A cleaning robot with extrusion-type adsorbable tracks

Abstract

The present invention relates to a cleaning robot with an extrusion-type adsorbable crawler. The cleaning robot includes a body, a driving mechanism and a cleaning mechanism provided on the body. The cleaning mechanism performs cleaning operations on a cleaning work plane under the drive of the driving mechanism. The body is also provided with an extrusion-type adsorbable crawler. The cleaning robot walks on the cleaning work plane and is adsorbed on the cleaning work plane via the extrusion-type adsorbable crawler. The extrusion-type adsorbable crawler includes a crawler, a vacuum chamber, and a synchronous wheel. The synchronous wheel is provided within the crawler and meshes with the crawler for transmission. The vacuum chamber is provided within the crawler and is extrusion-coordinated with the inner surface of the crawler. The crawler is adsorbed on the cleaning work plane through the vacuum chamber. The extrusion-type adsorbable crawler provided in the present invention can enable the cleaning robot to stably adsorb on photovoltaic panels of various inclinations or glass curtain walls of buildings to perform cleaning operations. It can also make the cleaning robot simpler in structure, smaller in size, and more efficient in cleaning.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of cleaning robots, and particularly to a cleaning robot with an extrusion-type adsorbable crawler. Background Art

[0002] With the increasing number of inclined and vertical surfaces that are difficult to clean manually, such as building walls, glass roofs, and photovoltaic panels in photovoltaic power plants, the design of automated cleaning equipment for these surfaces is gaining increasing attention. Currently, a variety of robots are available both domestically and internationally for cleaning photovoltaic panels and building curtain walls. However, most autonomous PV panel cleaning robots are limited to panels with an inclination of less than 20°. Beyond that, due to the reduced friction and the influence of gravity, they tend to slide, causing the cleaning robot to deviate from its intended trajectory, affecting cleaning efficiency and even rendering it inoperable. Some robots utilize alternating suction cups for movement, allowing them to navigate steeply inclined photovoltaic panels and even vertical curtain walls without slipping or sliding. However, this method of suction results in slower movement, lower cleaning efficiency, and a more complex structure and control, resulting in a larger size. Summary of the Invention

[0003] In view of the above-mentioned problems existing in the prior art, the main purpose of the present invention is to provide a cleaning robot with an extrusion-type adsorbable track. By setting the extrusion-type adsorbable track, the cleaning robot can be stably adsorbed on photovoltaic panels of various inclinations or glass curtain walls of buildings to perform cleaning operations. It can also make the structure of the cleaning robot simpler, smaller in size and more efficient in cleaning.

[0004] The technical solution of the present invention is as follows:

[0005] A cleaning robot with an extrusion-type adsorbable crawler, the cleaning robot comprising a body, a driving mechanism and a cleaning mechanism being arranged on the body, the cleaning mechanism being fixedly arranged on the outer side wall of the front end of the body, and the cleaning mechanism performing cleaning operations on a cleaning work plane under the drive of the driving mechanism, the body being further provided with an extrusion-type adsorbable crawler, the cleaning robot walking on the cleaning work plane and adsorbing on the cleaning work plane via the extrusion-type adsorbable crawler, the extrusion-type adsorbable crawler comprising a crawler, a vacuum chamber and a synchronous wheel, the synchronous wheel being arranged inside the crawler and meshing with the crawler for transmission, the vacuum chamber being arranged inside the crawler and extrusion-cooperated with the inner surface of the crawler, the crawler being adsorbed on the cleaning work plane via the vacuum chamber.

[0006] The crawler includes a first crawler, a second crawler and a third crawler, wherein the first crawler is arranged on the inner side of the second crawler, and the third crawler is arranged on the outer side of the second crawler, wherein:

[0007] The first crawler belt is composed of a synchronous belt, and a plurality of first through holes are provided on the inner surface of the first crawler belt along the length direction, and the first through holes extend to the outer surface of the first crawler belt, and a first annular groove is provided on the outer surface of the first crawler belt on one side of the first through hole along the length direction, and the first annular groove is connected to the first through hole.

[0008] The inner surface of the second track is provided with a plurality of second through holes along the length direction, and the second through holes extend to the outer surface of the second track. The inner surface of the second track is also provided with a plurality of third through holes along the length direction, and the third through holes extend to the outer surface of the second track. The inner surface of the second track is provided with a second annular groove corresponding to the first annular groove along the length direction, the second through holes and the third through holes are respectively connected to the second annular groove, and the second through holes and the third through holes are arranged at intervals.

[0009] The outer surface of the third track is provided with a plurality of rectangular grooves along the length direction, and a fourth through hole is provided in the rectangular groove, and the fourth through hole extends to the inner surface of the third track, and the inner surface of the third track is provided with a third annular groove and a fourth annular groove along the length direction, and the third annular groove and the fourth annular groove are respectively located on both sides of the fourth through hole, and the fourth through hole is respectively connected with the third annular groove and the fourth annular groove, and the inner surface of the third track is also provided with a plurality of blind holes along the length direction, and the blind holes are located on one side of the third annular groove and are connected with the fourth annular groove.

[0010] The synchronous wheels include a first synchronous wheel, a second synchronous wheel, a third synchronous wheel and a fourth synchronous wheel. The first synchronous wheel and the second synchronous wheel are located at one end inside the first crawler and meshed with the first crawler, and the third synchronous wheel and the fourth synchronous wheel are located at the other end inside the first crawler and meshed with the first crawler.

[0011] The inner surface of the first crawler is provided with a first gear tooth and a second gear tooth at both ends along the width direction respectively; the outer surface of the first synchronous wheel is provided with a third gear tooth in the circumferential direction, and the third gear tooth is engaged with the first gear tooth; the outer surface of the second synchronous wheel is provided with a fourth gear tooth in the circumferential direction, and the fourth gear tooth is engaged with the second gear tooth; the outer surface of the third synchronous wheel is provided with a fifth gear tooth in the circumferential direction, and the fifth gear tooth is engaged with the first gear tooth; the outer surface of the fourth synchronous wheel is provided with a sixth gear tooth in the circumferential direction, and the sixth gear tooth is engaged with the second gear tooth.

[0012] The second through hole corresponds to the first through hole and the blind hole respectively, the inner diameters of the first through hole, the second through hole and the blind hole are the same, and the first through hole, the second through hole and the blind hole are combined to form a first mounting hole, the first mounting hole is connected to the fourth annular groove, a first spring, a first steel ball and a first steel ball fixing bracket are arranged in the first mounting hole, the first spring is arranged at the bottom of the first mounting hole, the first steel ball is located at the upper end of the first spring, the first steel ball fixing bracket is fixedly arranged on the outside of the first steel ball to limit the movement of the first steel ball, and the first steel ball contacts the first steel ball fixing bracket due to the elastic force of the first spring to close the first mounting hole;

[0013] The fourth through hole corresponds to the third through hole, and the inner diameter of the fourth through hole is the same as the inner diameter of the third through hole, and the fourth through hole, the third through hole and the outer surface of the first crawler are combined to form a second mounting hole, a second spring, a second steel ball and a second steel ball fixing bracket are provided in the second mounting hole, the second spring is provided at the bottom of the second mounting hole, the second steel ball is located at the upper end of the second spring, the second steel ball fixing bracket is fixedly provided on the outside of the second steel ball to limit the movement of the second steel ball, and the second steel ball contacts the second steel ball fixing bracket by the elastic force of the second spring to close the second mounting hole;

[0014] A plurality of rectangular grooves are evenly and parallelly arranged on the outer surface of the third crawler, and the long sides of the rectangular grooves are located in the width direction of the third crawler.

[0015] The vacuum chamber is cylindrical in shape, and a cavity is provided inside the vacuum chamber. A plurality of fixing holes are provided in the circumferential direction of the outer surface of the vacuum chamber, the fixing holes correspond to the first mounting holes and are communicated with the cavity, a third spring, a third steel ball and a third steel ball fixing bracket are provided in the fixing hole, the third spring is provided at the bottom of the fixing hole, the third steel ball is located at the upper end of the third spring, the third steel ball fixing bracket is fixedly provided on the outside of the third steel ball to limit the movement of the third steel ball, the third steel ball contacts the third steel ball fixing bracket through the elastic force of the third spring to close the fixing hole, and a trachea socket connected to the cavity is provided on one side of the vacuum chamber, and the trachea socket is connected to an external vacuum pump through an trachea.

[0016] The inner diameters of the first mounting hole, the second mounting hole, and the fixing hole are all equal to the outer diameters of the first steel ball, the second steel ball, and the third steel ball. The outer diameter of the first steel ball is larger than the inner diameter of the first positioning hole in the first steel ball fixing bracket, so that the first steel ball seals the first positioning hole and then the first mounting hole.

[0017] The outer diameter of the second steel ball is larger than the inner diameter of the second positioning hole in the second steel ball fixing bracket, so that the second steel ball seals the second positioning hole and then seals the second mounting hole;

[0018] The outer diameter of the third steel ball is greater than the inner diameter of the third positioning hole in the third steel ball fixing bracket, so that the third steel ball seals the third positioning hole and then seals the fixing holes respectively.

[0019] The first driven shaft is fixedly provided in the fourth synchronous wheel, the second driven shaft is fixedly provided in the first synchronous wheel, the third driven shaft is fixedly provided in the second synchronous wheel, the vacuum chamber is fixedly connected to the third driven shaft through a mounting hole provided in the center thereof, the first driven shaft, the second driven shaft and the third driven shaft are respectively fixedly connected to the chassis in the fuselage of the cleaning robot through brackets, the third synchronous wheel is fixedly connected to the output shaft of the driving motor of the driving mechanism, and the third synchronous wheel rotates under the drive of the driving motor to drive the crawler to rotate, thereby driving the cleaning robot to walk on the cleaning working plane.

[0020] The present invention has the following advantages and beneficial effects: the cleaning robot with an extrusion-type adsorbable crawler in the embodiment of the present invention comprises a fuselage, a driving mechanism and a cleaning mechanism provided on the fuselage, the cleaning mechanism being fixedly arranged on the outer side wall of the front end of the fuselage, and the cleaning mechanism performing cleaning operations on the cleaning operation plane under the drive of the driving mechanism, the fuselage is also provided with an extrusion-type adsorbable crawler, the cleaning robot walks on the cleaning operation plane and is adsorbed on the cleaning operation plane through the extrusion-type adsorbable crawler, the extrusion-type adsorbable crawler comprises a crawler, a vacuum chamber and a synchronous wheel, the synchronous wheel is arranged in the crawler and meshes with the crawler for transmission, the vacuum chamber is arranged inside the crawler and is extrusion-matched with the inner surface of the crawler, and the crawler is adsorbed on the cleaning operation plane through the vacuum chamber; through the extrusion-type adsorbable crawler, the cleaning robot can be stably adsorbed on photovoltaic panels of various inclinations or the glass curtain wall of a building to perform cleaning operations, and the structure of the cleaning robot can be made simpler, the volume can be smaller and the cleaning efficiency can be higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the bottom structure of a cleaning robot with an extrusion-type adsorbable crawler provided in an embodiment of the present invention.

[0022] Figure 2 A schematic diagram of the three-dimensional structure of an extrusion-type adsorbable crawler provided in an embodiment of the present invention.

[0023] Figure 3 A schematic diagram of the exploded structure of the squeeze-type adsorbable crawler provided in an embodiment of the present invention.

[0024] Figure 4 A schematic diagram of the three-dimensional structure of the crawler, the first steel ball and the second steel ball in the squeeze-type adsorbable crawler provided in an embodiment of the present invention.

[0025] Figure 5 for Figure 4 Schematic diagram of the enlarged structure at point A in the middle.

[0026] Figure 6 A schematic diagram of the three-dimensional structure in which the first steel ball and the second steel ball are installed on the crawler in an extrusion-type adsorbable crawler provided in an embodiment of the present invention.

[0027] Figure 7 A schematic diagram of the exploded structure of the squeeze-type adsorbable crawler provided in an embodiment of the present invention.

[0028] Figure 8 This is an enlarged three-dimensional structural schematic diagram of the first crawler in the squeeze-type adsorbable crawler provided in an embodiment of the present invention.

[0029] Figure 9 This is an enlarged three-dimensional structural schematic diagram of the second crawler in the squeeze-type adsorbable crawler provided in an embodiment of the present invention.

[0030] Figure 10 This is an enlarged three-dimensional structural schematic diagram of the third track in the squeeze-type adsorbable track provided in an embodiment of the present invention.

[0031] Figure 11 A schematic diagram of the three-dimensional structure in one direction of the vacuum chamber of the extrusion-type adsorbable crawler provided by an embodiment of the present invention after removing the air pipe.

[0032] Figure 12 A schematic diagram of the three-dimensional structure in another direction of the vacuum chamber of the extrusion-type adsorbable crawler provided by an embodiment of the present invention after removing the air pipe.

[0033] Figure 13 A schematic diagram of the exploded structure in one direction of the vacuum chamber of the squeeze-type adsorbable crawler provided by an embodiment of the present invention after the air pipe is removed.

[0034] Figure 14 A schematic diagram of the exploded structure in another direction of the vacuum chamber of the squeeze-type adsorbable crawler provided by an embodiment of the present invention after the air pipe is removed.

[0035] Figure 15A schematic three-dimensional cross-sectional structure diagram of an extrusion-type adsorbable crawler provided in an embodiment of the present invention when traveling on a cleaning operation plane.

[0036] Figure 16 A schematic diagram of the main cross-sectional structure of the extrusion-type adsorbable crawler provided in an embodiment of the present invention when traveling on a cleaning working plane. DETAILED DESCRIPTION

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

[0038] like Figures 1 to 16 As shown in the figure: a cleaning robot with an extrusion-type adsorbable track provided by an embodiment of the present invention, the cleaning robot includes a body 100, on which a driving mechanism 103 and a cleaning mechanism 101 are provided. The cleaning mechanism 101 is fixedly arranged on the outer side wall of the front end of the body 100, and the cleaning mechanism 101 performs cleaning operations on the cleaning operation plane under the drive of the driving mechanism 103. The body 100 is also provided with an extrusion-type adsorbable track. The cleaning robot walks on the cleaning operation plane and adsorbs on the cleaning operation plane through the extrusion-type adsorbable track. The extrusion-type adsorbable track includes a track 200, a vacuum chamber 300 and a synchronous wheel. The synchronous wheel is arranged in the track 200 and meshes with the track 200 for transmission. The vacuum chamber 300 is arranged inside the track 200 and is extrusion-matched with the inner surface of the track 200. The track 200 is adsorbed on the cleaning operation plane through the vacuum chamber 300.

[0039] The track 200 includes a first track 201, a second track 202 and a third track 203. The first track 201 is arranged on the inner side of the second track 202, and the third track 203 is arranged on the outer side of the second track 202, wherein: the first track 201 is composed of a synchronous belt, and the inner surface of the first track 201 is provided with multiple first through holes 204 along the length direction, and the first through holes 204 extend to the outer surface of the first track 201, and the outer surface of the first track 201 is provided with a first annular groove 205 on one side of the first through hole 202 along the length direction, and the first annular groove 205 is connected to the first through hole 204.

[0040] The inner surface of the second track 202 is provided with a plurality of second through holes 206 along the length direction, and the second through holes 206 extend to the outer surface of the second track 202. The inner surface of the second track 202 is also provided with a plurality of third through holes 207 along the length direction, and the third through holes 207 extend to the outer surface of the second track 202. The inner surface of the second track 202 is provided with a second annular groove 208 corresponding to the first annular groove 205 along the length direction. The second through holes 206 and the third through holes 207 are respectively connected to the second annular groove 208, and the second through holes 206 and the third through holes 207 are arranged at intervals.

[0041] The outer surface of the third track 203 is provided with a plurality of rectangular grooves 209 along the length direction, and a fourth through hole 210 is provided in the rectangular groove 209. The fourth through hole 210 extends to the inner surface of the third track 203. The inner surface of the third track 203 is provided with a third annular groove 211 and a fourth annular groove 212 along the length direction. The third annular groove 211 and the fourth annular groove 212 are respectively located on both sides of the fourth through hole 210, and the fourth through hole 210 is respectively connected with the third annular groove 211 and the fourth annular groove 212. A plurality of blind holes 214 are also provided on the inner surface of the third track 203 along the length direction. The blind hole 214 is located on one side of the third annular groove 211 and is connected with the fourth annular groove 212.

[0042] The synchronous wheels include a first synchronous wheel 215, a second synchronous wheel 216, a third synchronous wheel 217 and a fourth synchronous wheel 218. The first synchronous wheel 215 and the second synchronous wheel 216 are located at one end inside the first track 201 and meshed with the first track 201, and the third synchronous wheel 217 and the fourth synchronous wheel 218 are located at the other end inside the first track 201 and meshed with the first track 201.

[0043] The inner surface of the first crawler 201 is provided with a first gear tooth 219 and a second gear tooth 220 at both ends along the width direction respectively; the outer surface of the first synchronous wheel 215 is provided with a third gear tooth 221 in the circumferential direction, and the third gear tooth 221 is meshed with the first gear tooth 219; the outer surface of the second synchronous wheel 216 is provided with a fourth gear tooth 222 in the circumferential direction, and the fourth gear tooth 222 is meshed with the second gear tooth 220; the outer surface of the third synchronous wheel 217 is provided with a fifth gear tooth 223 in the circumferential direction, and the fifth gear tooth 223 is meshed with the first gear tooth 219; the outer surface of the fourth synchronous wheel 218 is provided with a sixth gear tooth 224 in the circumferential direction, and the sixth gear tooth 224 is meshed with the second gear tooth 220.

[0044] The second through hole 206 corresponds to the first through hole 204 and the blind hole 214 respectively. The inner diameters of the first through hole 204, the second through hole 206 and the blind hole 214 are the same, and the first through hole 204, the second through hole 206 and the blind hole 214 are combined to form a first mounting hole 225. The first mounting hole 225 is connected to the fourth annular groove 212. A first spring 226, a first steel ball 227 and a first steel ball fixing bracket 228 are provided in the first mounting hole 225. The first spring 226 is provided at the bottom of the first mounting hole 225. The first steel ball 227 is located at the upper end of the first spring 226. The first steel ball fixing bracket 228 is fixedly provided on the outside of the first steel ball 227 to limit the movement of the first steel ball 227. The first steel ball 227 contacts the first steel ball fixing bracket 228 through the elastic force of the first spring 226 to close the first mounting hole 225. 7, and the inner diameter of the fourth through hole 210 is the same as the inner diameter of the third through hole 207, and the fourth through hole 210, the third through hole 207 and the outer surface of the first crawler 201 are combined to form a second mounting hole 229, and a second spring 230, a second steel ball 231 and a second steel ball fixing bracket 232 are set in the second mounting hole 229, the second spring 230 is set at the bottom of the second mounting hole 229, the second steel ball 231 is located at the upper end of the second spring 230, and the second steel ball fixing bracket 232 is fixedly set on the outer side of the second steel ball 231 to limit the movement of the second steel ball 231, and the second steel ball 231 is in contact with the second steel ball fixing bracket 232 by the elastic force of the second spring 230 to close the second mounting hole 229; a plurality of rectangular grooves 209 are evenly and parallel to each other on the outer surface of the third crawler 203, and the long side of the rectangular grooves 209 is located in the width direction of the third crawler 203.

[0045] The vacuum chamber 300 is cylindrical in shape, and a cavity 301 is provided inside the vacuum chamber 300. A plurality of fixing holes 302 are provided on the outer surface of the vacuum chamber 300 in the circumferential direction. The fixing holes 302 correspond to the first mounting holes 225 and are communicated with the cavity 301. A third spring 303, a third steel ball 304 and a third steel ball fixing bracket 305 are provided in the fixing hole 302. The third spring 303 is provided at the bottom of the fixing hole 302, the third steel ball 304 is located at the upper end of the third spring 303, and the third steel ball fixing bracket 305 is fixedly provided on the outside of the third steel ball 304 to control the movement of the third steel ball 304. The movement is restricted, the third steel ball 304 contacts the third steel ball fixing bracket 305 through the elastic force of the third spring 303 to close the fixing hole 302, and a trachea socket 306 connected to the cavity 301 is provided on one side of the vacuum chamber 300, and the trachea socket 306 is connected to an external vacuum pump (not shown in the figure) through an trachea 307; at the same time, the trachea socket 306 is connected to a joint at one end of an external air pressure detection device through the trachea 307, and the joint at the other end corresponding to the air pressure detection device is connected with an trachea, and is connected to an external vacuum pump through the trachea. The air pressure detection device is a prior art and will not be described in detail here.

[0046] The inner diameters of the first mounting hole 225, the second mounting hole 229 and the fixing hole 302 are all equal to the outer diameters of the first steel ball 227, the second steel ball 231 and the third steel ball 304. The outer diameter of the first steel ball 227 is larger than the inner diameter of the first positioning hole 239 in the first steel ball fixing bracket 228, so that the first steel ball 227 closes the first positioning hole and then closes the first mounting hole 225; the outer diameter of the second steel ball 231 is larger than the inner diameter of the second positioning hole 233 in the second steel ball fixing bracket 232, so that the second steel ball 231 closes the second positioning hole 233 and then closes the second mounting hole 229; the outer diameter of the third steel ball 304 is larger than the inner diameter of the third positioning hole 308 in the third steel ball fixing bracket 305, so that the third steel ball 304 closes the third positioning hole 308 and then closes the fixing holes 302 respectively.

[0047] A first driven shaft (not shown in the figure) is fixedly provided in the fourth synchronous wheel 218, a second driven shaft (not shown in the figure) is fixedly provided in the first synchronous wheel 215, and a third driven shaft (not shown in the figure) is fixedly provided in the second synchronous wheel 216. The vacuum chamber 300 is fixedly connected to the third driven shaft through a mounting hole 309 provided in its center. The first driven shaft, the second driven shaft and the third driven shaft are respectively fixedly connected to the chassis 102 in the body 100 of the cleaning robot through brackets (not shown in the figure). The third synchronous wheel 217 is fixedly connected to the output shaft of the driving motor of the driving mechanism 103. The third synchronous wheel 217 rotates under the drive of the driving motor to drive the crawler 200 to rotate, thereby driving the cleaning robot to walk on the cleaning working plane.

[0048] An embodiment of the present invention provides a cleaning robot with an extrusion-type adsorbable track. The first annular groove 205, the second annular groove 208 and the third annular groove 211 can form a first channel 240, the fourth annular groove 212 can form a second channel 250, and the cavity 301 of the vacuum chamber 300 can form a third channel. Air can flow into or out of the first channel 240, the second channel 250 and the third channel.

[0049] An embodiment of the present invention provides a cleaning robot with an extrusion-type adsorbable track. When the first steel ball 227 inside the track 200, the second steel ball 231 on the outer surface of the track 200, and the third steel ball 304 on the vacuum chamber 300 are not subjected to pressure, the first steel ball 227 on the inner surface of the track 200 and the first steel ball retaining bracket 228 cooperate to close the first mounting hole 225, thereby closing the first channel 240, the second steel ball 231 on the outer surface of the track 200 and the second steel ball retaining bracket 232 cooperate to close the second mounting hole 229, thereby closing the second channel 250, the third steel ball 304 on the vacuum chamber 300 and the third steel ball retaining bracket 305 cooperate to close the fixing hole 302, thereby closing the third channel, and the track 200 and the vacuum chamber 300 are in a vacuum state. When the first steel ball 227 in the track 200, the second steel ball 231 on the outer surface of the track 200, and the third steel ball 304 on the vacuum chamber 300 are squeezed, the first steel ball 227 is squeezed away from the first steel ball fixing bracket 228, the second steel ball 231 is squeezed away from the second steel ball fixing bracket 232, and the third steel ball 304 is squeezed away from the third steel ball fixing bracket 305, thereby exposing the first channel 240, the second channel 250, and the third channel, and gas can flow into or out of the first channel 240, the second channel 250, and the third channel.

[0050] Since the vacuum chamber 300 is arranged inside the crawler 200 and is pressed against the inner surface of the crawler 200, that is, a portion of the vacuum chamber 300 always fits against the crawler 200, and since the interval between two adjacent fixing holes 302 in the circumferential direction of the outer surface of the vacuum chamber 300 is the same as the interval between two adjacent first mounting holes 225 in the longitudinal direction of the inner surface of the crawler 200, when the vacuum chamber 300 and the crawler 200 are assembled, the first mounting holes 302 are arranged in a spaced relationship with each other. 2 and the first mounting hole 225 correspond one to one. Therefore, no matter how the crawler 200 rotates, the third steel ball 304 in the vacuum chamber 300 and the first steel ball 227 on the inner surface of the crawler 200 always correspond to each other. When in contact, the third steel ball 304 and the first steel ball 227 squeeze each other, the first channel 240 and the third channel are opened, and gas can flow from the first channel 240 into the third channel. The gas can only circulate in the first channel 240 and the third channel, and then flow into the air pipe 307 from the third channel, and is finally sucked away by the vacuum pump.

[0051] At the same time, after the second steel ball 231 on the side of the crawler 200 that contacts the cleaning working plane 400 is squeezed, the second channel 250 is opened, and the first channel 240 is connected to the second barrel channel 250. After the vacuum pump is turned on, the second mounting hole 229 where the squeezed second steel ball 231 is located is drawn out to form a vacuum space, so that this part of the crawler 200 is tightly pressed against the cleaning working plane, achieving the effect of firm adsorption of the crawler 200 and the cleaning working plane 400.

[0052] After the second steel ball 231 on the outer surface of the crawler 200 is no longer squeezed, the elastic force of the second spring 230 in the second mounting hole 229 pushes the second steel ball 231 out again, so that the second steel ball 231 fits against the second steel ball fixing bracket 232, closing the second mounting hole 229 to ensure airtightness.

[0053] After the cleaning robot is started, the vacuum pump begins to evacuate the vacuum chamber 300, and the air pressure in the vacuum chamber 300 is detected by the air pressure detection device. If the air pressure does not meet the requirements, it is necessary to suspend work and check the cleaning robot until it detects that the air pressure meets the working requirements. It can then start working. During the working process, the cleaning robot can intelligently adjust the adsorption force and driving speed according to the current driving slope detected. When the slope is low, the adsorption force is reduced, and the vacuum degree requirement for the vacuum chamber 300 is lowered. At the same time, the speed is increased to improve the cleaning efficiency. When the slope is large, the adsorption force is increased, and the vacuum degree requirement for the vacuum chamber is increased. At the same time, the speed is increased to ensure safety. When the air pressure detection device detects that the vacuum degree does not meet the requirements for a long time, it is judged that a fault has occurred, an alarm is issued, the work is stopped, the adsorption force is increased, and the processing is waited for.

[0054] Finally, it should be noted that the embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning robot with an extrusion-type adsorbable crawler, the cleaning robot comprising a body, a driving mechanism and a cleaning mechanism disposed on the body, the cleaning mechanism being fixedly disposed on an outer side wall of a front end of the body and driven by the driving mechanism to perform cleaning operations on a cleaning operation surface, characterized in that: The body is further provided with an extrusion-type adsorbable crawler, and the cleaning robot walks on the cleaning operation plane and is adsorbed on the cleaning operation plane through the extrusion-type adsorbable crawler. The extrusion-type adsorbable crawler includes a crawler, a vacuum chamber and a synchronous wheel. The synchronous wheel is arranged inside the crawler and meshes with the crawler for transmission. The vacuum chamber is arranged inside the crawler and is extrusion-matched with the inner surface of the crawler. The crawler is adsorbed on the cleaning operation plane through the vacuum chamber. The crawler includes a first crawler, a second crawler and a third crawler, wherein the first crawler is arranged on the inner side of the second crawler, and the third crawler is arranged on the outer side of the second crawler, wherein: The first crawler belt is composed of a synchronous belt, and a plurality of first through holes are provided on the inner surface of the first crawler belt along the length direction, and the first through holes extend to the outer surface of the first crawler belt, and a first annular groove is provided on the outer surface of the first crawler belt on one side of the first through holes along the length direction, and the first annular groove is connected to the first through holes; The inner surface of the second crawler is provided with a plurality of second through holes along the length direction, and the second through holes extend to the outer surface of the second crawler. The inner surface of the second crawler is also provided with a plurality of third through holes along the length direction, and the third through holes extend to the outer surface of the second crawler. The inner surface of the second crawler is provided with a second annular groove corresponding to the first annular groove along the length direction, the second through holes and the third through holes are respectively connected to the second annular groove, and the second through holes and the third through holes are arranged at intervals. The outer surface of the third crawler is provided with a plurality of rectangular grooves along the length direction, a fourth through hole is provided in the rectangular groove, the fourth through hole extends to the inner surface of the third crawler, the inner surface of the third crawler is provided with a third annular groove and a fourth annular groove along the length direction, the third annular groove and the fourth annular groove are respectively located on both sides of the fourth through hole, and the fourth through hole is respectively connected with the third annular groove and the fourth annular groove, and the inner surface of the third crawler is further provided with a plurality of blind holes along the length direction, the blind holes are located on one side of the third annular groove and are connected with the fourth annular groove; The second through hole corresponds to the first through hole and the blind hole respectively and is combined to form a first mounting hole, the fourth through hole, the third through hole and the outer surface of the first crawler are combined to form a second mounting hole, the outer surface of the vacuum chamber is provided with a fixing hole corresponding to the first mounting hole, the first mounting hole, the second mounting hole and the fixing hole are all sealed by a combination of steel balls, springs and steel ball fixing brackets; the first annular groove, the second annular groove and the third annular groove form a first channel, the fourth annular groove forms a second channel, and the cavity of the vacuum chamber forms a third channel; when the crawler rotates, the steel balls in the cavity of the vacuum chamber and the steel balls in the first mounting hole squeeze each other, so that the first channel and the third channel are opened, and the first channel is connected to the third channel; at the same time, when the crawler contacts the cleaning working plane, the steel balls in the second mounting hole are squeezed, thereby opening the second channel, and the first channel and the second channel are connected. At this time, after the vacuum pump is turned on, the gas in the first channel, the second channel and the third channel is evacuated to form a vacuum space, so as to achieve the effect of firm adsorption of the crawler and the cleaning working plane.

2. The cleaning robot with an extrusion-type adsorbable track according to claim 1, characterized in that: The synchronous wheels include a first synchronous wheel, a second synchronous wheel, a third synchronous wheel and a fourth synchronous wheel. The first synchronous wheel and the second synchronous wheel are located at one end inside the first crawler and meshed with the first crawler, and the third synchronous wheel and the fourth synchronous wheel are located at the other end inside the first crawler and meshed with the first crawler.

3. The cleaning robot with an extrusion-type adsorbable crawler according to claim 2, characterized in that: The inner surface of the first crawler is provided with a first gear tooth and a second gear tooth at both ends along the width direction respectively; the outer surface of the first synchronous wheel is provided with a third gear tooth in the circumferential direction, and the third gear tooth is engaged with the first gear tooth; the outer surface of the second synchronous wheel is provided with a fourth gear tooth in the circumferential direction, and the fourth gear tooth is engaged with the second gear tooth; the outer surface of the third synchronous wheel is provided with a fifth gear tooth in the circumferential direction, and the fifth gear tooth is engaged with the first gear tooth; the outer surface of the fourth synchronous wheel is provided with a sixth gear tooth in the circumferential direction, and the sixth gear tooth is engaged with the second gear tooth.

4. The cleaning robot with an extrusion-type adsorbable crawler according to claim 3, characterized in that: The second through hole corresponds to the first through hole and the blind hole respectively, the inner diameters of the first through hole, the second through hole and the blind hole are the same, and the first through hole, the second through hole and the blind hole are combined to form a first mounting hole, the first mounting hole is connected to the fourth annular groove, a first spring, a first steel ball and a first steel ball fixing bracket are arranged in the first mounting hole, the first spring is arranged at the bottom of the first mounting hole, the first steel ball is located at the upper end of the first spring, the first steel ball fixing bracket is fixedly arranged on the outside of the first steel ball to limit the movement of the first steel ball, and the first steel ball contacts the first steel ball fixing bracket due to the elastic force of the first spring to close the first mounting hole; The fourth through hole corresponds to the third through hole, and the inner diameter of the fourth through hole is the same as the inner diameter of the third through hole, and the fourth through hole, the third through hole and the outer surface of the first crawler are combined to form a second mounting hole, a second spring, a second steel ball and a second steel ball fixing bracket are provided in the second mounting hole, the second spring is provided at the bottom of the second mounting hole, the second steel ball is located at the upper end of the second spring, the second steel ball fixing bracket is fixedly provided on the outside of the second steel ball to limit the movement of the second steel ball, and the second steel ball contacts the second steel ball fixing bracket by the elastic force of the second spring to close the second mounting hole; A plurality of rectangular grooves are evenly and parallelly arranged on the outer surface of the third crawler, and the long sides of the rectangular grooves are located in the width direction of the third crawler.

5. The cleaning robot with an extrusion-type adsorbable crawler according to claim 4, characterized in that: The vacuum chamber is cylindrical in shape, and a cavity is provided inside the vacuum chamber. A plurality of fixing holes are provided in the circumferential direction of the outer surface of the vacuum chamber, the fixing holes correspond to the first mounting holes and are communicated with the cavity, a third spring, a third steel ball and a third steel ball fixing bracket are provided in the fixing hole, the third spring is provided at the bottom of the fixing hole, the third steel ball is located at the upper end of the third spring, the third steel ball fixing bracket is fixedly provided on the outside of the third steel ball to limit the movement of the third steel ball, the third steel ball contacts the third steel ball fixing bracket through the elastic force of the third spring to close the fixing hole, and a trachea socket connected to the cavity is provided on one side of the vacuum chamber, and the trachea socket is connected to an external vacuum pump through an trachea.

6. The cleaning robot with an extrusion-type adsorbable crawler according to claim 5, characterized in that: The inner diameters of the first mounting hole, the second mounting hole, and the fixing hole are all equal to the outer diameters of the first steel ball, the second steel ball, and the third steel ball. The outer diameter of the first steel ball is larger than the inner diameter of the first positioning hole in the first steel ball fixing bracket, so that the first steel ball seals the first positioning hole and then the first mounting hole. The outer diameter of the second steel ball is larger than the inner diameter of the second positioning hole in the second steel ball fixing bracket, so that the second steel ball seals the second positioning hole and then seals the second mounting hole; The outer diameter of the third steel ball is greater than the inner diameter of the third positioning hole in the third steel ball fixing bracket, so that the third steel ball seals the third positioning hole and then seals the fixing holes respectively.

7. The cleaning robot with an extrusion-type adsorbable crawler according to claim 5, characterized in that: The first driven shaft is fixedly provided in the fourth synchronous wheel, the second driven shaft is fixedly provided in the first synchronous wheel, the third driven shaft is fixedly provided in the second synchronous wheel, the vacuum chamber is fixedly connected to the third driven shaft through a mounting hole provided in the center thereof, the first driven shaft, the second driven shaft and the third driven shaft are respectively fixedly connected to the chassis in the fuselage of the cleaning robot through brackets, the third synchronous wheel is fixedly connected to the output shaft of the driving motor of the driving mechanism, and the third synchronous wheel rotates under the drive of the driving motor to drive the crawler to rotate, thereby driving the cleaning robot to walk on the cleaning working plane.

Images