a clamping holder, which is clamped and connected with the clamping portion of the pneumatic pick 229. Thus, the pneumatic pick 229 can be conveniently installed and disassembled.

[0037] In this embodiment, preferably, the second connecting member 233 is a connecting shaft, and the support arm 232 is rotatably connected to the robot body 201 via the connecting shaft. Thus, the support arm 232 can drive the pneumatic pick 229 to rotate relative to the robot body 201 with the connecting shaft as the center, so that the position of the pneumatic pick 229 can be conveniently adjusted, thereby improving the convenience of the cleaning operation.

[0038] In this embodiment, preferably, the connecting shaft is arranged along the height direction of the robot body 201. Thus, the support arm 232 can drive the pneumatic pick 229 to rotate in a plane parallel to the working surface, so that the position of the pneumatic pick 229 can be conveniently adjusted, so that the pneumatic pick 229 can conveniently clean the objects to be cleaned located around the cleaning robot, thereby improving the convenience of the cleaning operation.

[0039] In this embodiment, preferably, the support arm 232 is a universal support arm 232. Thus, the convenience of adjusting the posture and position of the pneumatic pick 229 is improved.

[0040] Please refer to Figure 2 and Figure 3 In this embodiment, preferably, the robot body 201 includes a first body part 203, and the first body parts 203 are multiple, and the multiple first body parts 203 are arranged at intervals along the width or length direction of the robot body 201, and two adjacent first body parts 203 are hinged by a hinge 204, and each first body part 203 is provided with a walking device 202, and the walking device 202 is provided with an adsorption device 100.

[0041] The cleaning robot in this embodiment can adsorb the working surface through the adsorption device 100 on the walking device 202 when in use, and drive the robot body 201 to walk along the working surface through the walking device 202. Since the plurality of first body parts 203 are arranged in intervals along the width or length direction of the robot body 201, and two adjacent first body parts 203 are hinged by the hinge 204, the plurality of first body parts 203 can rotate relative to each other around the axis of the hinge 204, and since each first body part 203 is provided with a walking device 202, when the adsorption device 100 on the walking device 202 is adsorbed on the arc-shaped working surface, the plurality of first body parts 203 can rotate relative to each other around the axis of the hinge 204 under the action of the adsorption force, so that the robot body 201 forms a shape that adapts to the arc-shaped working surface, thereby improving the fit between the adsorption device 100 and the working surface, thereby improving the adsorption force of the adsorption device 100 on the working surface, effectively preventing the walking device 202 from separating from the working surface, and improving the reliability of the cleaning robot.

[0042] In this embodiment, preferably, the robot body 201 further includes a second body part 205. There are two first body parts 203. The second body part 205 is arranged between the two first body parts 203. The second body part 205 is hinged to the first body part 203 through a hinge 204. Thus, by providing the second body part 205, the distance between the two first body parts 203 can be increased, so that the two first body parts 203 will not interfere with each other when rotating relative to each other, and the amplitude and smoothness of the rotation of the two first body parts 203 are improved. In addition, the execution device, the control device, the power device and other equipment can be conveniently arranged on the second body part 205. Since the second body part 205 is relatively stable during the walking process of the cleaning robot, the equipment installed on the second body part 205 can be better protected.

[0043] In this embodiment, preferably, the two first main body parts 203 are arranged at intervals along the width direction of the robot body 201, the walking device 202 is a track device, the track device extends along the length direction of the robot body 201, the hinge 204 includes a first rotating shaft 206, the first rotating shaft 206 is arranged along the length direction of the robot body 201, and the first main body part 203 and the second main body part 205 can rotate relative to each other around the first rotating shaft 206. Therefore, when the cleaning robot walks in the pipeline or on the column along the axial direction of the pipeline or the column, the adsorption device 100 on the walking device 202 is adsorbed on the inner wall of the pipeline or the outer wall of the column, and the two first main body parts 203 can rotate relative to each other around the axis of the first rotating shaft 206 under the action of the adsorption force. Since the track device and the first rotating shaft 206 are both arranged along the length direction of the robot body 201, the robot body 201 can be formed into a shape that adapts to the inner wall of the pipeline or the outer wall of the column, thereby improving the fit between the adsorption device 100 and the working surface, thereby improving the adsorption force of the adsorption device 100 on the working surface, effectively preventing the walking device 202 from separating from the working surface, and improving the reliability of the cleaning robot.

[0044] In this embodiment, preferably, the hinge 204 also includes a second rotating shaft 207, and the second rotating shaft 207 is arranged along the width direction of the robot body 201, and the first body part 203 and the second body part 205 can also rotate relative to each other with the second rotating shaft 207 as the center. Since the second rotating shaft 207 is arranged along the width direction of the robot body 201, when the cleaning robot passes through a continuous wavy working surface, the first body part 203 and the second body part 205 can rotate relative to each other with the second rotating shaft 207 as the center, so that the crawler device can swing with the ups and downs of the wavy working surface, thereby improving the fit between the adsorption device 100 and the working surface, thereby improving the adsorption force of the adsorption device 100 on the working surface, effectively preventing the walking device 202 from being separated from the working surface, and improving the reliability of the use of the cleaning robot. Among them, the hinge 204 can be a universal shaft including the first rotating shaft 206 and the second rotating shaft 207, or it can be a connecting member such as a ball joint.

[0045] Please refer to Figure 4 and Figure 5In this embodiment, preferably, the walking device 202 is a crawler device, and the crawler device includes: a bracket 208, including a first connecting frame 209 and a second connecting frame 210, the first connecting frame 209 and the second connecting frame 210 are slidably connected along the length direction of the bracket 208; a driven wheel 211 is rotatably connected to the first connecting frame 209 through a driven wheel shaft 212, and the driven wheel shaft 212 is arranged along the width direction of the bracket 208; a driving wheel 213 is rotatably connected to the second connecting frame 210 through a driving wheel shaft 214, and the driving wheel shaft 214 is parallel to the driven wheel shaft 212 and is spaced apart along the length direction of the bracket 208, and the first connecting frame 209 and the second connecting frame 210 can slide relative to each other along the length direction of the bracket 208 to adjust the distance between the driven wheel shaft 212 and the driving wheel shaft 214 The positioning system includes a track member 215 and a limiting system 216. The track member 215 is sleeved on the outer sides of the driving wheel 213 and the driven wheel 211 and meshes with the driving wheel 213 and the driven wheel 211. The track member 215 can limit the relative sliding of the first connecting frame 209 and the second connecting frame 210 along the length direction of the bracket 208 to limit the driven wheel shaft 212 and the driving wheel shaft 214 from being away from each other. The limiting system 216 is connected to the first connecting frame 209 and the second connecting frame 210. The limiting system 216 can limit the relative sliding of the first connecting frame 209 and the second connecting frame 210 along the length direction of the bracket 208 to limit the driven wheel shaft 212 and the driving wheel shaft 214 from being close to each other, thereby being able to cooperate with the track member 215 to relatively position the first connecting frame 209 and the second connecting frame 210.

[0046] When the track member 215 needs to be installed, the first connecting frame 209 and the second connecting frame 210 can slide relative to each other along the length direction of the bracket 208 to shorten the distance between the driven wheel shaft 212 and the driving wheel shaft 214. Therefore, the track member 215 can be conveniently sleeved on the driven wheel shaft 212 and the driving wheel shaft 214, and then the first connecting frame 209 and the second connecting frame 210 can slide relative to each other along the length direction of the bracket 208 to increase the distance between the driven wheel shaft 212 and the driving wheel shaft 214. The track member 215 is tensioned to connect the first connecting frame 209 with the second connecting frame 210 through the limiting system 216. Since the track member 215 can limit the driven wheel shaft 212 and the driving wheel shaft 214 from being far away from each other and the limiting system 216 can limit the driven wheel shaft 212 and the driving wheel shaft 214 from being close to each other, the limiting system 216 cooperates with the track member 215 to position the first connecting frame 209 and the second connecting frame 210 relatively. When the track member 215 needs to be disassembled, it is only necessary to release the limiting system 216 from limiting the first connecting frame 209 and the second connecting frame 210, so that the first connecting frame 209 and the second connecting frame 210 can slide relatively along the length direction of the bracket 208 to make the driven wheel shaft 212 and the driving wheel shaft 214 close to each other, thereby shortening the distance between the driven wheel shaft 212 and the driving wheel shaft 214, and facilitating the removal of the track member 215. Therefore, the crawler member 215 can be easily installed and removed, thereby improving the convenience of using the crawler device.

[0047] In this embodiment, preferably, the limiting system 216 includes a limiting portion 217, a screw rod 218 and a limiting device 219, the limiting portion 217 is arranged on the first connecting frame 209; the limiting device 219 is arranged on the second connecting frame 210, the limiting device 219 is provided with a threaded hole 220 extending along the length direction of the bracket 208, the screw rod 218 is passed through the threaded hole 220, the screw rod 218 is used to rotate relative to the limiting device 219 with the axis as the center so as to extend and retract along the length direction of the bracket 208 and can abut against the limiting portion 217, so as to limit the relative sliding of the first connecting frame 209 and the second connecting frame 210 along the length direction of the bracket 208 to limit the approach of the driven wheel shaft 212 and the driving wheel shaft 214.

[0048] When the track member 215 needs to be installed, the screw rod 218 can be rotated to shrink the screw rod 218 to separate from the limiting portion 217, thereby releasing the limiting of the first connecting frame 209 and the second connecting frame 210, so that the first connecting frame 209 and the second connecting frame 210 can slide relative to each other along the length direction of the bracket 208 to shorten the distance between the driven wheel shaft 212 and the driving wheel shaft 214, so that the track member 215 can be conveniently sleeved on the driven wheel shaft 212 and the driving wheel shaft 214, and then the screw rod 218 can be rotated so that the screw rod 218 can move toward The limiting portion 217 extends and thereby abuts against the limiting portion 217. Continuing to rotate the screw rod 218 can drive the first connecting frame 209 and the second connecting frame 210 to slide relative to each other along the length direction of the bracket 208, thereby moving the driven wheel shaft 212 and the driving wheel shaft 214 away from each other and tightening the track member 215. At this time, the track member 215 can limit the first connecting frame 209 and the second connecting frame 210 from sliding relative to each other along the length direction of the bracket 208 to limit the driven wheel shaft 212 and the driving wheel shaft 214 from moving away from each other, thereby positioning the first connecting frame 209 and the second connecting frame 210. When the track member 215 needs to be disassembled, it is only necessary to rotate the screw rod 218 to shrink the screw rod 218 and separate it from the limiting portion 217, thereby releasing the limiting of the first connecting frame 209 and the second connecting frame 210, so that the first connecting frame 209 and the second connecting frame 210 can slide relative to each other along the length direction of the bracket 208, so as to shorten the distance between the driven wheel shaft 212 and the driving wheel shaft 214, and facilitate the removal of the track member 215. Therefore, the track member 215 is easy to install and disassemble, and the positioning system has a simple structure and is easy to operate.

[0049] In this embodiment, preferably, the limiting device 219 is detachably connected to the first connecting frame 209. Therefore, when the track member 215 needs to be removed, the limiting device 219 can be directly removed, so that the first connecting frame 209 and the second connecting frame 210 can slide quickly over a long distance, so that the distance between the driven wheel shaft 212 and the driving wheel shaft 214 can be quickly shortened, so that the track member 215 can be quickly removed.

[0050] In this embodiment, preferably, the track member 215 includes a transmission chain 221, the transmission chain 221 forms a limiting groove 222, the limiting groove 222 extends along the length direction of the transmission chain 221, the driving wheel 213 and the driven wheel 211 are located in the limiting groove 222 and meshed with the transmission chain 221, and the track device also includes a clamping device 223, the clamping device 223 includes: a clamping plate 224, located at the bottom of the bracket 208 and extending along the length direction and width direction of the bracket 208; a clamping wheel 225, rotatably connected to the clamping plate 224, the axis of the clamping wheel 225 is set along the width direction of the bracket 208, and the clamping wheel 2 25 includes a wheel body 226 and a limiting protrusion 227, the limiting protrusion 227 is radially protruding from the outer side of the wheel body 226 and extends circumferentially along the wheel body 226, the limiting protrusion 227 is accommodated in the limiting groove 222, and cooperates with the limiting groove 222 to limit the relative movement of the wheel body 226 and the transmission chain 221 along the axial direction of the wheel body 226; an elastic device 228, the two ends of the elastic device 228 are respectively connected to the clamping plate 224 and the bracket 208, the elastic device 228 is supported between the clamping plate 224 and the bracket 208, and is used to apply pressure to the clamping plate 224 so that the clamping wheel 225 clamps the transmission chain 221. Therefore, by applying pressure to the clamping plate 224 through the elastic device 228, the clamping wheel 225 can clamp the transmission chain 221, which is beneficial to increase the tension of the track member 215. In addition, the cooperation of the limiting protrusion 227 and the limiting groove 222 can limit the relative movement of the wheel body 226 and the transmission chain 221 along the axial direction of the wheel body 226, thereby effectively preventing the clamping wheel 225 and the transmission chain 221 from separating, improving the stability of the clamping wheel 225 pressing the transmission chain 221, and improving the reliability of the connection of the track member 215.

[0051] In this embodiment, preferably, the limiting protrusion 227 is composed of a plurality of limiting teeth arranged at intervals along the circumference of the wheel body 226, and the limiting teeth are engaged with the transmission chain 221. Since the limiting teeth can be engaged with the transmission chain 221, it is beneficial to improve the limiting effect of the limiting protrusion 227, so that the pressure wheel 225 and the transmission chain 221 can be more effectively prevented from being separated.

[0052] Please refer to Figure 6 and Figure 7In this embodiment, preferably, the adsorption device 100 includes an adsorption member 101, a connecting plate 102 and an elastic member 103. The adsorption member 101 is used to be adsorbed on the working surface. The two ends of the elastic member 103 are respectively connected to the adsorption member 101 and the connecting plate 102. The elastic member 103 is supported between the connecting plate 102 and the adsorption member 101 so that the connecting plate 102 and the adsorption member 101 can maintain a relative positioning state; a connecting portion is provided on the track member 215, and the connecting portion is connected to the connecting plate 102. The elastic member 103 extends along the radial direction of the track member 215 so that the adsorption member 101 is located outside the track member 215. Because the elastic member 103 can stretch or bend to allow the adsorption member 101 and the connecting plate 102 to move relative to each other, when the track device is walking on a non-planar working surface, the adsorption member 101 will be subjected to the pressure of the working surface. Under the action of the pressure and the elastic force of the elastic member 103, the adsorption member 101 will move relative to the connecting plate 102, so that the adsorption member 101 can fit the working surface, thereby helping to improve the adsorption force of the adsorption member 101 on the working surface, preventing the track device from detaching from the working surface and falling off, and improving the reliability of use. At the same time, under the support of the elastic member 103, the stability of the track device can be guaranteed.

[0053] In this embodiment, preferably, the crawler device also includes a guide device 104, the guide device 104 includes a connecting rod 105 and a first pin 106, the first end of the connecting rod 105 is hinged to the adsorption member 101 through the first pin 106, and the first pin 106 is perpendicular to the setting direction of the elastic member 103; a through hole 107 is provided on the connecting plate 102, and the connecting plate 102 is sleeved between the first end and the second end of the connecting rod 105 through the through hole 107, and the connecting rod 105 can be extended and retracted in the through hole 107. When the crawler device moves on a non-planar working surface, the adsorption member 101 will be subjected to the pressure of the working surface. Under the action of the pressure and the elastic force of the elastic member 103, the adsorption member 101 will drive the connecting rod 105 to expand and contract in the perforation 107, and the adsorption member 101 will rotate relative to the connecting plate 102 with the first pin 106 as the center, so that the adsorption member 101 can fit with the working surface, thereby facilitating the adsorption force of the adsorption member 101 on the working surface, preventing the crawler device from detaching from the working surface and falling, and improving the reliability of use. In addition, the guide device 104 limits the direction of relative movement of the adsorption member 101 and the connecting plate 102, thereby improving the supporting force of the adsorption device 100.

[0054] In this embodiment, preferably, the connecting plate 102 is arranged along the width direction of the bracket 208, the first pin shaft 106 is perpendicular to the width direction of the bracket 208, and there are multiple guide devices 104, and the multiple guide devices 104 are arranged at intervals along the width direction of the bracket 208. Since the first pin shaft 106 is perpendicular to the width direction of the bracket 208, the guide device 104 limits the relative movement of the adsorption member 101 and the connecting plate 102 in the direction perpendicular to the radial direction of the track member 215 and the width direction of the bracket 208, further improving the supporting force of the adsorption device 100. Multiple guide devices 104 are arranged at intervals along the width direction of the bracket 208, which can effectively prevent the adsorption member 101 from rotating relative to the connecting plate 102 with the connecting rod 105 as the center, thereby improving the stability and reliability of the use of the adsorption device 100.

[0055] In this embodiment, preferably, there are multiple adsorption devices 100, and the multiple adsorption devices 100 are arranged at intervals along the circumference of the track member 215. The track device is adsorbed and supported on the working surface by the multiple adsorption devices 100, which can improve the adsorption strength of the track device on the working surface, thereby improving the reliability and stability of the track device walking on the working surface.

[0056] In this embodiment, preferably, the adsorption device 100 also includes a limiter 108, which is connected between the second end of the connecting rod 105 and the connecting plate 102 to limit the connection plate 102 from moving toward the second end of the connecting rod 105; the elastic member 103 is a spring, and each connecting rod 105 is sleeved with a spring, which is used to apply elastic pressure to the adsorption member 101 and the connecting plate 102 so that the adsorption member 101 and the connecting plate 102 can maintain a relative positioning state. Thus, the spacing between the connecting plate 102 and the adsorption member 101 can be limited by the limiter 108, so that the spring can maintain a compressed state, and then the spring can apply elastic pressure to the adsorption member 101 and the connecting plate 102 so that the adsorption member 101 and the connecting plate 102 can maintain a relative positioning state, thereby improving the supporting force of the adsorption device 100. Since the spring is sleeved on the connecting rod 105, the connecting rod 105 can provide support force to the spring, prevent the spring from being damaged due to excessive deformation, and improve the reliability of the use of the adsorption device 100. In addition, since the multiple guide devices 104 are arranged at intervals along the width direction of the bracket 208, the springs mounted on the connecting rod 105 are naturally also arranged at intervals along the width direction of the bracket 208. Therefore, the supporting force for the adsorption component 101 and the connecting plate 102 can be improved, so that the connecting plate 102 and the adsorption component 101 can better maintain a relative positioning state, thereby improving the reliability of the use of the adsorption device 100.

[0057] In this embodiment, preferably, the limiting member 108 is a limiting nut, and the connecting rod 105 is provided with a threaded section, and the limiting nut is threadedly matched with the threaded section. During the assembly process of the adsorption device 100, the connecting rod 105 can be first hinged to the adsorption member 101 through the first pin 106, and then the spring is sleeved on the connecting rod 105, and then the connecting plate 102 is sleeved on the connecting rod 105 through the perforation 107, and then the limiting nut is sleeved on the threaded section, and the limiting nut is rotated to move along the threaded section to press the connecting plate 102, so that the spring is kept in a compressed state, thereby making it easy to assemble and adjust the adsorption device 100. Of course, the limiting member 108 is also a limiting protrusion set on the connecting rod 105.

[0058] In this embodiment, preferably, the adsorption device 100 further includes a guide wheel 109, the adsorption member 101 extends along the width direction of the bracket 208, and the guide wheel 109 is connected to the end of the adsorption member 101 through a second pin shaft 110, and the second pin shaft 110 is parallel to the first pin shaft 106. When the track device walks on a non-planar working surface, the adsorption member 101 will be subjected to the pressure of the working surface. Under the action of the pressure and the elastic force of the elastic member 103, the adsorption member 101 will rotate relative to the connecting plate 102 with the first pin shaft 106 as the center. During the rotation of the adsorption member 101 relative to the connecting plate 102, the guide wheel 109 will contact the working surface and slide on the working surface. At this time, the guide wheel 109 can rotate relative to the adsorption member 101 with the second pin shaft 110 as the center, thereby effectively avoiding the end of the adsorption member 101 directly colliding with the working surface to cause damage, and making the movement of the track device on the working surface smoother.

[0059] In this embodiment, preferably, the bottom surface of the adsorption member 101 is used to contact the working surface, and the bottom end of the guide wheel 109 is located below the bottom surface of the adsorption member 101, thereby reducing the friction between the adsorption member 101 and the working surface.

[0060] In this embodiment, preferably, the adsorbent 101 includes a frame 111 and a magnetic block 112, both of which extend along the width direction of the bracket 208, the guide wheel 109 is connected to the two ends of the frame 111 through the second pin 110, the magnetic block 112 is connected to the frame 111 and is located between the two ends of the frame 111, and the magnetic block 112 is used to be adsorbed on the work surface. As a result, the adsorbent 101 has a simple structure, reliable adsorption, and is easy to assemble. Of course, the magnetic block 112 can also be replaced by the vacuum adsorption device 100.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0063] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A cleaning robot, characterized in that: The robot comprises a main body, a walking device, an adsorption device and a jackhammer, wherein the walking device, the adsorption device and the jackhammer are arranged on the main body of the robot, the adsorption device is used to adsorb the working surface, the walking device is used to drive the main body of the robot to walk along the working surface, and the jackhammer is used to clean the object to be cleaned; The robot further comprises a connecting base, the connecting base comprising a first connecting member, a support arm, and a second connecting member, the first connecting member being connected to a first end of the support arm and connected to the jackhammer, the second end of the support arm being connected to the robot body via the second connecting member, the second connecting member being a connecting shaft, the support arm being rotatably connected to the robot body via the connecting shaft; The walking device is a crawler device, and the crawler device includes: The bracket includes a first connecting frame and a second connecting frame, wherein the first connecting frame and the second connecting frame are slidably connected along the length direction of the bracket; A driven wheel is rotatably connected to the first connecting frame via a driven wheel shaft, wherein the driven wheel shaft is arranged along the width direction of the bracket; A driving wheel is rotatably connected to the second connecting frame via a driving wheel shaft, the driving wheel shaft is parallel to the driven wheel shaft and spaced apart along the length direction of the bracket, and the first connecting frame and the second connecting frame can slide relative to each other along the length direction of the bracket to adjust the distance between the driven wheel shaft and the driving wheel shaft; The positioning system includes a track member and a limiting system. The track member is sleeved on the outside of the driving wheel and the driven wheel and meshes with the driving wheel and the driven wheel. The track member can limit the relative sliding of the first connecting frame and the second connecting frame along the length direction of the bracket to limit the driven wheel shaft and the driving wheel shaft from moving away. The limiting system is connected to the first connecting frame and the second connecting frame. The limiting system can limit the relative sliding of the first connecting frame and the second connecting frame along the length direction of the bracket to limit the driven wheel shaft and the driving wheel shaft from moving closer together, thereby being able to cooperate with the track member to relatively position the first connecting frame and the second connecting frame. The limiting system includes a limiting part, a screw and a limiting device, the limiting part is arranged on the first connecting frame; the limiting device is arranged on the second connecting frame, the limiting device is provided with a threaded hole extending along the length direction of the bracket, the screw is passed through the threaded hole, and the screw is used to rotate relative to the limiting device with the axis as the center to extend and retract along the length direction of the bracket and can abut against the limiting part, thereby limiting the relative sliding of the first connecting frame and the second connecting frame along the length direction of the bracket to limit the approach of the driven wheel shaft and the driving wheel shaft.

2. The cleaning robot according to claim 1, characterized in that: The pneumatic pick is provided with a clamping portion, and the first connecting member is a clamping bracket, and the clamping bracket is clamped and connected to the clamping portion of the pneumatic pick.

3. The cleaning robot according to claim 2, characterized in that: The connecting axis is arranged along the height direction of the robot body.

4. The cleaning robot according to claim 1, characterized in that: The support arm is a universal support arm.

5. The cleaning robot according to any one of claims 1 to 4, characterized in that: The robot body includes a first main body part, and there are multiple first main body parts. The multiple first main body parts are arranged at intervals along the width or length direction of the robot body. Two adjacent first main body parts are hinged by a hinge. Each first main body part is provided with the walking device, and the walking device is provided with the adsorption device.

6. The cleaning robot according to claim 5, characterized in that: The robot body further includes a second body part. There are two first body parts. The second body part is arranged between the two first body parts. The second body part is hinged to the first body part through the hinge.

7. The cleaning robot according to claim 6, characterized in that: The two first main bodies are arranged at intervals along the width direction of the robot body, the walking device is a track device, and the track device extends along the length direction of the robot body. The hinge includes a first rotating shaft, and the first rotating shaft is arranged along the length direction of the robot body. The first main body and the second main body can rotate relative to each other with the first rotating shaft as the center.

8. The cleaning robot according to claim 7, characterized in that: The hinge further includes a second rotating shaft, which is arranged along the width direction of the robot body. The first main body and the second main body can also rotate relative to each other around the second rotating shaft.

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