Cleaning device and wall-climbing robot

Abstract

The application discloses a cleaning device and a wall-climbing robot. The cleaning device comprises a mounting frame, a rolling body and an adaptive mechanism. The rolling body is rotationally connected with the mounting frame. The adaptive mechanism comprises a bearing part, an elastic part and a limiting part. The bearing part is connected with the frame of the wall-climbing robot and bears against the elastic part. The elastic part is located between the bearing part and the limiting part and bears against the limiting part. The limiting part is hingedly connected with the mounting frame and can move relative to the bearing part. The elastic part has an elastic force for moving the limiting part towards a direction away from the bearing part. The mounting frame of the cleaning device is adapted to be rotationally connected with the frame of the wall-climbing robot. The wall-climbing robot is provided with walking devices on two sides. Each device is connected through the frame. Thus, the mounting frame can be better attached to a working surface under the action of the elastic force. The elastic part can be adaptively stretched and contracted on a variable-curvature working surface. The cleaning effect of the cleaning device is ensured. The wall-climbing robot has better adaptability to the variable-curvature working surface.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a cleaning device and a wall-climbing robot. Background Technology

[0002] Currently, the frame of the wall-climbing robot is connected to the cleaning device, which is equipped with rolling elements. The rolling elements are rotatably connected to the cleaning device and can be elastically deformed. During cleaning operations, the rolling elements are fixed on the frame and adhere to the working surface while rotating to achieve the cleaning effect. However, when facing working surfaces with large curvature changes, such as the large curvature change between the bottom and top of a wind turbine tower, the rolling elements are relatively fixed relative to the frame and have weak adaptability to the curvature changes of the working surface. As a result, the adhesion between the rolling elements and the variable curvature working surface is weak, affecting the cleaning effect. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, the present invention proposes a cleaning device equipped with an adaptive mechanism, which enables the rolling element to adaptively conform to the working surface according to the change in the curvature of the working surface, effectively solving the problem that the cleaning device is difficult to adapt to working surfaces with varying curvature, and improving the cleaning effect of the cleaning device on working surfaces with different curvatures such as wind turbine towers.

[0004] This application also proposes a wall-climbing robot with the aforementioned cleaning device.

[0005] A cleaning apparatus according to a first aspect of this application includes: a mounting frame, a rolling element, and an adaptive mechanism. The mounting frame is adapted to be rotatably connected to the frame of a wall-climbing robot. The rolling element is rotatably connected to the mounting frame. The adaptive mechanism includes a supporting member, an elastic member, and a limiting member. The supporting member is used to connect to the frame of the wall-climbing robot. The limiting member is hinged to the mounting frame, connected to the supporting member, and movable relative to the supporting member. The elastic member is located between the supporting member and the limiting member and is configured to have an elastic force that causes the limiting member to move away from the supporting member.

[0006] The cleaning apparatus according to the first aspect of this application has at least the following beneficial effects: the cleaning apparatus includes a rolling element, an adaptive mechanism, and a mounting frame. The rolling element is rotatably connected to the mounting frame. The adaptive mechanism includes a supporting member, an elastic member, and a limiting member. The elastic member is located between the supporting member and the limiting member. The supporting member, the elastic member, and the limiting member abut against each other. The limiting member is hinged to the mounting frame, so that the mounting frame is pressed, thereby the rolling element is in contact with the working surface. At the same time, the mounting frame can rotate around the limiting member, ensuring the relative movement between the rolling element and the working surface. During cleaning operations, as the curvature of the working surface decreases, the force exerted by the rolling elements on the working surface increases. The reaction force of the working surface causes the mounting bracket to rotate around the limiting element and push the limiting element towards the supporting element, following the change in curvature. The compression of the elastic element increases, and its elastic force causes the limiting element to tend to move away from the supporting element, thus keeping the rolling elements on the mounting bracket in contact with the working surface. When the curvature increases, the force exerted by the rolling elements on the working surface decreases, and the elasticity of the elastic element... The force causes the limiting member to move away from the supporting member, the compression of the elastic member decreases, and the length is adaptively extended. The movement of the limiting member causes the mounting frame to rotate around the limiting member and press down relative to the working surface. The elastic force of the elastic member makes the limiting member tend to move away from the supporting member, so that the rolling elements on the mounting frame keep in contact with the working surface. Thus, the elastic member can adaptively change the compression according to the curvature of the working surface, so that the rolling elements can fit better with the working surface, improving the cleaning effect of the cleaning device.

[0007] According to the cleaning apparatus of the present application embodiment, the adaptive mechanism further includes a guide member with a set length, one end of the guide member along the length direction is connected to the abutment member, and a limiting member is connected to the guide member, and the limiting member can reciprocate between the two ends of the guide member.

[0008] According to the cleaning device of the present application embodiment, the limiting member and the elastic member are respectively provided with a first through hole and a second through hole, the guide member passes through the first through hole and the second through hole, and the guide member and the supporting member are detachably connected.

[0009] According to the cleaning apparatus of the present application embodiment, the supporting member includes a fixed seat and a telescopic member. The telescopic member is connected to the fixed seat, and the telescopic member and the elastic member abut against each other. The telescopic member can move relative to the fixed seat along the moving direction of the limiting member, so that the elastic member is compressed or extended.

[0010] According to the cleaning device of the present application embodiment, the mounting frame includes a frame body and a connecting frame. The frame body defines a cavity with an opening on one side. A rolling element is placed in the cavity and at least a portion of it is exposed outside the cavity from the opening. The rolling element is rotatably connected to the frame body. The connecting frame and the limiting member are hinged by a hinge shaft, which is parallel to the rotation axis of the rolling element. The connecting frame is used to rotatably connect with the frame of the wall-climbing robot. The opening and the connecting frame are located on opposite sides of the frame body.

[0011] According to the cleaning apparatus of this application embodiment, the mounting frame further includes at least one support mechanism, which is connected to the frame body, and the opening is located on the same side of the frame body as the support mechanism.

[0012] According to the cleaning device of this application embodiment, the connecting frame includes a fixed end, a hinged end and a rotating end distributed in a triangle. The fixed end is fixedly connected to the frame body, the hinged end is hinged to the limiting member, and the rotating end is rotatably connected to the machine frame.

[0013] According to the cleaning apparatus of this application embodiment, the frame has an edge portion at the opening, and the mounting bracket further includes a sealing member connected to the frame and protruding from the edge portion.

[0014] According to the cleaning apparatus of this application embodiment, along the extension direction of the rotation axis of the rolling element, the edge portion gradually recesses from both ends to the middle in the depth direction of the cavity.

[0015] According to the cleaning apparatus of the present application embodiment, the mounting frame is further provided with a recycling device. The recycling device includes a main recycling interface and at least one sub-recycling interface. The sub-recycling interface is connected to the cavity. The sub-recycling interface and the main recycling interface are connected through a pipe. The main recycling interface is connected to a support member.

[0016] According to the cleaning device of the present application embodiment, the mounting frame further includes a spraying device, which includes a main water inlet and at least one water supply component. The water supply component is connected to the frame body, and the water supply component is provided with a nozzle and a water supply inlet. The nozzle is connected to the water supply inlet, and the water supply inlet is connected to the main water inlet. The main water supply inlet communicates with the cavity.

[0017] The wall-climbing robot according to a second aspect of this application includes a cleaning device, a frame, and a walking device according to the first aspect of this application. The mounting bracket of the cleaning device is rotatably connected to the frame, and the supporting member is connected to the frame. The walking device is connected to the frame, and the wall-climbing robot includes at least two walking devices.

[0018] The wall-climbing robot according to the second aspect of this application has at least the following beneficial effects: The cleaning device of the first aspect embodiment is rotatably connected to the frame, and the frame is connected to the walking device. This allows the cleaning device to better fit the working surface when the wall-climbing robot is working on the surface of a wind turbine tower or other working surfaces with varying curvature. Simultaneously, when the curvature of the working surface climbed by the wall-climbing robot changes, the adaptive mechanism on the cleaning device can adapt accordingly to the different curvatures of the working surface. Specifically, the abutting member, elastic member, and limiting member on the adaptive mechanism abut against each other, thereby abutting the rolling element and keeping it in contact with the working surface. When the curvature of the working surface changes, the elastic member can adaptively change its elastic force, allowing the rolling element and the working surface to have a suitable contact force. This ensures the cleaning effect of the wall-climbing robot while avoiding excessive contact force that could lead to excessive load on the wall-climbing robot and affect its normal operation.

[0019] According to a second aspect embodiment of the present application, the wall-climbing robot has a walking device including a walking frame, an adsorption component, a driving component, and at least one walking wheel. The driving component is placed on the walking frame and connected to the walking wheel. The walking frame is hinged to the frame and rotatably connected to the walking wheel. The adsorption component is connected to the walking frame.

[0020] According to a second aspect embodiment of the wall-climbing robot of this application, the walking device further includes a barrier member connected to the walking frame, and the barrier member is located between the walking wheels and the mounting frame.

[0021] According to the second aspect of the present application, the wall-climbing robot has an auxiliary component on its frame, which is rotatably connected to the frame. When two walking devices are provided on the frame, the auxiliary component and the two walking devices are arranged in a triangular pattern.

[0022] According to a second aspect embodiment of the wall-climbing robot of this application, the auxiliary components include a magnetic component and a rotating component, wherein the magnetic component is fixedly connected to the rotating component, and the rotating component is rotatably connected to the frame.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0025] Figure 1 This is a schematic diagram of the wall-climbing robot according to an embodiment of this application;

[0026] Figure 2 This is a first-view structural schematic diagram of the cleaning device according to an embodiment of this application;

[0027] Figure 3 This is a second-view structural schematic diagram of the cleaning device according to an embodiment of this application;

[0028] Figure 4 This is a third-view structural diagram of the cleaning device according to an embodiment of this application;

[0029] Figure 5 for Figure 4 A magnified view of a portion of point B in the middle;

[0030] Figure 6 for Figure 2 A magnified view of a portion of point A in the middle;

[0031] Figure 7 This is a bottom-view structural diagram of the wall-climbing robot according to an embodiment of this application;

[0032] Figure 8 This is a top view of the wall-climbing robot according to an embodiment of this application;

[0033] Figure 9 This is a partial structural schematic diagram of the cleaning device according to an embodiment of this application;

[0034] Figure 10 This is a partial structural schematic diagram of the wall-climbing robot according to an embodiment of this application;

[0035] Figure 11 This is a schematic diagram of the walking device and frame according to an embodiment of this application;

[0036] Figure 12 This is a partial structural schematic diagram of the walking device according to an embodiment of this application;

[0037] Figure 13 This is a partial structural schematic diagram of the auxiliary component in an embodiment of this application.

[0038] Figure label:

[0039] Mounting bracket 100, frame 110, connecting bracket 120, support mechanism 130, recovery device 140, spraying device 150, edge part 111, sealing element 112, fixed end 121, hinge end 122, rotating end 123, recovery sub-port 141, recovery main port 142, water supply main port 151, water supply component 152, nozzle 1521, water supply interface 1522;

[0040] Rolling element 200;

[0041] Adaptive mechanism 300, supporting member 310, elastic member 320, limiting member 330, guiding member 340, fixed base 311, telescopic member 312, second through hole 321, first through hole 331, limiting structure 341, telescopic rod 3121;

[0042] Frame 400, auxiliary parts 410;

[0043] Walking device 500, walking frame 510, adsorption component 520, walking wheel 530, barrier component 540, driving component 550. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0045] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0046] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0047] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0048] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0049] In the description of this application, connection includes two types: direct connection and indirect connection. Direct connection is when two structures are connected to each other, while indirect connection is when two structures are connected to each other through other structures. Unless otherwise specified, connection refers to direct connection.

[0050] The embodiments of this application are described below with reference to the accompanying drawings:

[0051] refer to Figures 1 to 4 The cleaning device of this application embodiment is suitable for wall-climbing robots and can be used to clean working surfaces with curvature changes. The cleaning device includes a mounting frame 100, a rolling element 200, and an adaptive mechanism 300. The mounting frame 100 is rotatably connected to a frame 400. The adaptive mechanism includes a supporting member 310, an elastic member 320, and a limiting member 330. The supporting member 310 can be connected to the frame 400, and the limiting member 330 is hinged to the mounting frame 100, allowing relative rotation between the limiting member 330 and the mounting frame 100. Simultaneously, the limiting member 330 is connected to the supporting member 310 and can move relative to the supporting member 310. It should be noted that the connection between the supporting member 310 and the limiting member 330 can be a direct connection or... The connection can be indirect. For example, when the supporting member 310 and the limiting member 330 are directly connected, the limiting member 330 can be a sleeve structure (not shown in the figure), the elastic member 320 is placed in the sleeve, and the supporting member 310 passes through the sleeve to support the elastic member 320. The supporting member 310 can move relative to the limiting member 330 as the elastic member 320 elastically deforms. When the supporting member 310 and the limiting member 330 are indirectly connected, the supporting member 310 can be connected to the guide member 340, and the guide member 340 is connected to the supporting member 310 to realize the indirect connection between the supporting member 310 and the limiting member 330.

[0052] It is understood that the movement of the limiting member 330 relative to the supporting member 310 includes three situations: the supporting member 310 is fixed and the limiting member 330 moves; the limiting member 330 is fixed and the supporting member 310 moves; and both the supporting member 310 and the limiting member 330 move. The elastic member 320 is located between the supporting member 310 and the limiting member 330, and the elastic member 320 has an elastic force. Under the action of the elastic force, the limiting member 330 may tend to move in a direction away from the supporting member 310, thereby indirectly pressing the mounting bracket 100 with the elastic member 320 to ensure the contact between the rolling element 200 and the working surface. It should be noted that in some embodiments, the rolling element 200 may be a brush roller. The brush roller may be designed as a cylindrical shape that gradually concaves from both ends to the middle, which is beneficial to the contact between the brush roller and the working surface. In addition, during the cleaning operation, the brush on the brush roller may be a soft brush. During the cleaning operation, the soft brush may be adapted to deform and fit the working surface, thereby increasing the cleaning effect.

[0053] Thus, the mounting frame 100 can be rotatably connected to the frame 400, meaning the cleaning device can be mounted on the wall-climbing robot. The supporting member 310 on the adaptive mechanism 300 supports the elastic member 320, which can be compressed. The elastic member supports the limiting member 330, which is hinged to the mounting frame 100. At the same time, the rolling element 200 is rotatably connected to the mounting frame 100, thereby achieving indirect support of the elastic member 320 against the mounting frame 100. The mounting frame 100 can rotate relative to the adaptive mechanism 300, allowing the rolling element 200 to conform to the working surface.

[0054] Furthermore, the mounting frame 100 is hinged to the limiting member 330, and the mounting frame 100 is rotatably connected to the rolling body 200, ensuring that the mounting frame 100 can rotate around the limiting member 330 under its support. The rolling body 200 is rotatably connected to the mounting frame 100, and rotates relative to the mounting frame 100 and fits against the working surface. It can be understood that the mounting frame 100 is hinged to the limiting member 330, and simultaneously rotatably connected to the frame 400, allowing the cleaning device to operate on the wall-climbing robot. At this time, the rolling element 200 can be raised or pressed down relative to the working surface. In addition, the supporting member 310, the elastic member 320 and the limiting member 330 support each other. The elastic member 320 has an elastic force that causes the limiting member 330 to move away from the supporting member 310. When the rolling element 200 presses against the working surface, the interaction force between the working surface and the rolling element 200 restricts the mounting bracket 100 from rotating and pressing down relative to the limiting member 330. Therefore, the limiting member 330 may not necessarily move away from the supporting member 310, but may only have this tendency.

[0055] Specifically, when the rolling element 200 is cleaning the working surface, as the curvature of the working surface changes from large to small, the force exerted by the rolling element 200 on the working surface increases. The reaction force of the working surface causes the mounting bracket 100 to rotate around the limiting member 330 as the curvature of the working surface changes, pushing the limiting member 330 towards the supporting member 310. The compression of the elastic member 320 increases, and the elastic force of the elastic member 320 causes the limiting member 330 to tend to move away from the supporting member 310, thus keeping the rolling element 200 on the mounting bracket 100 in contact with the working surface. When the curvature of the working surface changes from small to large, the force exerted by the rolling element 200 on the working surface decreases. At this time, the elastic force of the elastic member 320 causes the limiting member 330 to move away from the supporting member 310, the compression of the elastic member 320 decreases, and the length of the elastic member 320 is appropriate. The elastic elongation and movement of the limiting member 330 abut against the mounting frame 100 cause the mounting frame 100 to rotate around the limiting member 330 and press down relative to the working surface. The elastic force of the elastic member 320 causes the limiting member 330 to tend to move away from the abutting member 310, thereby keeping the rolling element 200 on the mounting frame 100 in contact with the working surface. Thus, the elastic member 320 can adaptively change the amount of compression according to the curvature of the working surface. It can be understood that during the cleaning operation, the elastic member 320 is always in a compressed state. That is, no matter what curvature of the working surface is under the operation, the elastic member 320 has an elastic force on the limiting member 330 to make the limiting member move away from the abutting member 310, so as to press down the mounting frame 100, so that the rolling element 200 can adapt well to the curvature change or unevenness of the working surface.

[0056] refer to Figure 5 In some embodiments, the adaptive mechanism 300 further includes a guide member 340 of a certain length. One end of the guide member 340 is connected to the abutment member 310. The limiting member 330 is provided with a first through hole 331. The guide member 340 can pass through the first through hole 331, so that the limiting member 330 can move along the extension direction of the guide member 340 and reciprocate along the guide member 340 as the elastic member 320 is compressed. The guide member 340 can support the elastic member 320, increasing the stability of the abutment relationship between the abutment member 310, the elastic member 320 and the limiting member 330. At the same time, since the limiting member 330 is hinged to the mounting frame 100, when cleaning is performed on working surfaces with different curvatures, the limiting member 330 and the mounting frame 100 will rotate relative to each other. The presence of the guide member 332 can ensure that the direction of the elastic force of the elastic member 320 is always away from the abutment member 310, which is conducive to maximizing the use of the elastic force.

[0057] In addition, a limiting structure 341 is provided at the end of the guide member 340 away from the abutment member 310. The cross-sectional area of ​​the limiting structure 341 is larger than the cross-sectional area of ​​the first through hole 331, ensuring that the limiting member 330 can move between the two ends of the guide member 340, and preventing the guide member 340 from being pulled out at the end with the limiting structure 341. When the abutment member 310 is retractable, the limiting member 330 is driven by the traction guide member 340, thereby lifting the mounting frame 100.

[0058] refer to Figure 4 and Figure 5 In some embodiments, the limiting member 330 and the elastic member 320 are respectively provided with a first through hole 331 and a second through hole 321. The guide member 340 can pass through the first through hole 331 and the second through hole 321. The limiting member 330 is located at one end of the guide member 340. The guide member 340 can provide support for the elastic member 320. For example, the elastic member 320 can be a spring. The guide member 340 passes through the spring and is connected to the abutment member 310. The limiting member 330 is used to bear the elastic force generated by the spring due to compression and transmit the received elastic force to the mounting bracket 100, so that the mounting bracket 100 rotates around the limiting member 330, so that the rolling element 200 can fit better with the working surface.

[0059] Furthermore, the connection between the limiting member 330 and the supporting member 310 is specifically the connection between the guide member 340 and the supporting member 310, and the two can be detachably connected. Since the guide member 340 passes through the elastic member 320, this structure makes the elastic member 320 passing through the guide member 340 replaceable. When the elastic member 320 reaches the end of its service life, it is easy to replace the elastic member 320. In addition, by actively replacing the elastic member 320, its elastic force can be changed under a certain amount of compression, thereby improving the adaptability to working surfaces with different curvatures.

[0060] refer to Figures 5 to 8In some embodiments, the supporting member 310 includes a fixed base 311 and a telescopic member 312. The telescopic member 312 is fixed to the fixed base 311, which is suitable for connecting the frame 400 of the wall-climbing robot. The telescopic member 312 abuts against the elastic member 320, and is also detachably connected to the guide member 340. The telescopic member 312 includes a telescopic rod 3121, which can move relative to the fixed base 311 along the moving direction of the limiting member 330. It should be understood that the telescopic rod 3121 can extend or shorten along the moving direction of the limiting member 330, that is, the telescopic rod 3121 can move relative to the fixed base 311 along the moving direction of the limiting member 330. The fixed seat 311 moves, while the base of the telescopic rod remains in the same position relative to the fixed seat 311. For example, the telescopic component 312 can be an electric actuator, which is mounted on the fixed seat 311. The telescopic rod 3121 can be the push rod of the electric actuator, which can extend or shorten to change the degree of compression of the elastic component 320, thereby changing the elastic force of the elastic component 320 and enhancing the adaptability of the rolling element 200 to working surfaces with different curvatures. It should be noted that the telescopic rod 3121 does not need to change its state during the cleaning process. It only needs to be adjusted and set before cleaning. The adaptive effect is achieved by utilizing the elastic force of the elastic component 320.

[0061] In a further embodiment, when the cleaning is changed or the cleaning operation is completed, the telescopic member 312 can be retracted. At the same time, the guide member 340 is provided with a limiting structure 341 at the end opposite to the telescopic member 312. The limiting structure 341 prevents the guide member 340 from being pulled out of the limiting member 330. The retraction of the telescopic rod 3121 can drive the guide member 340 to retract, which can raise the mounting frame 100 relative to the working surface to a disengaged state, making it convenient for the wall-climbing robot to change the working area.

[0062] refer to Figure 1 and Figure 2 In some embodiments, the mounting bracket 100 includes a frame 110 and a connecting bracket 120. The connecting bracket 120 and the limiting member 330 are hinged together by a hinge shaft. It should be noted that the connecting bracket 120 may include a hinge shaft and be fixedly connected to the hinge shaft, and then be hinged to the limiting member 330 by the hinge shaft. Alternatively, the limiting member 330 may include a hinge shaft, be fixedly connected to the hinge shaft, and then be hinged to the connecting bracket 120 by the hinge shaft. The above two methods or other similar hinge methods, which can realize the hinged connection by the hinge shaft, can all be considered as a kind of hinged connection between the connecting bracket 120 and the limiting member 330 by the hinge shaft.

[0063] In a further embodiment, the axis of the hinge shaft is parallel to the rotation axis of the rolling element 200, which makes it easier for the rolling element 200 to better fit the working surface when the mounting frame 100 rotates around the limiting member 330. In particular, it has a better cleaning effect on the working surface in front of the wall-climbing robot's travel direction, i.e., the working surface to be cleaned. The connecting frame 120 is rotatably connected to the frame of the wall-climbing robot, ensuring that the rotation function of the mounting frame 100 relative to the limiting member 330 is realized.

[0064] refer to Figure 7 In some embodiments, the frame 110 defines a cavity with an opening on one side, which faces the working surface during cleaning operations. The support mechanism 130 is located on the same side as the opening of the cavity and is used to support the frame 110. The rolling element 200 is placed in the cavity defined by the frame 110 and is rotatably connected to the frame 110. The cavity defined by the frame 110 accommodates the rolling element 200. During cleaning operations, the rolling element rotates relative to the frame 110. The frame 110 and the working surface together form a relatively sealed space. The presence of the cavity prevents the splashing of cleaning wastewater, which helps to improve the cleaning effect.

[0065] It should be noted that at least a portion of the rolling element 200 protrudes from the opening of the cavity to ensure the fit between the rolling element 200 and the working surface. The portion of the rolling element 200 protruding from the opening should not be too small. It should be such that when the rolling element 200 has the maximum force with the working surface, the edge portion 111 of the frame 110 will not obstruct the fit between the rolling element 200 and the working surface.

[0066] refer to Figure 1 and Figure 2 In some embodiments, the mounting frame 100 is connected to at least one support mechanism 130. The number of support mechanisms 130 can be two. When there are two support mechanisms 130, the support mechanism 130 is located on the side opposite to the connecting frame 120, that is, the support mechanism 130 and the connecting frame 120 are not on the same side. The support mechanism 130 is connected to both ends of the frame 110. The support mechanism 130 can be detachably connected to the frame 110. The support mechanism 130 can adjust the relative distance between the mounting frame 100 and the working surface by adjusting the support angle, so as to prevent the mounting frame 100 from hitting the working surface and ensure the minimum height between the rolling element 200 and the working surface. When the elastic member 320 indirectly abuts against the rolling element 200 until the rolling element 200 has the minimum height between it and the working surface, it can have a relatively constant clamping force, improve the adaptability to curved surfaces, and ensure the cleaning effect of the cleaning device.

[0067] refer to Figure 8 and Figure 9In some embodiments, the connecting frame 120 includes a fixed end 121, a hinged end 122, and a rotating end 123 arranged in a triangular pattern. The fixed end 121 is fixedly connected to the frame 110, the hinged end 122 is hinged to the limiting member 330, and the rotating end 123 is rotatably connected to the frame 400. The connecting frame 120 has an overall triangular structure. During cleaning and track changing, the connecting frame 120 can indirectly lift the mounting frame 100 under the traction of the supporting member 310. The triangular structure of the connecting frame 120 can lift more loads, providing conditions for the mounting frame 100 to be expanded with other structures to withstand greater loads.

[0068] refer to Figure 1 In some embodiments, the frame 110 defines the edge of the opening as an edge portion 111, and a sealing element 112 is provided on the edge portion 111. The sealing element 112 protrudes from the edge portion 111. For example, the sealing element 112 can be a soft sealing rubber. The sealing rubber wraps around the edge portion 111 and protrudes from the edge portion 111. The protrusion length can be set to 1 to 2 cm, which further increases the sealing performance of the cavity defined by the frame 110 and reduces the amount of sewage leakage. At the same time, the soft rubber can adaptably deform when it is attached to the working surface, improving the adaptability of the frame 110 to the working surface.

[0069] refer to Figure 1 and Figure 2 In a further embodiment, the edge portion 111 is recessed from both ends toward the middle and into the cavity along the extension direction of the rotation axis of the rolling element 200, so that the edge portion 111 can fit better with the working surface and better adapt to the working surface.

[0070] refer to Figure 8 In some embodiments, the mounting frame 100 further includes a recycling device 140, which includes a main recycling interface 142 and at least one recycling sub-interface 141. The recycling sub-interface 141 is located on the frame 110 and is connected to the frame 110. The recycling sub-interface 141 and the main recycling interface 142 are connected by a pipe (not shown in the figure). The main recycling interface 142 can be connected to the abutment 310. It should be noted that the position of the main recycling interface 142 is not fixed and can be located in other positions. The main recycling interface 142 has the same number of connection ports as the recycling sub-interfaces 141. The symmetrical arrangement of the recycling sub-interfaces 141 helps to improve the overall balance of the wall-climbing robot, making the wall-climbing robot more stable when performing cleaning operations.

[0071] Furthermore, in some embodiments, the main recycling interface 142 is connected to a vacuum pump (not shown in the figure) via a vacuum tube (not shown in the figure). The vacuum pump creates a certain vacuum inside the cavity, allowing the recycling device 140 to recycle some of the wastewater inside the cavity. This not only helps improve the efficiency of the cleaning operation but also makes the cleaning operation green and environmentally friendly. It should be noted that the vacuum pump (not shown in the figure) is located on the ground and can be connected to the recycling device 140 via a thin pipe, which reduces the load weight of the wall-climbing robot, allowing it to withstand other loads.

[0072] refer to Figure 10 In some embodiments, the mounting frame 100 further includes a spraying device 150, which includes a main water inlet 151 and at least one water delivery component 152. The water delivery component 152 is connected to the frame 110. For example, four water delivery components 152 are provided on the inner wall of the cavity defined by the frame 110. Each water delivery component 152 includes a nozzle 1521 and a water delivery inlet 1522. The nozzle of the water delivery component 152 is located at the top, that is, above the work surface to be cleaned during the cleaning operation, and moves with the movement of the mounting frame 100. The nozzle of the water delivery component 152 can atomize the cleaning agent to spray more evenly and cover more comprehensively.

[0073] In addition, the nozzle 1521 is connected to the water inlet 1522. Multiple water inlets 1522 can be connected to each other through pipes and connected to the main water inlet 151 (not shown in the figure). The main water inlet 151 is connected to the semi-enclosed cavity defined by the frame 110, and the main water inlet 151 is connected to the water supply system (not shown in the figure) set on the ground, so as to deliver the required cleaning agent to the spraying device 150. The water supply component 152 can be set inside the frame 110 and fit against the inner wall of the cavity so that the position of spraying cleaning agent is more accurate. It should be noted that the positions of the main water inlet 151 and the water supply component 152 are not absolutely fixed and can be located in other positions, as long as spraying can be achieved along the working path.

[0074] Furthermore, in some embodiments, for example, a wall-climbing robot is equipped with the above-mentioned cleaning device and crawls from the bottom to the top of the wind turbine tower to perform cleaning operations. The nozzle 1521 should face the working surface and be located above the rolling body 200, that is, the nozzle 1521 should be located above the working surface to be cleaned. The nozzle 1521 can atomize the cleaning agent, increase the spraying range, and save the use of cleaning agent. The nozzle 1521 can be located inside the edge portion 111. When the nozzle 1521 is located inside the edge portion 111, the water supply interface 1522 can be placed on the inner wall of the frame 110. The main water supply interface 151 is connected to the inner wall of the frame 110. It should be noted that when the nozzle 1521 is located inside the edge portion 111, the sewage recovery interface 141 is located below the rolling body 200, which is beneficial for the recovery of cleaning sewage. In other embodiments, the nozzle 1521 may also be located on the outer wall of the frame 110, and its location is not limited to the edge 111. During the cleaning operation, the working surface in front of the rolling element 200 can be sprayed with cleaning agent to cover it. The water supply interface 1522 is located on the frame 110 and is connected to the nozzle 1521. Multiple water supply interfaces 1522 can be connected to each other and are all connected to the main water supply interface 151, which can be located on the outer wall of the frame 110.

[0075] The wall-climbing robot according to an embodiment of this application, referencing... Figure 1 and Figure 2 The wall-climbing robot includes a frame 400, a walking device 500, and the aforementioned cleaning device. In the cleaning device, the connecting frame 120 of the mounting frame 100 is rotatably connected to the frame 400. Under the condition that the connecting frame 120 is hinged to the adaptive mechanism 300, the rotation effect of the mounting frame 100 is guaranteed. The fixed seat 311 of the abutment 310 is fixedly connected to the frame 400, which can stabilize the abutment relationship between the abutment 310, the elastic member 320, and the limiting member 330. The walking device 500 is connected to the frame 400. It should be noted that the wall-climbing robot includes at least two walking devices 500. The two walking devices 500 are symmetrically arranged on both sides of the wall-climbing robot to realize the wall-climbing walking function of the wall-climbing robot.

[0076] refer to Figure 11 and Figure 12In some embodiments, the walking device 500 includes a walking frame 510, an adsorption element 520, and at least one walking wheel 530. The walking frame 510 is hinged to the frame 400 of the wall-climbing robot, the walking wheel 530 is rotatably connected to the walking frame 510, and the adsorption element 520 is located below the walking frame 510 and fixedly connected to the walking frame. It should be noted that the wall-climbing robot is provided with walking devices 500 on both the front and rear sides, that is, the number of walking devices 500 is at least two, symmetrically arranged on the front and rear sides of the wall-climbing robot. In addition, each walking device 500 includes at least one walking wheel 530, which can be located on the walking device. The walking device 500 can be located on the side closer to the frame 400 or on the side of the walking device 500 away from the frame 400. The walking wheel 530 can be used to support the body of the wall-climbing robot and roll on the working surface. The walking frame 510 can rotate around the hinge axis at the hinge point with the frame 400. The angle between the horizontal plane where the walking frame 510 and the frame 400 are located can be 24°, that is, the angle between the plane where the walking frame 510 is located and the plane where the frame 400 is located is 12° vertically. The hinge between the walking frame 510 and the frame 400 allows the walking wheel 530 to better fit the working surface under the action of the suction component 520, thereby improving the stability of the wall-climbing robot.

[0077] Furthermore, in some embodiments, the adsorption element 520 can be a permanent magnet adsorption module, and the outer ring of the walking wheel 530 can be provided with a rubber layer for buffering and vibration absorption. When there are two walking wheels 530 on the walking device 500, they are located on both sides of the walking frame 510 and are rotatably connected to the walking frame 510, which increases the balance of the support. The walking device 500 also includes a drive element 550, which is placed on the walking frame 510 and is connected to the walking wheel 530 for transmission. The walking devices 500 on both sides of the frame 400 can control their respective drive elements 550 independently, and the walking devices 500 on both sides can walk independently, realizing the turning and lane changing of the wall-climbing robot and increasing the flexibility of the wall-climbing robot.

[0078] refer to Figure 10 and Figure 11 In some embodiments, the walking device 500 further includes a blocking member 540, which is fixedly connected to the walking frame 510. The blocking member 540 is located between the walking wheel 530 and the mounting frame 100, and can block some of the cleaning wastewater leaked in the mounting frame 100, improve the working environment of the walking wheel 530, ensure the friction between the walking wheel 530 and the working surface, and make the walking wheel 530 roll more smoothly on the working surface.

[0079] refer to Figure 10In some embodiments, the frame 400 is also provided with an auxiliary component 410, which is rotatably connected to the frame 400. When a walking device 500 is provided on each side of the frame 400, the walking devices 500 on both sides can be symmetrically arranged. The auxiliary component 410 and the walking devices 500 on both sides of the frame 400 are distributed in a triangle to support the frame 400, which further increases the stability of the wall-climbing robot during cleaning operations.

[0080] refer to Figure 13 In some embodiments, the auxiliary component 410 includes a magnetic component 411 and a rotating component 412. The magnetic component 411 is fixedly connected to the rotating component 412, and the rotating component 412 can be a roller. The magnetic component 411 can rotate together with the rotating component 412. The rotating component 412 is rotatably connected to the frame 400. The magnetic component 411 is magnetic, which allows the auxiliary component 410 to be adsorbed onto the working surface to a certain extent, thereby enabling the wall-climbing robot to have a greater load-bearing capacity.

[0081] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A cleaning device, characterized in that, Suitable for wall-climbing robots, including: Mounting bracket, suitable for rotating connection to the frame of the wall-climbing robot; A rolling element, rotatably connected to the mounting bracket; An adaptive mechanism includes a support member, an elastic member, and a limiting member. The support member is used to connect to the frame of a wall-climbing robot. The limiting member is hinged to the mounting frame and is connected to the support member and is movable relative to the support member. The elastic member is located between the support member and the limiting member and is configured to have an elastic force that causes the limiting member to move in a direction away from the support member. The telescopic component abuts against the elastic component. The telescopic component can move along the moving direction of the limiting component, so that the elastic component is compressed or extended, and the elastic force of the elastic component changes, thereby enhancing the cleaning adaptability of the rolling element to working surfaces with different curvatures. During the cleaning process, the telescopic component remains unchanged. When changing cleaning lanes or at the end of cleaning, the telescopic component retracts, thereby lifting the mounting bracket relative to the working surface to a disengaged state.

2. The cleaning device according to claim 1, characterized in that, The adaptive mechanism further includes a guide member with a set length, one end of which is connected to the abutment member along its length, and a limiting member is connected to the guide member, the limiting member being able to reciprocate between the two ends of the guide member.

3. The cleaning device according to claim 2, characterized in that, The limiting member and the elastic member are respectively provided with a first through hole and a second through hole, the guide member passes through the first through hole and the second through hole, and the guide member is detachably connected to the abutment member.

4. The cleaning device according to claim 1, characterized in that, The supporting member includes a fixed base, and the telescopic member is connected to the fixed base. The telescopic member can move relative to the fixed base along the moving direction of the limiting member, so that the elastic member is compressed or extended.

5. The cleaning apparatus according to any one of claims 1 to 4, characterized in that, The mounting frame includes a frame and a connecting frame. The frame defines a cavity with an opening on one side. The rolling element is placed inside the cavity, with at least a portion protruding from the opening outside the cavity. The rolling element is rotatably connected to the frame. The connecting frame is hinged to the limiting member via a hinge shaft, which is parallel to the rotation axis of the rolling element. The connecting frame is used for rotatably connecting to the frame of the wall-climbing robot. The opening and the connecting frame are located on opposite sides of the frame.

6. The cleaning apparatus according to claim 5, characterized in that, The mounting bracket also includes at least one support mechanism connected to the bracket body, and the opening and the support mechanism are located on the same side of the bracket body.

7. The cleaning apparatus according to claim 5, characterized in that, The connecting frame includes a fixed end, a hinged end, and a rotating end arranged in a triangle. The fixed end is fixedly connected to the frame body, the hinged end is hinged to the limiting member, and the rotating end is rotatably connected to the machine frame.

8. The cleaning apparatus according to claim 5, characterized in that, The frame has an edge portion at the opening, and the mounting bracket also includes a seal that is connected to the frame and protrudes from the edge portion.

9. The cleaning apparatus according to claim 8, characterized in that, Along the extension direction of the rotation axis of the rolling element, the edge portion gradually recesses from both ends to the middle towards the depth direction of the cavity.

10. The cleaning apparatus according to claim 5, characterized in that, The mounting frame is also equipped with a recycling device, which includes a main recycling interface and at least one sub-recycling interface. The sub-recycling interface is connected to the cavity, and the sub-recycling interface is connected to the main recycling interface through a pipe. The main recycling interface is connected to the supporting member.

11. The cleaning apparatus according to claim 5, characterized in that, The mounting frame also includes a spraying device, which includes a main water inlet and at least one water supply component. The water supply component is connected to the frame body. The water supply component is provided with a nozzle and a water supply interface. The nozzle is connected to the water supply interface, and the water supply interface is connected to the main water inlet. The main water inlet communicates with the cavity.

12. A wall-climbing robot, characterized in that, include: frame; The cleaning apparatus according to any one of claims 1 to 11, wherein the mounting bracket is rotatably connected to the frame, and the abutment is connected to the frame; The walking device is connected to the frame, and the wall-climbing robot includes at least two walking devices.

13. The wall-climbing robot according to claim 12, characterized in that, The walking device includes a walking frame, an adsorption component, a driving component, and at least one walking wheel. The driving component is placed on the walking frame and connected to the walking wheel. The walking frame is hinged to the machine frame and rotatably connected to the walking wheel. The adsorption component is connected to the walking frame.

14. The wall-climbing robot according to claim 13, characterized in that, The walking device also includes a barrier, which is connected to the walking frame and is located between the walking wheel and the mounting frame.

15. The wall-climbing robot according to claim 12, characterized in that, The frame is provided with an auxiliary component, which is rotatably connected to the frame. When two walking devices are provided on the frame, the auxiliary component and the two walking devices are arranged in a triangular pattern.

16. The wall-climbing robot according to claim 15, characterized in that, The auxiliary component includes a magnetic component and a rotating component. The magnetic component is fixedly connected to the rotating component, and the rotating component is rotatably connected to the frame.

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