Walking device and cleaning robot

Abstract

The present application relates to the technical field of cleaning equipment, and discloses a walking device and a cleaning robot. The walking device includes a connecting assembly, an omnidirectional wheel assembly and a magnetic suction assembly. The omnidirectional wheel assembly is connected to the supporting mechanism of the cleaning device through the connecting assembly. Under the magnetic suction force of the magnetic suction assembly, the omnidirectional wheel assembly can keep walking on the working surface to be cleaned. The two swing brackets of the connecting assembly can swing adaptively with the position change of the omnidirectional wheel assembly, and the omnidirectional wheel assembly is rotatably connected to the swing bracket. Therefore, during the walking process, each omnidirectional wheel assembly itself also rotates adaptively relative to the swing bracket, so as to adaptively adjust the position and angle of the omnidirectional wheel assembly to adapt to the working surface with a changing radius of curvature, thereby improving the reliability of the walking device. The cleaning robot including the above-mentioned walking device also has the above-mentioned advantages. The walking device and the cleaning robot are suitable for cleaning wind power towers, which helps to extend the service life of the towers.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a walking device and a cleaning robot. Background Art

[0002] At present, when cleaning the outer surfaces of buildings and other facilities, a wall-climbing robot can be used to climb and clean the walls with clear surfaces. In actual applications, many indoor and outdoor facilities have curved surfaces with different curvature radii. Current wall-climbing robots and their cleaning robots are difficult to adapt to the changes in the curvature radius of the curved surface, making cleaning difficult.

[0003] Taking the outer surface of a wind turbine tower as an example, the tower is the support frame of a wind turbine. The usual structure is a cylindrical structure with a gradually increasing radius of curvature from top to bottom to ensure the stability of the support. In actual use, wind turbine towers are subject to dust pollution, oil pollution, corrosion and rust. As the working time of wind turbines increases, the oil pollution will become more serious, which not only affects the beauty of the tower, but also causes serious damage to the paint surface of the tower, making the tower surface more prone to corrosion and rust, thereby reducing the anti-corrosion performance and structural strength of the tower, leading to stress deformation and the risk of tower collapse, thus shortening the service life of the tower. Therefore, the cleaning of the tower is very important. At present, most of its cleaning is completed by manual high-altitude cleaning operations. The operator manually cleans the tower by hoisting it on a rope attached to the tower. There are problems such as low cleaning efficiency, long cleaning cycle, high risk factor, low safety, high labor intensity, high labor cost, and high cleaning cost.

[0004] In other schemes, a wall-climbing robot is used for cleaning. The walking device of the existing wall-climbing robot adopts a magnetic mechanism set on the surface of the crawler. The crawler can be adsorbed on the surface of the tower through the magnetic mechanism. The crawler is set on the driving wheel and meshed with the driving wheel. The driving wheel is used to drive the crawler to operate, so that the crawler can walk on the surface of the working tower, drive the robot body to move along the surface of the tower and drive the cleaning device to complete the cleaning work. However, when the crawler-type magnetic mechanism walks on a curved surface with different curvature radii, it cannot adapt to the change of the curvature radius, so that the magnetic adsorption mechanism cannot effectively fit with the tower surface, thereby reducing the adsorption force of the magnetic adsorption mechanism on the tower surface, making the crawler easy to detach from the working surface, and reducing the reliability of the use of the wall-climbing robot. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a walking device that can adapt to curved surfaces with different curvature radii, improve the adsorption stability of the surface to be cleaned, and improve the reliability of the cleaning robot. The present application also proposes a cleaning robot having the walking device.

[0006] The walking device according to the first aspect of the present application is used to enable a cleaning robot to walk on a work surface to be cleaned, and includes a connecting assembly, an omnidirectional wheel assembly and a magnetic suction assembly, wherein the connecting assembly includes two swing brackets, the two swing brackets are spaced apart along a first direction and are symmetrical to each other, and the swing brackets are suitable for connecting to the supporting mechanism of the cleaning robot through a rotating pair; two omnidirectional wheel assemblies are spaced apart along a third direction on each of the swing brackets, and the omnidirectional wheel assemblies on the two swing brackets are symmetrically arranged; the first direction and the third direction are perpendicular to each other; wherein the omnidirectional wheel assembly is rotatably connected to the swing bracket, and the omnidirectional wheel assembly is used to roll along the work surface to be cleaned; the magnetic suction assembly is used to provide a magnetic suction force to keep the omnidirectional wheel assembly close to the work surface to be cleaned.

[0007] The cleaning robot of the first aspect embodiment of the present application has at least the following beneficial effects: under the action of the magnetic attraction force of the magnetic attraction component, the omnidirectional wheel component can hold on to the work surface to be cleaned and walk, and the two swing brackets can swing adaptively with the position change of the omnidirectional wheel component, and the omnidirectional wheel component is rotatably connected to the swing bracket. Therefore, during walking in the third direction, as the radius of curvature changes, the relative positions between the omnidirectional wheel components change, so that the swing bracket swings accordingly, and each omnidirectional wheel component itself also adaptively rotates relative to the swing bracket, thereby adaptively adjusting the position and angle of the omnidirectional wheel component to adapt to the work surface with a changing radius of curvature, thereby improving the reliability of the walking device.

[0008] According to the walking device of some embodiments of the present application, the omnidirectional wheel assembly includes an omnidirectional wheel and a wheel frame, the wheel frame is hinged to the swing bracket, the magnetic attraction assembly is connected to the wheel frame, and the two omnidirectional wheels are rotatably connected to the wheel frame and symmetrically arranged on both sides of the magnetic attraction assembly.

[0009] According to the walking device of some embodiments of the present application, the connecting assembly also includes a telescopic bracket, and the two telescopic brackets are respectively arranged on the sides of the two swing brackets that are opposite to each other, one end of the telescopic bracket is connected to the swing bracket through a rotating pair, and the other end is suitable for being connected to the supporting mechanism through a rotating pair, and the telescopic bracket can be extended and retracted with the swing of the swing bracket.

[0010] According to the second aspect of the present application, the cleaning robot includes a cleaning device and a walking device, wherein the cleaning device is used to clean the work surface to be cleaned, and the cleaning device includes a supporting mechanism, and the supporting mechanism has a set length along the first direction; the walking device adopts the walking device of any embodiment of the first aspect, and the walking device is located on one side of the supporting mechanism along the second direction, and the swing bracket is connected to the supporting mechanism through a rotating pair, and the first direction, the second direction and the third direction are perpendicular to each other.

[0011] The cleaning robot of the second aspect embodiment of the present application has at least the following beneficial effects: the cleaning robot adopts the walking device of the above embodiment, can walk on a working surface with a changing radius of curvature and adaptively adjust the position and angle of the omnidirectional wheel assembly, thereby improving the reliability of the walking device, thereby ensuring the normal operation of the cleaning device and improving the cleaning efficiency.

[0012] According to some embodiments of the cleaning robot of the present application, the cleaning device also includes a wiping mechanism, a spraying mechanism and a brushing mechanism arranged in sequence along the third direction, the wiping mechanism, the spraying mechanism and the brushing mechanism are respectively connected to the supporting mechanism, the brushing mechanism is used to brush the work surface to be cleaned, the spraying mechanism is used to spray cleaning liquid on the work surface, and the wiping mechanism is used to wipe the work surface dry after brushing and spraying.

[0013] According to some embodiments of the cleaning robot of the present application, the supporting mechanism includes a connecting frame and a main frame, the two main frames are respectively arranged on both sides of the connecting frame along the first direction, the main frame extends along the third direction and defines an installation space between the main frame and the connecting frame, the scrubbing mechanism is arranged in the installation space, the wiping mechanism is connected to the connecting frame, the spraying mechanism is connected to the main frame or the connecting frame, and the connecting assembly is correspondingly connected to the main frame.

[0014] According to some embodiments of the cleaning robot of the present application, the cleaning device also includes a wiping mechanism, and the wiping mechanism includes a wiping bracket and a wiping rope, wherein: the wiping bracket includes a fixed frame, an adjusting component and a guide member, along the first direction, the fixed frame has a set length, the adjusting component is connected to the fixed frame, and the guide members are respectively provided on both sides of the adjusting component, and the guide members are connected to the fixed frame; and, along the second direction, the guide member is farther away from the fixed frame relative to the adjusting component; both ends of the wiping rope are respectively connected to the adjusting components and are wrapped around the guide member along the first direction, the wiping rope can slide relative to the guide member to relax or tighten along the second direction, and the adjusting component is used to tighten the wiping rope along the second direction.

[0015] According to some embodiments of the cleaning robot of the present application, the cleaning device also includes a spray mechanism, the spray mechanism includes a spray pipe and a nozzle, the spray pipe is connected to the supporting mechanism, the nozzle is connected to one side of the spray pipe along the second direction, and is used to spray cleaning liquid in the second direction; along the third direction, the wiping mechanism is located on one side of the spray mechanism, the fixed frame is connected to the supporting mechanism, the wiping rope is located on the side of the fixed frame that is consistent with the direction of the nozzle, and is used to wipe the work surface after being sprayed by the spray mechanism, and the adjusting component is used to tighten the wiping rope to fit the work surface to be cleaned.

[0016] According to some embodiments of the cleaning robot of the present application, the cleaning device also includes a brushing mechanism, which is connected to the supporting mechanism. The brushing mechanism includes a roller brush and a driving assembly. The central axis of the roller brush extends along the first direction. Along the third direction, the brushing mechanism is located on the side of the spraying mechanism away from the wiping mechanism. The driving assembly is connected to the central axis of the roller brush, and is used to drive the roller brush to rotate to brush the work surface to be cleaned.

[0017] According to some embodiments of the cleaning robot of the present application, the cleaning device also includes a detection mechanism and a roller brush moving assembly. The detection mechanism is communicatively connected to the brushing mechanism for detecting a change in the radius of curvature of the working surface to be cleaned during movement along the third direction. The roller brush moving assembly is connected to the supporting mechanism, and is suitable for moving the roller brush along the second direction according to the change detected by the detection mechanism.

[0018] According to some embodiments of the cleaning robot of the present application, the cleaning device also includes a spray mechanism and a brush mechanism, wherein: the spray mechanism includes a spray pipe and a nozzle, the spray pipe is connected to the supporting mechanism, and the nozzle is connected to one side of the spray pipe along the second direction, for spraying cleaning liquid in the second direction; the brush mechanism is connected to the supporting mechanism, the brush mechanism includes a roller brush and a drive assembly, the central axis of the roller brush extends along the first direction, and along the third direction, the brush mechanism is located on one side of the spray mechanism, and the drive assembly is connected to the central axis of the roller brush, for driving the roller brush to rotate to brush the surface to be cleaned.

[0019] According to some embodiments of the present application, the cleaning robot further includes a lifting device, and the lifting devices are respectively connected to both sides of the supporting mechanism along the first direction, and the two lifting devices are used to synchronously lift the supporting mechanism.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the cleaning robot according to an embodiment of the present application;

[0022] Figure 2 A top view of the cleaning robot according to an embodiment of the present application;

[0023] Figure 3 A schematic diagram of a partial structure of a walking device of a cleaning robot according to an embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of the structure of an omnidirectional wheel assembly in a walking device according to an embodiment of the present application;

[0025] Figure 5 A schematic diagram of a working state of the cleaning robot according to an embodiment of the present application;

[0026] Figure 6 This is another schematic diagram of the working state of the cleaning robot according to the embodiment of the present application;

[0027] Figure 7 This is another schematic diagram of the working state of the cleaning robot according to the embodiment of the present application;

[0028] Figure 8 This is a structural schematic diagram of a wiping mechanism according to an embodiment of the present application;

[0029] Fig. 9 for Figure 8 A partial enlarged schematic diagram in the middle;

[0030] Fig.10 for Figure 8 A partial enlarged schematic diagram of point B in the middle;

[0031] Fig.11 This is a schematic diagram of the structure of a cleaning device according to an embodiment of the present application;

[0032] Fig.12 for Fig.11 A local enlarged schematic diagram of point C in FIG.

[0033] Fig.13 This is a schematic diagram of the structure of the spray mechanism in the cleaning device of an embodiment of the present application;

[0034] Fig.14 for Fig.13 A local enlarged schematic diagram of point D in FIG.

[0035] Fig.15 It is a structural schematic diagram of a scrubbing mechanism in a cleaning device according to an embodiment of the present application;

[0036] Fig.16This is a schematic diagram of the structure of the detection mechanism in the cleaning device of the embodiment of the present application;

[0037] Fig.17 for Fig.11 A local enlarged schematic diagram of point E in the figure.

[0038] Reference numerals:

[0039] Wiping mechanism 100, wiping bracket 101, wiping rope 102, fixing frame 103, adjusting assembly 104, guiding member 105, first pulley 106, second pulley 107, first connecting rod 108, second connecting rod 109, elastic member 110, swing rod 111, connecting rod 112, connecting seat 113, anti-dropping buckle 114, wiping moving assembly 115, and slide rail 116;

[0040] Spray mechanism 200, spray pipe 201, nozzle 202, first tube body 203, second tube body 204, third tube body 205, spray bracket 206, water outlet 207;

[0041] Brushing mechanism 300, roller brush 301, driving assembly 302, roller shaft 303, bristles 304, water inlet connector 305, motor 306, reducer 307, roller brush moving assembly 308, bracket 309, sliding member 310, power member 311, flange 312;

[0042] Detection mechanism 400, slide 401, movable rod 402, spring 403, universal wheel 404, first sensor 405, second sensor 406;

[0043] Support mechanism 500, connecting frame 501, main frame 502;

[0044] Walking device 600, connecting assembly 601, omnidirectional wheel assembly 602, magnetic attraction assembly 603, swing bracket 604, telescopic bracket 605, omnidirectional wheel 606, wheel frame 607, magnet seat 608, magnet shell 609;

[0045] Lifting device 700. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the concept of the present application and the technical effects produced in combination with the embodiments, so as to fully understand the purpose, features and effects of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments of the present application, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present application.

[0047] In the description of the embodiments of the present application, if orientation descriptions are involved, the orientations or positional relationships indicated by "up", "down", "front", "back", "left", "right", etc. are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or device referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present application.

[0048] In the description of the embodiments of the present application, if a feature is referred to as being “set,” “fixed,” “connected,” or “installed” on another feature, it may be directly set, fixed, or connected to another feature, or it may be indirectly set, fixed, connected, or installed on another feature. In the description of the embodiments of the present application, if “several” is involved, it means more than one; if “multiple” is involved, it means more than two; if “greater than,” “less than,” or “exceeds” is involved, it should be understood as not including the number itself; if “above,” “below,” or “within” is involved, it should be understood as including the number itself. If “first” or “second” is involved, it should be understood as being used to distinguish technical features, and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0049] The current wall-climbing robots use disc brushes to clean the oil stains on the surface of wind turbine towers, and it is difficult to achieve effective cleaning of curved surfaces with different radii of curvature. Taking the cleaning of the outer wall of the tower as an example (such as a wind turbine tower), the tower is usually a cylindrical structure that is small at the top and large at the bottom, and its radius of curvature gradually increases from top to bottom to ensure the stability of the support. Since the outer wall of the tower is a curved surface with an arc, if it cannot fit well with the outer wall of the tower during cleaning, the cleaning force will be uneven and it will be difficult to ensure the cleaning effect. In addition, the curvature of the outer wall of the tower varies, and conventional cleaning mechanisms cannot adjust the cleaning force, resulting in poor cleaning effect and low efficiency. At present, in addition to the cleaning methods mentioned above, the prior art also provides some cleaning solutions for towers, such as:

[0050] 1. The Chinese patent application "A Tower Cleaning Robot" (publication number: CN110201956 A) discloses a tower cleaning robot, which uses a cylinder to push a roller brush forward and backward to adapt to the change in the taper of the tower in the up and down directions. The problem with this solution is that during the cleaning process, corresponding sensing and control means need to be adopted. Through the matching feedback control method, the curved surface of the tower is detected and fed back and the movement of the cylinder is accurately controlled, so that the roller brush can clean the tower as the tower diameter changes. The roller brush does not have the ability to self-adapt.

[0051] 2. Chinese patent application "A curved surface cleaning robot and its magnetic cleaning robot" (publication number: CN110341828A) discloses a curved surface cleaning robot and its magnetic cleaning robot. The device adapts to working surfaces with different curvature radii through the curved surface cleaning robot, and adjusts the position of the cleaning brush in the radial and tangential directions through bolt adjustment to adapt to the curvature of the working surface. The problem with this solution is that the adjustment of the cleaning brush needs to be debugged before the cleaning operation. When the cleaning robot walks on the curved surface and cleans, the cleaning brush of the cleaning device cannot adaptively adjust the cleaning force.

[0052] 3. The Chinese patent "A magnetic climbing robot for cleaning and testing wind turbine towers" (Announcement No.: CN210440168U) discloses a magnetic climbing robot for cleaning and testing wind turbine towers. The robot adopts a crawler-type magnetic climbing device to achieve magnetic climbing on the outer wall of the tower. However, when the crawler-type magnetic mechanism walks on a curved surface with different radii of curvature, it cannot adapt to the change in the radius of curvature, so that the magnetic adsorption mechanism cannot effectively fit with the tower surface, thereby reducing the adsorption force of the magnetic adsorption mechanism on the tower surface, making it easy for the crawler to detach from the working surface, and reducing the reliability of the wall-climbing robot.

[0053] The three tower cleaning solutions listed above have problems in that their cleaning devices and walking devices cannot adapt to changes in the tower surface and cannot automatically adjust the cleaning force, resulting in poor cleaning effect, low cleaning efficiency, and poor climbing reliability. The present application proposes a walking device and a cleaning robot that can adapt to surfaces with different curvature radii, improve the reliability of the walking device, help optimize the cleaning effect, and improve the cleaning efficiency. The following is an introduction to the embodiments of the present application in conjunction with the accompanying drawings:

[0054] refer to Figures 1 to 3 In the first aspect of the present application, an embodiment provides a walking device 600, including a connecting component 601, an omnidirectional wheel component 602 and a magnetic suction component 603. The connecting component 601 is used to connect the omnidirectional wheel component 602 and the supporting mechanism 500 of the cleaning robot, thereby enabling the cleaning robot to walk on the work surface to be cleaned. The magnetic suction component 603 is used to provide a magnetic suction force to keep the omnidirectional wheel component 602 close to the work surface to be cleaned to prevent it from falling off.

[0055] refer to Figures 1 to 3The connecting component 601 includes two swing brackets 604, which are spaced apart and symmetrical along a first direction, and the swing brackets 604 are suitable for connecting to the supporting mechanism 500 of the cleaning robot through a rotating pair; two omnidirectional wheel assemblies 602 are spaced apart along a third direction on each swing bracket 604, and the omnidirectional wheel assemblies 602 on the two swing brackets 604 are symmetrically arranged; the first direction and the third direction are perpendicular to each other. When applied to the cleaning of a wind turbine tower, the first direction can be a tangent to the outer wall of the tower, and the third direction can be a vertical direction.

[0056] Among them, the omnidirectional wheel assembly 602 is rotatably connected to the swing bracket 604, and the omnidirectional wheel assembly 602 is used to roll along the work surface to be cleaned; under the magnetic attraction of the magnetic attraction assembly 603, the omnidirectional wheel assembly 602 can hold on to the work surface to be cleaned and walk, and the two swing brackets 604 can swing adaptively with the position change of the omnidirectional wheel assembly 602, and the omnidirectional wheel assembly 602 is rotatably connected to the swing bracket 604, so in the process of walking in the third direction, as the radius of curvature changes, the relative position between the omnidirectional wheel assemblies 602 changes, so that the swing bracket 604 swings accordingly, and each omnidirectional wheel assembly 602 itself also adaptively rotates relative to the swing bracket 604, thereby adaptively adjusting the position and angle of the omnidirectional wheel assembly 602 to adapt to the working surface with a changing radius of curvature, thereby improving the reliability of the walking device 600.

[0057] refer to Figure 4 In some embodiments of the walking device 600, the omnidirectional wheel assembly 602 includes an omnidirectional wheel 606 and a wheel frame 607, the wheel frame 607 is hinged to the swing bracket 604, and the magnetic suction assembly 603 is connected to the wheel frame 607, so that each omnidirectional wheel 606 and the magnetic suction assembly 603 can adjust the angle adaptively, and the two omnidirectional wheels 606 are rotatably connected to the wheel frame 607 and symmetrically arranged on both sides of the magnetic suction assembly 603, which can improve the stability of the omnidirectional wheel 606 against the working surface. The magnetic suction assembly 603 may include a magnet seat 608, a magnet and a magnet shell 609, the magnet seat 608 is connected to the wheel frame 607, the magnet shell 609 is connected to the magnet seat 608, and the magnet is arranged in the magnet shell 609, so as to realize the stable connection of the magnet between the two omnidirectional wheels 606.

[0058] refer to Figure 3In some embodiments of the walking device 600, the connection assembly 601 further includes a telescopic bracket 605, and the two telescopic brackets 605 are respectively arranged on the opposite sides of the two swing brackets 604, one end of the telescopic bracket 605 is connected to the swing bracket 604 through a rotating pair, and the other end is suitable for being connected to the support mechanism 500 through a rotating pair, and the telescopic bracket 605 can be extended and retracted with the swing of the swing bracket 604. Among them, the telescopic bracket 605 can be a telescopic rod structure formed by two rods connected to each other, or it can also be a foldable structure connected by two rods through a rotating pair, which can improve the stability of the connection of the omnidirectional wheel 606 on the one hand, and avoid affecting the position adjustment of the swing bracket 604 and the omnidirectional wheel assembly 602 on the other hand.

[0059] It should be noted that the walking mechanism of the embodiment of the present application solves the problem that the current wall-climbing robot is difficult to adapt to the curved surface with changing curvature. In actual use, the walking device 600 of the embodiment of the present application can be used as the walking device 600 of the cleaning robot, which is applied to the cleaning of the outer wall of the wind turbine tower. Each omnidirectional wheel assembly 602 can adaptively rotate with the change of the curved surface, so that it can adapt to the change of the curvature radius of the outer wall of the wind turbine tower. Figures 5 to 7 , respectively show the states of the cleaning robot with the walking device 600 when the curvature radius of the tower outer wall is R1, R2, and R3, where R1<R2<R3. It can be seen that when the curvature radius increases, the angle α of the swing brackets 604 on both sides increases, and the shaft angle β of the omnidirectional wheel 606 also increases, that is, α1<α2<α3, β1<β2<β3. It can be seen that when the walking device 600 walks on a curved surface with a changing curvature radius, the swing bracket 604 and the omnidirectional wheel 606 can both adjust the angle adaptively with the change of the curvature radius. Compared with the prior art, it has a higher adaptive ability and improves the reliability of wall climbing.

[0060] The second aspect of the present application provides a cleaning robot, including a cleaning device and a walking device 600, wherein the cleaning device is used to clean the working surface to be cleaned, and the cleaning device includes a supporting mechanism 500, wherein the supporting mechanism 500 has a set length along the first direction; the walking device 600 adopts the walking device 600 of any embodiment of the first aspect above, and the walking device 600 is located on one side of the supporting mechanism 500 along the second direction, and the swing bracket 604 is connected to the supporting mechanism 500 through a rotating pair. The first direction, the second direction and the third direction are perpendicular to each other. When applied to the cleaning of a wind power tower, the first direction may be the tangent direction of the outer wall of the tower, the second direction may be the radial direction of the tower, and the third direction may be the vertical direction. The cleaning robot of this embodiment adopts the walking device 600 of the above embodiment, and can walk on the working surface with a changing radius of curvature and adaptively adjust the position and angle of the omnidirectional wheel assembly 602, thereby improving the reliability of the walking device 600, thereby ensuring the normal operation of the cleaning device and improving the cleaning efficiency.

[0061] In some embodiments of the cleaning robot, the cleaning device further comprises a wiping mechanism. Figure 8 This is a schematic diagram of the structure of the wiping mechanism in the cleaning robot of the present application embodiment, refer to Figure 8 The wiping mechanism 100 includes a wiping bracket 101 and a wiping rope 102. The wiping rope 102 can be attached to the work surface to be cleaned and move along a set direction to wipe the moisture off the work surface.

[0062] The wiping bracket 101 includes a fixing frame 103, an adjusting assembly 104 and a guide 105. Along the first direction, the fixing frame 103 has a set length, the adjusting assembly 104 is connected to the fixing frame 103, and the guides 105 are respectively provided on both sides of the adjusting assembly 104, and the guides 105 are connected to the fixing frame 103. In addition, along the second direction, the guides 105 are farther away from the fixing frame 103 than the adjusting assembly 104, and both ends of the wiping rope 102 are respectively connected to the adjusting assembly 104 and are wound around the guides 105 along the first direction. Under the action of external force, the wiping rope 102 can slide relative to the guide member 105 to relax or tighten along the second direction between the two guide members 105. The adjustment component 104 is located between the two guide members 105, and is used to tighten the wiping rope 102 along the second direction. The second direction is perpendicular to the first direction. Thus, the wiping rope 102 can adapt to fit the curved surface with increasing or decreasing curvature, and adaptively tighten to fit the working surface being wiped, thereby ensuring the strength of the wiping and cleaning.

[0063] During the process of the drying rope 102 wiping the work surface to be cleaned: when the curvature radius of the curved surface that the drying rope 102 passes through becomes larger, the drying rope 102 is squeezed and relaxed between the two guide members 105 to adapt to the increase in the curvature radius of the work surface to be cleaned, and at the same time, the adjustment component 104 can make the drying rope 102 tighten to fit the work surface to be cleaned, so as to adaptively adjust the intensity of wiping and cleaning. Conversely, when the curvature radius of the curved surface that the drying rope 102 passes through becomes smaller, the adjustment component 104 can make the drying rope 102 tighten to fit the work surface to be cleaned, so as to adapt to the decrease in the curvature radius of the work surface to be cleaned, to prevent the drying rope 102 from being loosened and detached from the work surface to be cleaned or to reduce the wiping intensity, so as to adaptively adjust the intensity of wiping and cleaning.

[0064] Fig. 9 for Figure 8 A partial enlarged schematic diagram of the guide member 105 is shown in FIG. Fig. 9 In some embodiments, the guide member 105 may include a first pulley 106, a second pulley 107, a first connecting rod 108, and a second connecting rod 109. The first connecting rod 108 extends in the first direction, one end of which is connected to the fixed frame 103, and the other end of which is connected to the first pulley 106. The second connecting rod 109 extends in the second direction, one end of which is connected to the first connecting rod 108, and the other end of which is connected to the second pulley 107. The two guide members 105 are symmetrically arranged. Thus, in the second direction, the second pulley 107 is farther away from the fixed frame 103 relative to the adjustment assembly 104, and the wipe rope 102 is wound around the first pulley 106 and the second pulley 107, and can have a movement space in the second direction, so as to facilitate relaxation or tensioning with the change of the curvature of the work surface to be cleaned. The first pulley 106 and the second pulley 107 guide the wipe rope 102 and reduce friction.

[0065] In some embodiments, the adjustment component 104 may include two elastic members 110, one end of the two elastic members 110 is respectively connected to the fixing frame 103, and the other end is respectively connected to the two ends of the wiping rope 102. Thus, the wiping rope 102 can be adaptively relaxed or tightened as the radius of curvature of the curved surface changes under the traction of the elastic members 110, and can remain close to the curved surface under the elastic force of the elastic members 110, thereby ensuring the cleaning strength.

[0066] Fig.10 for Figure 8 The partially enlarged schematic diagram at B in FIG. 1 shows a specific structure of the adjustment component 104, referring to FIG. Fig.10In some embodiments, the adjustment assembly 104 may also include a swing rod 111 and an elastic member 110, one end of the elastic member 110 is connected to the fixing frame 103, and the other end is connected to the swing rod 111. Along the first direction, swing rods 111 are respectively provided on both sides of the elastic member 110, one end of the swing rod 111 is rotatably connected to the fixing frame 103, and the other end of the swing rod 111 is connected to the wiping rope 102. The elastic member 110 may be a compression spring. Therefore, when the drying rope 102 is wiping and cleaning the curved surface, when the radius of curvature of the curved surface increases, the drying rope 102 can pull the swing rod 111 to swing in the first direction to move away from each other, and the length of the drying rope 102 used to fit the curved surface increases, so that the curved surface can be fitted, and the swing of the swing rod 111 drives the elastic member 110 to elastically deform, and the restoring force of the elastic deformation of the elastic member 110 can make the swing rod 111 have a tendency to swing in a direction close to each other, so that the drying rope 102 can be tensioned, so that the drying rope 102 can be close to the curved surface being cleaned, and the cleaning strength can be ensured. The deformation amount of the elastic member 110 changes with the change in the radius of curvature of the curved surface that the drying rope 102 fits, thereby adjusting the degree to which the drying rope 102 fits the curved surface, and realizing adaptive adjustment of the cleaning strength.

[0067] refer to Fig.10 The adjustment assembly 104 may further include a connecting rod 112 and a connecting seat 113 to facilitate the connection between the elastic member 110 and the swing rod 111 and the transmission of force or torque. The connecting seat 113 is connected to the end of the elastic member 110 that is away from the fixing frame 103. Along the first direction, connecting rods 112 are respectively provided on both sides of the connecting seat 113. The two ends of the connecting rod 112 are respectively connected to the connecting seat 113 and the swing rod 111 through a revolute pair. Thus, the swinging swing rod 111 can drive the connecting rod 112 to move so that the connecting seat 113 is close to or away from the fixing frame 103, so that the elastic member 110 undergoes corresponding elastic deformation.

[0068] refer to Figure 8 In order to ensure the stability of the connection of the wiping rope 102, some wiping mechanisms 100 also include an anti-drop buckle 114, the wiping rope 102 is connected to the anti-drop buckle 114, and the anti-drop buckle 114 is connected to the adjustment component 104. Specifically, the two ends of the wiping rope 102 are respectively connected with anti-drop buckles 114, and are connected to the swing rod 111 of the adjustment component 104 through anti-drop buckles. The anti-drop buckle 114 used for the end connection of a conventional steel cable can be used, which has the advantages of firm connection, anti-drop and easy transfer. The anti-drop buckle 114 can ensure the stability of the end connection of the wiping rope 102, and the anti-drop buckle 114 can be connected to the swing rod 111 through a rotating pair to achieve the transfer of the end of the wiping rope 102, reduce the friction loss at the connection position, and compared with the solution of directly connecting the rope to the swing rod 111, it can reduce the difficulty of connection and improve the convenience of connection.

[0069] In some embodiments, the wiping mechanism 100 further includes a wiping moving assembly 115, which is connected to the wiping bracket 101, and the wiping moving assembly 115 is used to move the wiping bracket 101 along the second direction. Therefore, when the curvature change span of the work surface to be cleaned is too large, the position of the wiping mechanism 100 along the second direction can be adjusted within a set range by the wiping moving assembly 115 to ensure that the wiping rope 102 can fit the work surface. Specifically, the wiping moving assembly 115 can adopt a cylinder or a linear module. The fixed frame 103 in the wiping bracket 101 can be connected to the slide rail 116, which extends along the second direction, thereby supporting the wiping mechanism 100 and limiting the movement of the wiping mechanism 100 along the second direction. It should be noted that the cleaning of wind turbine towers usually includes brushing and spraying. The wiping mechanism 100 of the embodiment of the present application can be used to wipe and clean the working surface after spraying. Moreover, from the above embodiment, it can be seen that the wiping mechanism 100 is suitable for curved surfaces with varying curvature radii. During the wiping process, the wiping rope 102 can be adaptively pressed against the working surface, thereby ensuring the cleaning strength. When used in the cleaning of wind turbine towers, water stains and residual stains can be effectively removed, thereby improving the cleaning efficiency.

[0070] Fig.11 Schematic diagram of the structure of the cleaning device in the cleaning robot of the embodiment of the present application. Fig.12 for Fig.11 The local enlarged schematic diagram of point C in the figure, Fig.13 This is a schematic diagram of the structure of the spray mechanism in the cleaning robot according to an embodiment of the present application. Fig.14 for Fig.13 The local enlarged schematic diagram of D in the figure, Fig.15 This is a schematic diagram of the structure of the scrubbing mechanism in the cleaning robot of the present application embodiment, refer to Figures 11 to 15 In some embodiments, the cleaning device includes a supporting mechanism 500, a spraying mechanism 200 and a wiping mechanism 100, wherein the supporting mechanism 500 is used for the installation and connection of the spraying mechanism 200 and the wiping mechanism 100, the spraying mechanism 200 is used for spraying cleaning liquid on the working surface, and the wiping mechanism 100 is used for wiping the working surface after spraying.

[0071] Among them, reference Fig.13The spray mechanism 200 includes a spray pipe 201 and a nozzle 202. The spray pipe 201 is connected to the support mechanism 500. The nozzle 202 is connected to one side of the spray pipe 201 along the second direction, and is used to spray the cleaning liquid in the second direction. The wiping mechanism 100 adopts the wiping mechanism 100 of any embodiment of the first aspect. The wiping rope 102 is located on the side of the fixing frame 103 that is consistent with the nozzle 202, so that the wiping rope 102 and the nozzle 202 can act on the same working surface at the same time. Along the third direction, the wiping mechanism 100 is located on one side of the spray mechanism 200, and the fixing frame 103 is connected to the support mechanism 500. Therefore, the wiping rope 102 can be used to wipe the working surface after being sprayed by the spray mechanism 200, and the adjustment component 104 is used to tension the wiping rope 102 to fit the working surface to be cleaned.

[0072] When actually applied to the cleaning of wind turbine towers, the third direction may be the vertical direction, and the wipe-dry mechanism 100 may be arranged above the spray mechanism 200. Thus, during the process of the cleaning device moving from the wipe-dry mechanism 100 to the spray mechanism 200 (i.e., from top to bottom along the vertical direction), after the spray mechanism 200 sprays and cleans the working surface to be cleaned, the wipe-dry mechanism 100 may wipe and clean the working surface, thereby helping to speed up the removal of water stains and remove residual stains. It can be seen from the above-mentioned first aspect embodiment that the wipe-dry mechanism 100 can also adaptively fit working surfaces with different curvature radii, thereby adjusting the cleaning intensity, thereby ensuring the cleaning quality and improving the cleaning efficiency.

[0073] refer to Fig.13 and Fig.14In some embodiments, the spray pipe 201 includes a first tube body 203, a second tube body 204 and a third tube body 205, the first tube body 203 extends along a first direction, the second tube body 204 and the third tube body 205 are respectively connected to both ends of the first tube body 203, and the first tube body 203, the second tube body 204 and the third tube body 205 are respectively provided with water outlets 207 on the same side along the second direction, and each water outlet 207 is respectively connected to a nozzle 202, thereby, multiple nozzles 202 all spray toward the same side, which can expand the range of spraying along the first direction. Compared with the solution of spraying cleaning liquid through only one nozzle, the uniformity of spray cleaning can be improved. Furthermore, the second tube body 204 and the third tube body 205 are inclined relative to the first tube body 203 toward the spraying direction of the nozzle 202, thereby, the second tube body 204 and the third tube body 205 are surrounded on one side of the first tube body 203 along the second direction, and the first tube body 203, the second tube body 204 and the third tube body 205 can form a similar arc structure, which can be surrounded on one side of the curved surface. Compared with the scheme extending straight along the first direction, the inclined second tube body 204 and the third tube body 205 can better spray the curved working surface, which helps to improve the spraying efficiency. In other embodiments, the spray pipe 201 can also be set as a curved structure with a set radius as a whole, and a plurality of nozzles 202 are arranged on one side of the spray pipe 201 along the extension direction of the spray pipe 201, thereby, the curved curved surface can be sprayed through the curved spray pipe 201, and the uniformity of the spraying is improved.

[0074] In some embodiments, reference Fig.13 The spray mechanism 200 also includes a spray bracket 206, the spray bracket 206 is connected to the support mechanism 500, the spray pipe 201 is connected to the spray bracket 206, and the spray pipe 201 is connected to the support mechanism 500 through the spray bracket 206, which can improve the stability of the connection of the spray pipe 201. The spray bracket 206 can be a rod-shaped structure, and a fixed connection can be achieved through a commonly used fastener. The spray pipe 201 can be connected to a water pump, or connected to a water pump through a connecting pipe. Of course, the spray bracket 206 can also be set to a tubular shape, and a channel is set inside it. The channel is connected to the pipeline of the spray pipe 201 at the connection between the spray bracket 206 and the spray pipe 201, so the cleaning liquid can also be transported to the spray pipe 201 by connecting the tubular spray bracket 206 to the water pump.

[0075] refer to Fig.11 and Fig.15In some embodiments, the cleaning device further comprises a scrubbing mechanism 300, the scrubbing mechanism 300 is connected to the supporting mechanism 500, the scrubbing mechanism 300 comprises a roller brush 301 and a driving assembly 302, and the roller brush 301 can be used to scrub the work surface to be cleaned. The central axis of the roller brush 301 extends along the first direction, and the driving assembly 302 is connected to the central axis of the roller brush 301, and is used to drive the roller brush 301 to rotate to scrub the work surface to be cleaned. Along the third direction, the scrubbing mechanism 300 is located on the side of the spray mechanism 200 away from the wiping mechanism 100, that is, the spray mechanism 200 is located between the scrubbing mechanism 300 and the wiping mechanism 100. Thus, the scrubbing mechanism 300, the spray mechanism 200 and the wiping mechanism 100 can clean the work surface to be cleaned at the same time, and during the movement of the cleaning device from the wiping mechanism 100 to the scrubbing mechanism 300 along the third direction, the work surface can be cleaned in the order of scrubbing, rinsing and wiping. For example, when the cleaning device is used for cleaning a wind turbine tower, the third direction may be a vertical direction, the spray pipe 201 of the spray mechanism 200 is arranged above the roller brush 301 of the scrubbing mechanism 300, and the wipe rope 102 of the wipe mechanism 100 is arranged above the spray pipe 201, so that the cleaning device can be moved from top to bottom and clean the outer wall of the tower. Therefore, during the movement of the cleaning device, the working surface to be cleaned is first scrubbed by the roller brush 301, sprayed by the spray pipe 201, and then wiped by the wipe rope 102. Scrubbing, spraying and wiping are performed in sequence during the movement of the cleaning device, thereby improving the cleaning efficiency. The cleaning liquid sprayed by the spray pipe 201 flows downward, so during the scrubbing process, the roller brush 301 can cooperate with the cleaning liquid to scrub the working surface, which can better remove stains. In addition, the wipe mechanism 100 can adaptively adjust the curved surface with a changing radius of curvature to ensure the effect of wiping and cleaning.

[0076] Fig.16 This is a schematic diagram of the structure of the detection mechanism in the cleaning robot of the embodiment of the present application. Fig.17 for Fig.11 The local enlarged schematic diagram of E in the figure is shown in Figure 1. Fig.16 and Fig.17 In some embodiments, the cleaning device also includes a detection mechanism 400 and a roller brush moving assembly 308. The detection mechanism 400 is communicatively connected to the brushing mechanism 300 and is used to detect the change in the curvature radius of the working surface to be cleaned during movement along the third direction. The roller brush moving assembly 308 is connected to the supporting mechanism, and the roller brush moving assembly 308 is suitable for moving the roller brush along the second direction according to the change.

[0077] Specifically, refer to Fig.17The roller brush moving assembly 308 may include a bracket 309, a sliding member 310 and a power member 311. The power member 311 is connected to the bracket 309 and the support mechanism 500. The roller brush 301 is connected to the bracket 309. The bracket 309 is connected to the sliding member 310. The sliding member 310 is connected to the support mechanism 500. The power member 311 can drive the bracket 309 to slide along the sliding member 310, thereby driving the roller brush 301 to move along the second direction. The sliding member 310 is used to limit the power member 311 from moving along the second direction. Among them, the power member 311 can be an electric cylinder, and the sliding member 310 can be a conventional slide rail slide 401 assembly.

[0078] The detection mechanism 400 can be used for detection in a contact or non-contact manner, for example, Fig.16 , the detection mechanism 400 may include a slide 401, a movable rod 402, a spring 403 and a universal wheel 404, the movable rod 402 is connected to the slide 401 and extends along the second direction, the universal wheel 404 is rotatably mounted on the end of the movable rod 402, and is used to contact the working surface to be cleaned, the spring 403 is sleeved on the movable rod 402, and the elastic force of the spring 403 can make the movable rod 402 have a tendency to move toward the working surface to be cleaned, so that the universal wheel 404 can keep against the working surface during the overall movement of the cleaning device. During the movement process, the universal wheel 404 rolls along the working surface, and when the radius of curvature of the working surface becomes larger or smaller, the movable rod 402 can be extended and retracted along the second direction accordingly, so that the change in the radius of curvature can be obtained by detecting the displacement of the movable rod 402. During the cleaning process, the roller brush moving component 308 can adaptively adjust the position of the roller brush 301 according to the change amount, thereby adjusting the brushing force, and the specific detection feedback can be achieved through a conventional controller.

[0079] refer to Fig.16 The detection mechanism 400 may also include a first sensor 405 and a second sensor 406, which are arranged at intervals along the second direction and can be connected to the slide 401 or the support mechanism 500, and are used to detect the two extreme positions of the movable rod 402 moving in the second direction, so as to know whether the cleaning device moving along the third direction reaches the position with the maximum curvature radius or the position with the minimum curvature radius. The first sensor 405 and the second sensor 406 can be conventional photoelectric sensors.

[0080] refer to Fig.12 and Fig.16 In some embodiments, the wiping moving component 115 of the wiping mechanism 100 may also be communicatively connected with the above-mentioned detection mechanism 400. During the cleaning process, the wiping moving component 115 may adaptively adjust the position of the wiping bracket 309 according to the change detected by the detection mechanism 400, so that the wiping rope 102 can better fit the work surface to be cleaned.

[0081] refer to Fig.15 In some embodiments, the roller brush 301 includes a roller shaft 303 and bristles 304. The bristles 304 are arranged on the roller shaft 303 and are distributed around the roller shaft 303. The roller shaft 303 is the central axis of the roller brush 301 and can be connected to the driving assembly 302 as a driving shaft. The end of the roller shaft 303 can be connected to the flange 312 to facilitate connection with the driving assembly 302. The interior of the roller shaft 303 can be hollowed to form a channel. The wall of the roller shaft 303 is radially provided with a plurality of through holes connected to the channel. The channel can be connected to the water inlet joint 305 to allow the cleaning liquid to be introduced. In actual practice, the cleaning liquid can be introduced into the channel of the roller shaft 303. While the roller shaft 303 rotates, the cleaning liquid continuously flows out from the through hole, which can supply liquid to the bristles 304. Under the action of centrifugal force, a water flow is formed, which can clean the brush, thereby having an automatic cleaning function.

[0082] The driving assembly 302 may include a motor 306 and a reducer 307, wherein the motor 306 and the reducer 307 are connected, and the reducer 307 is connected to the roller shaft 303. The motor 306 drives the reducer 307 to rotate the roller shaft 303, thereby realizing the rotation of the brush for brushing the working surface to be cleaned. The motor 306 may be a servo motor, and the reducer 307 may be a worm gear reducer. The cleaning liquid may be water or an aqueous solution containing a cleaning agent. The roller shaft 303 may be made of a seamless carbon steel pipe, and a protective layer may be formed on the surface by powder coating. The bristles 304 may be made of abrasive wire, which are all conventional materials.

[0083] refer to Fig.11In some embodiments, the support mechanism 500 includes a connecting frame 501 and a main frame 502. The two main frames 502 are respectively arranged on both sides of the connecting frame 501 along the first direction, and can be used for the installation of structures such as the drive component 302, the control component, and the distribution box. The connecting frame 501 is connected to the main frame 502, and the main frame 502 extends along the third direction. Therefore, an installation space is defined between the main frame 502 and the connecting frame 501, and the scrubbing mechanism 300 is arranged in the installation space. For example, the roller brush 301 is located in the installation space and is connected to the main frame 502 through the roller shaft 303 of the roller brush 301. The driving assembly 302 is connected to the main frame 502, and the wiping mechanism 100 is connected to the connecting frame 501, so as to be located above the installation space. The spray mechanism 200 is connected to the main frame 502 or the connecting frame 501, and the walking device 600 is connected to the side of the supporting mechanism 500 corresponding to the scrubbing mechanism 300, which can provide a strong adsorption force for the position of the scrubbing mechanism 300 to ensure the scrubbing force of the roller brush 301 and avoid interference with the wiping mechanism 100 or the spray mechanism 200. The connecting assembly 601 of the walking mechanism 600 is correspondingly connected to the main frame 502, so that the omnidirectional wheel assembly 602 can drive the cleaning device to move on the work surface to be cleaned, so as to clean the work surface through the brushing mechanism 300, the spraying mechanism 200, and the wiping mechanism 100. In this embodiment, the support mechanism 500 can be used as a supporting body to realize the installation of various mechanisms such as the brushing mechanism 300, the spraying mechanism 200, the wiping mechanism 100, and the walking device 600. After assembly, the overall movement of each mechanism can be realized by moving the support mechanism 500. At the same time, each mechanism can form a mutually independent module connected to the support mechanism 500, realizing a modular assembly method, which is convenient for disassembly and easy for maintenance.

[0084] The connecting frame 501 and the main frame 502 can be formed by constructing and fixing the rods, so as to have a stable structure, facilitate the installation and connection of various mechanisms, and reduce the dead weight.

[0085] In some embodiments of the cleaning robot, the cleaning device may include a wiping mechanism 100, a spraying mechanism 200, and a scrubbing mechanism 300 sequentially arranged along a third direction, the three being connected to a supporting mechanism 400, respectively, the scrubbing mechanism 300 being used to scrub the work surface to be cleaned, the spraying mechanism 200 being used to spray cleaning liquid on the work surface, and the wiping mechanism 100 being used to wipe the work surface dry after scrubbing and spraying. In some embodiments of the cleaning robot, the cleaning device may only include the wiping mechanism 100, or the spraying mechanism 200, or the scrubbing mechanism 300, or a combination of any two thereof. The specific arrangement of the wiping mechanism 100, the spraying mechanism 200, and the scrubbing mechanism 300 may refer to the previous embodiments.

[0086] In some embodiments, the cleaning robot also includes a lifting device 700, and the lifting devices 700 are respectively connected to both sides of the support mechanism 500 along the first direction. The two lifting devices 700 are used to synchronously lift the support mechanism 500, so that after the walking device 600 drives the cleaning device to move from top to bottom along the curved surface for a stroke and cleans, it can be lifted upward by the lifting device 700 to facilitate the movement and cleaning of the next stroke.

[0087] The cleaning robot of the embodiment of the present application is suitable for cleaning the outer wall of a wind turbine tower. It is understandable that wind power generation, as a renewable clean energy source, can effectively clean the tower, which can effectively avoid problems such as reduced structural strength, reduced anti-corrosion performance, and stress deformation caused by pollution and corrosion. The cleaning robot of the embodiment of the present application solves the problem that the current wall-climbing robots and their cleaning devices are difficult to adapt to curved surfaces with changing curvatures, thereby improving the efficiency and effect of cleaning the tower wall, helping to improve the stability of the wind turbine support and extend the service life of the tower. It should be noted that in actual use, the wiping mechanism or cleaning device of the embodiment of the present application can be set on a walking device, and the cleaning device is driven to move by the walking device to achieve cleaning of the corresponding working surface.

[0088] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A cleaning robot, characterized in that: include: A cleaning device, used for cleaning a work surface to be cleaned, the cleaning device comprising a supporting mechanism and a wiping mechanism, the supporting mechanism having a set length along a first direction; the wiping mechanism comprising a wiping bracket and a wiping rope, the wiping bracket comprising a fixing bracket, an adjusting component and a guiding member, along the first direction, the fixing bracket having a set length, the adjusting component being connected to the fixing bracket, the guiding members being respectively arranged on both sides of the adjusting component, the guiding members being connected to the fixing bracket; and, along the second direction, the guiding member is further away from the fixing bracket relative to the adjusting component; both ends of the wiping rope are respectively connected to the adjusting components and are wound around the guiding member along the first direction, the wiping rope can slide relative to the guiding member to be relaxed or tightened along the second direction, and the adjusting component is used to tighten the wiping rope along the second direction; A walking device, located on one side of the supporting mechanism along the second direction, is used to enable the cleaning robot to walk on the working surface to be cleaned, and the walking device includes: A connecting assembly, comprising two swing brackets, the two swing brackets are spaced apart and symmetrical to each other along a first direction, the swing brackets are suitable for connecting to the supporting mechanism of the cleaning robot through a rotating pair; the swing brackets are connected to the supporting mechanism through a rotating pair; An omnidirectional wheel assembly, wherein two omnidirectional wheel assemblies are arranged at intervals on each of the swing brackets along the third direction, and the omnidirectional wheel assemblies on the two swing brackets are symmetrically arranged; the first direction and the third direction are perpendicular to each other; wherein the omnidirectional wheel assembly is rotatably connected to the swing bracket, and the omnidirectional wheel assembly is used to roll along the working surface to be cleaned; the first direction, the second direction and the third direction are perpendicular to each other; The magnetic attraction component is used to provide magnetic attraction force to keep the omnidirectional wheel component close to the work surface to be cleaned.

2. The cleaning robot according to claim 1, characterized in that: The omnidirectional wheel assembly comprises an omnidirectional wheel and a wheel frame, the wheel frame is hinged to the swing bracket, the magnetic attraction assembly is connected to the wheel frame, and the two omnidirectional wheels are rotatably connected to the wheel frame and symmetrically arranged on both sides of the magnetic attraction assembly.

3. The cleaning robot according to claim 1, characterized in that: The connecting assembly also includes a telescopic bracket, and the two telescopic brackets are respectively arranged on the sides of the two swing brackets that are away from each other. One end of the telescopic bracket is connected to the swing bracket through a rotating pair, and the other end is suitable for being connected to the supporting mechanism through a rotating pair. The telescopic bracket can be extended and retracted as the swing bracket swings.

4. The cleaning robot according to claim 1, characterized in that: The cleaning device also includes a spraying mechanism and a brushing mechanism. The wiping mechanism, the spraying mechanism and the brushing mechanism are sequentially arranged along the third direction and are respectively connected to the supporting mechanism. The brushing mechanism is used to brush the working surface to be cleaned, the spraying mechanism is used to spray cleaning liquid on the working surface, and the wiping mechanism is used to wipe the working surface dry after brushing and spraying.

5. The cleaning robot according to claim 4, characterized in that: The supporting mechanism includes a connecting frame and a main frame, the two main frames are respectively arranged on both sides of the connecting frame along the first direction, the main frame extends along the third direction and defines an installation space between the main frame and the connecting frame, the scrubbing mechanism is arranged in the installation space, the wiping mechanism is connected to the connecting frame, the spraying mechanism is connected to the main frame or the connecting frame, and the connecting assembly is correspondingly connected to the main frame.

6. The cleaning robot according to claim 1, characterized in that: The cleaning device also includes a spray mechanism, which includes a spray pipe and a nozzle. The spray pipe is connected to the support mechanism, and the nozzle is connected to one side of the spray pipe along the second direction, and is used to spray cleaning liquid in the second direction; along the third direction, the wiping mechanism is located on one side of the spray mechanism, the fixing frame is connected to the support mechanism, and the wiping rope is located on the side of the fixing frame that is consistent with the direction of the nozzle, and is used to wipe the work surface after being sprayed by the spray mechanism, and the adjustment component is used to tighten the wiping rope to fit the work surface to be cleaned.

7. The cleaning robot according to claim 6, characterized in that: The cleaning device also includes a brushing mechanism, which is connected to the supporting mechanism. The brushing mechanism includes a roller brush and a driving assembly. The central axis of the roller brush extends along the first direction. Along the third direction, the brushing mechanism is located on the side of the spraying mechanism away from the wiping mechanism. The driving assembly is connected to the central axis of the roller brush and is used to drive the roller brush to rotate to brush the work surface to be cleaned.

8. The cleaning robot according to claim 7, characterized in that: The cleaning device also includes a detection mechanism and a roller brush moving assembly. The detection mechanism is communicatively connected to the brushing mechanism and is used to detect the change in the curvature radius of the working surface to be cleaned during movement along the third direction. The roller brush moving assembly is connected to the supporting mechanism and is suitable for moving the roller brush along the second direction according to the change detected by the detection mechanism.

9. The cleaning robot according to any one of claims 1 to 8, characterized in that: It also includes a lifting device, and the two sides of the support mechanism along the first direction are respectively connected to the lifting devices, and the two lifting devices are used to synchronously lift the support mechanism.

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