Air duct cleaning robot

Abstract

The present invention provides an air duct cleaning robot, belonging to the technical field of cleaning equipment. The air duct cleaning robot includes a cleaning module, a walking module and a linkage telescopic module. The cleaning module includes a cleaning body and a cleaning cloth wrapped around the cleaning body. The walking module includes two groups of walking support parts arranged oppositely, and the two groups of walking support parts are connected by a connecting rod. Each walking support part includes a telescopic support rod and a roller arranged at the free end of the support rod. A driving motor is installed at the free end of the support rod, and the roller rolls along a predetermined direction under the drive of the driving motor. The linkage telescopic module includes a main frame and a linkage telescopic frame arranged on the main frame. The free end of the linkage telescopic frame is rotatably connected to the cleaning module, the main frame is connected to the connecting rod, and the linkage telescopic frame can be extended or contracted under the drive of a linkage motor. The air duct cleaning robot provided by the present invention can walk and fix freely and flexibly in the air duct, facilitating the cleaning work on the inner wall of the air duct.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and particularly to a central air-conditioning duct cleaning robot. Background Art

[0002] The existing cleaning and maintenance of central air conditioners are insufficient. As of 2021, there are still more than 10 million various central air conditioners in China that need to be cleaned and maintained, and the number is increasing at a rate of 10% year by year. Among them, some systems have even been in operation for more than 20 years without ever being cleaned, which has led to many problems such as increased building energy consumption, shortened lifespan of central air conditioners, and increased carbon emissions.

[0003] Currently, cleaning robots for duct cleaning have been manufactured, but the existing cleaning robot equipment is relatively large in size, requires cable power supply, and is inconvenient to operate; moreover, the cleaning robot has poor adaptability to ducts of different sizes and specifications, cannot maintain a strong grip effect, is prone to tipping or skewing with the change of the duct diameter, and is difficult to perform climbing actions in vertical ducts or turning actions in ducts with a smaller diameter, affecting the normal cleaning work. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a duct cleaning robot to solve the problems in the prior art.

[0005] Based on the above purpose, the present invention provides a duct cleaning robot, including:

[0006] A cleaning module, including a cleaning body and a cleaning cloth wrapped around the cleaning body;

[0007] A walking module, including two groups of walking support parts arranged oppositely, and the two groups of walking support parts are connected by a connecting rod; wherein, each walking support part includes a telescopic support rod and a roller arranged at the free end of the support rod, a driving motor is installed at the free end of the support rod, and the output end of the driving motor is connected to the roller to make the roller roll along a predetermined direction under the drive of the driving motor;

[0008] A linkage telescopic module, including a main frame and a linkage telescopic frame arranged on the main frame, the free end of the linkage telescopic frame is rotatably connected to a slider in a chute arranged on the cleaning module, the main frame is connected to the connecting rod, a linkage motor is arranged on the linkage telescopic frame, and the linkage telescopic frame can extend or contract under the drive of the linkage motor to drive the cleaning module to extend or retract relative to the connecting rod.

[0009] Furthermore, a driving motor is installed inside the cleaning body, and a transmission assembly is provided on the outer surface of the cleaning body. The inner side of the transmission assembly is in driving connection with the driving motor so that the transmission assembly can roll around the outer circumference of the cleaning body under the drive of the driving motor; the outer side of the transmission assembly is connected to the cleaning cloth, and the cleaning cloth can move synchronously with the rolling of the transmission assembly on the cleaning body.

[0010] Furthermore, the transmission assembly includes a plurality of transmission belts rolling along the outer circumference of the cleaning body, and transmission teeth connected to the transmission belts, the transmission belts are fixedly connected to the cleaning cloth, and the output end of the driving motor is fixedly connected to the transmission teeth.

[0011] Furthermore, it also includes a support platform, which is connected to the connecting rod and the support rod respectively; a steering gear assembly, a limit platform and a winding mechanism are arranged outside the support platform, and one end of the support rod away from the roller is fixedly connected to the output action end of the steering gear assembly on the limit platform, so that the steering gear assembly drives the support rod to rotate relative to the support platform;

[0012] The inside of the support platform is provided with a power supply component, a servo and a triangular sleeve assembly and a cylindrical hole in sequence from the outside to the inside. The winding mechanism is used to reel in or release the traction line and the cylinder tied thereto, so that the connecting rod and the triangular prism sleeve in the servo and triangular sleeve assembly remain relatively stationary with the connecting rod, and the servo and triangular sleeve assembly drive the connecting rod to rotate relative to the support platform.

[0013] Furthermore, the support platform is constructed in a prism shape, the limit platform is arranged between the support platform and the support rod, the limit platform is provided with a fixed shaft, the support rod is connected to the limit platform via the fixed shaft, and the fixed shaft is fixedly connected to the output action end of the servo assembly.

[0014] Furthermore, the winding mechanism is arranged between the support platform and the limit platform, and the traction line carried by the winding mechanism passes through the inside of the support platform, drills out from the wall of the cylindrical hole, and is connected to the cylinder provided on the connecting rod. After the winding mechanism reels up the traction line, the cylinder cooperates with the cylindrical hole, and the triangular prisms at both ends of the connecting rod cooperate with the servo assembly and the triangular sleeve assembly. After the cooperation is completed, the triangular prism sleeve in the servo and the triangular sleeve assembly is fixedly connected to the connecting rod.

[0015] Further, the main frame includes a linkage shaft connected to the output end of the linkage motor, and the linkage shaft is provided with threads;

[0016] The linkage telescopic frame is composed of two telescopic sub - bodies. Each telescopic sub - body is formed by sequentially hinging a plurality of linkage rods in a "Z" shape. The two telescopic sub - bodies are arranged oppositely and cross each other to form a plurality of series - connected diamond structures. A linkage telescopic head extends from the hinge connection point of the diamond structure at one end close to the main frame. The linkage telescopic head is limited and constrained in the thread and drives the deformation of the diamond structure with the rotation of the linkage shaft, so that the linkage telescopic frame extends or retracts relative to the linkage shaft.

[0017] Further, a limiting frame is arranged on the main frame. A plurality of linkage telescopic heads extend from the hinge connection points at both ends of the diamond structure. Limiting grooves for restricting the displacement direction and displacement distance of the linkage telescopic heads are arranged on the limiting frame.

[0018] Further, a water storage cavity is arranged inside the cleaning body. Water seepage holes and scraping ports communicating with the water storage cavity are arranged on the cleaning body. The cleaning cloth covers the water seepage holes and moves synchronously through the scraping ports as the transmission component in the cleaning body rolls.

[0019] Further, each group of the walking support parts has three arranged at intervals.

[0020] As can be seen from the above, for the air duct cleaning robot provided by the present invention, by setting the walking module, since the support rod of the walking support part is a telescopic rod, it can adapt to air ducts of different sizes and specifications, which is beneficial to maintaining good gripping and limiting effects; the roller rolls along a predetermined direction under the action of the driving motor, and can also reduce external control and move forward or backward in the air duct by its own drive, thereby improving the flexibility and autonomous movement performance of the air duct cleaning robot; in addition, the linkage telescopic module drives the cleaning module to extend or retract, and can also keep the cleaning module in contact with the inner wall of the air duct all the time in the air duct, avoiding the situation that the cleaning module cannot reach the inner wall of the air duct. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic diagram of the composition structure of the air duct cleaning robot in the embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the air duct cleaning robot from another angle in the embodiment of the present invention;

[0024] Figure 3 Schematic diagram of the structure of the cleaning module in the embodiment of the present invention;

[0025] Figure 4 Schematic diagram of the structure of one of the drive belts in the embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the structure of the support rod in the embodiment of the present invention;

[0027] Figure 6 Schematic diagram of the sectional view cooperation of the support rod and the roller in the embodiment of the present invention;

[0028] Figure 7 Schematic diagram of a partial component structure of the walking support part in the embodiment of the present invention;

[0029] Figure 8 Schematic diagram of a partial component structure of the walking support part from another angle in the embodiment of the present invention;

[0030] Figure 9 Schematic diagram of the structure of the limit platform in the embodiment of the present invention;

[0031] Figure 10 Schematic diagram of the cooperation between the support platform and the limit platform in the embodiment of the present invention;

[0032] Figure 11 Schematic diagram of the structure of the linkage telescopic module in the embodiment of the present invention;

[0033] Figure 12 Schematic diagram of the structure of the main frame of the linkage telescopic module in the embodiment of the present invention.

[0034] Explanation of reference numerals

[0035] 1. Cleaning body; 2. Cleaning cloth; 3. Support rod; 4. Roller; 5. Linkage telescopic frame; 6. Main frame; 7. Drive belt; 8. Drive tooth; 9. Support platform; 10. Servo arm; 11. Limit platform; 12. Wire winding mechanism; 13. Linkage shaft; 14. Telescopic split body; 15. Linkage telescopic head;

[0036] 16. Limit groove; 17. Slot hole; 19. Fixed shaft; 20. Wire winding motor; 21. Coiling part; 22. Opposite perforation; 23. Nut; 24. Rotating bearing platform; 25. Driving motor; 26. Sleeve; 27. Snap ring; 28. Servo assembly; 29. Square plate; 30. Limit frame;

[0037] 31. Rhombic structure; 32. Cylinder; 33. Connecting rod; 34. Traction wire; 35. Power supply assembly; 36. Servo and triangular sleeve assembly; 37. Cylindrical hole; 38. Slide groove. Detailed implementation manners

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0039] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0040] For existing pipe cleaning robots, due to the different specifications of the inner diameters of the air ducts, it is necessary to specifically select pipe cleaning robots of corresponding sizes, which limits the actual use scope of the pipe cleaning robots and their applicability.

[0041] Based on the above-described technical background, the present application provides a duct cleaning device to improve the problems existing in the above-mentioned pipe cleaning robot.

[0042] like Figure 1 and Figure 2 As shown, one or more embodiments of the present application provide an air duct cleaning robot, comprising:

[0043] A cleaning module, comprising a cleaning body 1 and a cleaning cloth 2 wrapped around the cleaning body 1;

[0044] The walking module comprises two groups of walking support parts arranged opposite to each other, and the two groups of walking support parts are connected via a connecting rod 33; wherein each walking support part comprises a retractable support rod 3 and a roller 4 arranged at the free end of the support rod 3, and the free end of the support rod 3 is equipped with a driving motor 25, and the output end of the driving motor 25 is connected to the roller 4, so that the roller 4 rolls along a predetermined direction under the drive of the driving motor 25;

[0045] The linkage telescopic module includes a main frame 6 and a linkage telescopic frame 5 provided on the main frame 6. The free end of the linkage telescopic frame 5 is rotatably connected to a slider in a chute 38 provided on the cleaning module. The main frame 6 is connected to the connecting rod 33. A linkage motor is provided on the linkage telescopic frame 5. The linkage telescopic frame 5 can be extended or contracted under the drive of the linkage motor to drive the cleaning module to extend or retract relative to the connecting rod 33.

[0046] As can be seen from the above description, for the air duct cleaning robot provided in this application, by setting the walking module, since the support rod 3 of the walking support part is a telescopic rod, it can adapt to air ducts of different sizes and specifications, which is beneficial to maintaining good ground gripping and limiting effects; the roller 4 rolls along a predetermined direction under the action of the drive motor 25, and can also reduce external control and move forward or backward in the air duct by its own drive, thereby improving the flexibility and autonomous movement performance of the air duct cleaning robot; in addition, the linkage telescopic module drives the cleaning module to extend or retract, which can also keep the cleaning module in contact with the inner wall of the air duct all the time in the air duct, avoiding the situation that the cleaning module cannot reach the inner wall of the air duct.

[0047] As Figure 3 shown, in some embodiments, a driving motor is installed inside the cleaning body 1, and a transmission component is provided on the outer surface of the cleaning body 1. The inner side of the transmission component is in transmission connection with the driving motor, so that the transmission component rolls around the outer periphery of the cleaning body 1 under the drive of the driving motor; the outer side of the transmission component is connected to the cleaning cloth 2, and the cleaning cloth 2 can move synchronously with the rolling of the transmission component on the cleaning body 1.

[0048] Specifically, the cleaning body 1 is configured as a prism with an arc-transition end face as Figure 3 shown. Exemplarily, the cleaning body 1 is formed by enclosing two cylindrical rollers and an arc-transition end face. Among them, the transmission component includes a plurality of transmission belts 7 that roll along the outer periphery of the cleaning body 1, and transmission teeth 8 that are in transmission connection with the transmission belts 7. The transmission belts 7 are fixedly connected to the cleaning cloth 2, and the output end of the driving motor is fixedly connected to the transmission teeth 8.

[0049] In the above embodiments, as Figure 3 and Figure 4As shown in the figure, a plurality of drive belts 7 are arranged at intervals along the axial direction of the cleaning body 1. The head and tail of each drive belt 7 are connected to form a closed loop. Among them, a drive tooth 8 is respectively provided on the cleaning body 1 corresponding to each drive belt 7. The inner side of the drive belt 7 is in driving connection with the drive tooth 8, and the outer side of the drive belt 7 is fixedly connected to the cleaning cloth 2. The output end of the driving motor arranged inside the cleaning body 1 is connected to a drive shaft, and the drive shaft is fixedly key-connected and matched with each drive tooth 8 in turn. The driving motor drives the drive shaft to rotate, thereby driving the drive tooth 8 to rotate, and further enabling the drive belt 7 to drive the cleaning cloth 2 to rotate around the cleaning body 1. The rotatably arranged cleaning cloth 2 can achieve a better friction cleaning effect on the inner wall of the air duct, which is beneficial to enhancing the cleaning ability of the cleaning module.

[0050] Further, a water storage cavity is provided inside the cleaning body 1, and a water seepage hole and a scraping port communicating with the water storage cavity are provided on the cleaning body 1. The cleaning cloth 2 covers the water seepage hole and the scraping port. The structures of the water seepage hole and the scraping port exist in the upper and lower conical parts of the water storage cavity inside the cleaning body 1. Since the cleaning module rotates continuously and the structure at the scraping part can have two functions of scraping and storing water according to the movement direction of the cleaning cloth 2, and the water seepage hole can only seep water when it faces downward, it is considered that the scraping port is located in the upper part and the water seepage port is located in the lower part in the structure of the water seepage hole and the scraping port communicated with the water storage cavity during the working process. The robot adjusts the rotation direction of the driving motor inside the cleaning body 1 according to the sensor. Thus, the rotating cleaning cloth 2 always keeps dragging and washing from bottom to top, and then passes through the water seepage hole and the scraping port in turn, so that the cleaning cloth 2 always remains in a wet state, and after one cleaning is completed, the sewage and garbage scraped by the scraping bar on the scraping port in the cleaning cloth 2 can be squeezed into the water storage cavity, avoiding the problems of dust generation during the cleaning of the air duct and the short cleaning distance and low efficiency of the cleaning air duct.

[0051] In some embodiments, a plurality of water storage cavities can be provided inside the cleaning body 1. The cross-section of each water storage cavity is constructed in a conical shape, and adjacent two water storage cavities are communicated through water seepage holes. Thus, when the cleaning cloth 2 rotates, it is only wetted by the water in the outermost two water storage cavities. The plurality of water storage cavities can deposit the dust and ash particles brought by the cleaning cloth 2 to the bottom of the conical cavity, and only allow the water to seep out to the cleaning cloth 2 through the plurality of water storage cavities, so that the plurality of water storage cavities play a role in filtering water.

[0052] It should be noted that in the present application, the position of the driving motor can be inside the cleaning body 1, or directly fixed to the end side wall of the cleaning body 1 through an auxiliary mounting bracket, as long as it does not affect the rotation of the cleaning cloth 2 on the cleaning body 1.

[0053] In some embodiments, such as Figure 5 and Figure 6As shown, the telescopic setting of the support rod 3 can refer to the elastic telescopic structure of the automatic umbrella column, that is, a plurality of rods with different diameters are set to form a telescopic effect, which will be extended to the longest state in the case of unlimited position, and can be shortened to one third of the longest state in the case of limited position. A pair of through holes 22 are penetrated along the cross-sectional diameter direction on the free end of the support rod 3, and a rotating bearing platform 24 is welded on the middle axis of the through holes 22, and sleeves 26 on both sides of the rotating bearing platform 24 extend out of the support rod 3 through the through holes 22, and the middle part of the rotating bearing platform 24 wraps and carries the driving motor 25, and the two sides are sleeves 26, whose internal diameter is equal to the diameter of the fixed shaft 19 with D-shaped ends of the driving motor 25, and the fixed shaft 19 passes through the rotating bearing platform 24, and the rotating bearing platform 24 on both sides of the support rod 3 is respectively engaged with the D-shaped axis of the corresponding roller 4, and a nut 23 is welded on the outside thereof, so as to avoid the roller 4 being stuck by the support rod 3 during the telescopic and driving process or the support rod 3 being interfered by the roller 4 and causing wear.

[0054] It should be noted that the aforementioned driving motor 25 can adopt an existing mature double-headed motor structure, which is connected to the power supply mounted on the support platform 9 through a wire on which an automatic wire reel is installed, thereby avoiding the entanglement of the wires when power is turned on. The outer sides of the above structures that do not contact each other are wrapped with insulating materials to avoid safety hazards.

[0055] In some embodiments, the walking module has multiple walking support parts. Specifically, three walking support parts are respectively provided at both ends of the connecting rod 33, and the three walking support parts are integrally connected through a support platform 9. Specifically, Figure 7 and Figure 8 As shown, the support platform 9 is connected to the connecting rod 33 and the support rod 3 respectively; the support platform 9 is provided with a steering gear assembly 28, a limit platform 11 and a winding mechanism 12 outside, and the end of the support rod 3 away from the roller 4 is fixedly connected to the output action end of the steering gear assembly 28, so that the steering gear assembly 28 drives the support rod 3 to rotate relative to the support platform 9;

[0056] The inside of the support platform 9 is provided with a power supply component 35, a servo and triangular sleeve assembly 36 and a cylindrical hole 37 in sequence from the outside to the inside. The winding mechanism 12 is used to reel in or release the traction line and the cylinder tied thereto, so as to realize the adaptive deformation and automatic assembly of the robot, so that the triangular prisms at both ends of the main frame can cooperate with the servo and triangular sleeve assembly 36 to ensure that under normal working conditions, the connecting rod and the triangular prism sleeve in the servo and triangular sleeve assembly 36 remain relatively stationary with the connecting rod, so that the servo and triangular sleeve assembly 36 drive the triangular prism to rotate relative to the support platform.

[0057] In the above embodiments, the servo assembly 28 can adopt existing mature servo-related devices, receive external instructions to generate corresponding actions, and thus drive the support rod 3 to rotate.

[0058] As Figure 9 shown, in some embodiments, the support platform 9 is configured as a prism, a limiting platform 11 is provided between the support platform 9 and the support rod 3, a fixed shaft 19 is provided on the limiting platform 11, the support rod 3 is connected to the limiting platform 11 via the fixed shaft 19, and the fixed shaft 19 is fixedly connected to the output action end of the servo assembly 28.

[0059] Exemplarily, as Figure 7 and Figure 9 shown, at one end of the support rod 3 far from the roller 4, there is also a pair of through holes 22, whose shape is the same as that of the servo arm 10 extended by the servo assembly 28. Here, the servo arm 10 is the output action end described in this application; the servo arm 10 is fitted on its servo to achieve the direction control of the wheel foot. Taking the center of the hole of this pair of through holes 22 as the base point, the end of this end of the support rod 3 is polished so that the vertical cross-section of the end is a semi-circle. The servo arm 10 of the servo assembly 28 passes through the two side wall surfaces of the support rod 3 through these two holes, and is fitted on the limiting platform 11 through the fixed shaft 19 welded on the outside of the servo arm 10. The limiting platform 11 is welded by three relatively thick aluminum alloy metal plates. One of them is square, with a width equal to the diameter of the thickest part of the support rod 3 and a length 2 cm longer than the width. The other two are triangular, with the same length and width as the aforementioned square aluminum alloy plate. The long sides of the two triangular aluminum alloy plates are respectively overlapped and welded with the long side of the square aluminum alloy plate, so that the two triangular aluminum alloy plates are located on the same side of the square aluminum alloy plate, and the short sides of the triangular plates are perpendicular to the short sides of the square plate. A hole is drilled at a position half the length of the short side in the direction perpendicular to the short side at the midpoint of the short side of the triangular plate, and the diameter of the hole is the same as the diameter of the fixed shaft 19 welded on the outside of the servo arm 10 of the servo assembly 28. The fixed shaft 19 passes through the holes on both sides and a circlip 27 is used outside to achieve limiting while ensuring the rotation of the rotating shaft, so as to ensure the strength of the rotating shaft this time. The short sides of the three aluminum alloy plates located on the same side are all welded to the lower support platform 9. Then, the limiting structure can limit the rotation angle of the support rod 3 between 0° and 90° while ensuring the rotation of the support rod 3, so that the position of the robot in space is controllable, and it can better adapt to complex and changeable air ducts. For example, by controlling the support rod 3 to be as perpendicular to the axis as possible through the servo assembly 28, combined with the pressure and friction of the support rod 3 on the air duct wall, the robot can move freely in the vertical pipeline. And when the support rod 3 rotates to a state parallel to the axis of the robot, the robot can pass through air ducts with smaller diameters.

[0060] As Figure 10As shown, in some embodiments, a plurality of wire winding mechanisms 12 are arranged between the support platform 9 and the limit platform 11. Here, by way of example, the wire winding mechanism 12 includes a wire winding motor 20 and a winding part 21 arranged around the output shaft of the wire winding motor 20. Inside the support platform 9, a power supply assembly 35, a servo motor and a triangular sleeve assembly 36, and a cylindrical hole 37 are sequentially arranged from the outside to the inside. The traction wire 34 carried by the wire winding mechanism 12 passes through the inside of the support platform 9, drills out from the wall surface of the cylindrical hole 37, and is connected to a cylinder 32 provided on the connecting rod 33. After the wire winding mechanism 12 winds up the traction wire, the cylinder 32 cooperates with the cylindrical hole 37, and the triangular prisms at both ends of the connecting rod 33 cooperate with the servo motor and the triangular sleeve assembly 36. After the cooperation is completed, the triangular prism sleeve in the servo motor and the triangular sleeve assembly 36 is fixedly connected to the connecting rod 33.

[0061] When this robot passes through a turning opening with a smaller pipe diameter, when the walking modules at both ends and the linkage telescopic module in the middle and the cleaning module connected thereto cannot pass through while being fully assembled, the wire winding motor 20 will release the traction wire accordingly. The front walking module can first pass through the corner, and then through the traction of the wire winding mechanism 12, the linkage telescopic module and the cleaning module connected thereto are turned by pulling. Finally, the rear walking module passes through the corner by the drive of its own motor. Then the wire winding mechanism 12 winds up, the cylinder 32 cooperates with the cylindrical hole 37, and the triangular prisms at both ends of the connecting rod 33 cooperate with the servo motor and the triangular sleeve assembly 36 that always rotates at a constant speed at an appropriate angle. Both ends of the triangular prism are made of conductive materials, so that the linkage telescopic module and the cleaning module connected thereto can obtain power and continue to perform cleaning and movement. At the same time, such a design can also ensure limitation, so that the linkage telescopic module and the cleaning module connected thereto maintain a completed cooperation state during the normal working process, so that the robot can adapt to extreme situations such as the air duct corner under a smaller pipe diameter and has better adaptability.

[0062] It should be noted that when the robot provided in this application is working, when the robot rotates in the air duct, the relative position of the cleaning module will be reversed. On this premise, the rotation direction of the cleaning cloth 2 can be driven in the opposite direction to ensure the normal operation of the cleaning module.

[0063] In some embodiments, as Figure 11 shown, the main frame 6 in the linkage telescopic module includes a linkage shaft 13 connected to the output end of the linkage motor. A lead screw is provided on the linkage shaft 13, and there is a thread on it;

[0064] The linkage telescopic frame 5 is composed of two groups of telescopic split bodies 14, each of which is formed by a plurality of connecting rods hinged in a "Z" shape in sequence. The two telescopic split bodies 14 are arranged opposite to each other and cross each other to form a plurality of diamond structures 31 connected in series. A linkage telescopic head 15 extends from the hinge connection point of the diamond structure 31 at one end close to the main frame 6. The linkage telescopic head 15 is limited and constrained in the screw rod and the thread thereon, and drives the diamond structure 31 to deform as the linkage shaft 13 rotates, so that the linkage telescopic frame 5 extends or retracts relative to the linkage shaft 13.

[0065] In the above embodiment, a limit frame 30 is provided on the main frame 6, and a plurality of linked telescopic heads 15 extend from the hinged connection points at both ends of the diamond structure 31. The limit frame 30 is provided with limit grooves 16 for limiting the displacement direction and displacement distance of the linked telescopic heads 15.

[0066] Specifically, the connecting rod 33 can be used as a linkage shaft 13 or a linkage shaft 13 can be connected to the connecting rod 33. When the connecting rod 33 is used as a linkage shaft 13, the two ends of the connecting rod 33 have a triangular prism, and there is a thin cylinder behind the triangular prism, the length of which is equal to the cylinder 32 sleeved on the connecting rod 33, the cylinder section is smaller than the triangular section of the triangular prism, the cylinder 32 is sleeved on this thin cylinder, and the cylinder 32 section is larger than the triangular section, and small holes are opened at the points of three equal divisions on the circumference of the cylinder 32, and a traction line is passed through the small hole along the axial direction, which is used to connect the traction line 34 of the winding mechanism 12. When the traction line is wound, and the robot modules are matched, the servo and the triangular sleeve assembly 36 drive the triangular prism to rotate relative to the support platform, and the cylinder 32 will not rotate with it, thereby avoiding the problem of the traction line being entangled on the servo and the triangular sleeve assembly 36 under normal working conditions.

[0067] For example, the linkage shaft 13 is rotated in the direction of the vertical axis at the three equal parts of the circle as follows: Figure 11 or Figure 12 As shown in the cut, there is a slot 17 on the cut surface, which cooperates with the screw and drive motor carried therein to form a screw transmission structure. The limit frame 30 includes a square plate 29, on the upper part of which is provided with a limit slot 16. The lower part of the linkage telescopic head 15 located relatively below is cooperated with the screw structure, and moves in the horizontal direction as the screw rotates. The linkage telescopic head 15 located relatively above is limited in the limit slot 16, that is, when the linkage shaft 13 below rotates, the linkage telescopic head 15 located relatively above moves accordingly, thereby causing the linkage telescopic frame 5 to deform to form a change in the length direction. In this design, in order to adapt to a smaller pipe diameter, when the linkage telescopic frame 5 is folded to the minimum length, the arc on the cleaning module carried at the lower part of the linkage shaft 13 just cooperates with the lower arc of the linkage shaft 13, so that the linkage telescopic module and the cleaning module connected thereto can be combined into a shape similar to a triangular prism in the folded state.

[0068] In some embodiments, a slot hole 17 is provided in the middle of the square plate 29 of the limit frame 30. The two sides at the lower end of the slot hole 17 are the displacement limit ranges of the linkage telescopic heads 15 in the middle part. Such a design can limit the middle part of the linkage telescopic frame 5 after being carried, so that the cleaning module is always located in the middle part of the connecting rod 33, and the linkage telescopic frame 5 can also have higher strength.

[0069] It should be noted that in the air duct cleaning robot described in the present application, a wireless signal receiving module can also be carried. The rotation range and walking distance of the walking support part can be controlled by external remote control, and the telescopic length of the linkage telescopic module can be controlled by external remote control, which is beneficial to better adapt to air ducts with different pipe diameter specifications. Here, the wireless signal receiving module and the wireless connection method can be set and connected with reference to the existing mature PLC circuit board. This is not elaborated in the present application.

[0070] In some embodiments, a power supply device is also installed in the air duct cleaning robot. The power supply device is used to supply power to the linkage motor, the drive motor 25, the driving motor and the servo mechanism 28.

[0071] The use process of the air duct cleaning robot provided by the present application is as follows:

[0072] When the air duct needs to be cleaned, according to the inner diameter size of the air duct, the support rod 3 will automatically pop out and adjust its length to a position adapted to the inner diameter size. And the servo mechanism 28 will control the support rod 3 to make it as vertical as possible, that is, to make the included angle between the support rod 3 and the axis of the robot as large as possible, so that the device is closely attached to the inner wall of the air duct, so as to adapt to moving on the inner wall of the air duct with different slopes or even perpendicular to the air duct; then control the linkage motor to drive the linkage telescopic frame 5 to extend to the position where the cleaning cloth 2 of the cleaning module touches the inner wall of the air duct. If the sensor on the cleaning module senses that the cleaning module contacts the air duct, the driving will stop, and if it senses that the cleaning module does not contact the air duct, the driving will continue; drive the roller 4 to rotate through the drive motor 25, so that the air duct cleaning robot moves autonomously in the air duct and performs cleaning work. When the inner diameter of the air duct changes, the linkage telescopic frame 5 and the support rod 3 can continue to adaptively adjust to fit the changed inner diameter of the air duct, ensuring the cleaning and maintenance work of all air ducts within the full size range.

[0073] Those of ordinary skill in the art should understand that: the discussion of any above embodiment is only exemplary, and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0074] Embodiments of the present invention are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A duct cleaning robot, It is characterized in that include: A cleaning module, comprising a cleaning body and a cleaning cloth wrapped around the cleaning body; The walking module comprises two groups of walking support parts arranged opposite to each other, and the two groups of walking support parts are connected via a connecting rod; wherein each walking support part comprises a retractable support rod and a roller arranged at the free end of the support rod, and the free end of the support rod is equipped with a driving motor, and the output end of the driving motor is connected to the roller, so that the roller rolls along a predetermined direction under the drive of the driving motor; The linkage telescopic module comprises a main frame and a linkage telescopic frame arranged on the main frame, the free end of the linkage telescopic frame is rotatably connected to a slider in a slide groove arranged on the cleaning module, the main frame is connected to the connecting rod, a linkage motor is arranged on the linkage telescopic frame, and the linkage telescopic frame can be extended or retracted under the drive of the linkage motor to drive the cleaning module to extend or retract relative to the connecting rod; It also includes a support platform, which is connected to the connecting rod and the support rod respectively; a steering gear assembly, a limit platform and a winding mechanism are arranged outside the support platform, and one end of the support rod away from the roller is fixedly connected to the limit platform with the output action end of the steering gear assembly, so that the steering gear assembly drives the support rod to rotate relative to the support platform; The inside of the support platform is provided with a power supply assembly, a steering gear and a triangular sleeve assembly and a cylindrical hole in sequence from the outside to the inside, and the winding mechanism is used to reel in or release the traction line and the cylinder tied thereto, so that the connecting rod and the triangular prism sleeve in the steering gear and the triangular sleeve assembly remain relatively stationary with the connecting rod, and the steering gear and the triangular sleeve assembly drive the connecting rod to rotate relative to the support platform; The support platform is constructed in a prism shape, the limit platform is arranged between the support platform and the support rod, a fixed shaft is arranged on the limit platform, the support rod is connected to the limit platform via the fixed shaft, and the fixed shaft is fixedly connected to the output action end of the steering gear assembly; The main frame includes a linkage shaft connected to the output end of the linkage motor, and the linkage shaft is provided with threads; The linkage telescopic frame is composed of two groups of telescopic splits, each of which is formed by a plurality of connecting rods hinged in a "Z" shape in sequence. The two telescopic splits are arranged opposite to each other and cross each other to form a plurality of diamond structures connected in series. A linkage telescopic head extends from the hinge connection point of the diamond structure at one end close to the main frame. The linkage telescopic head is limited and constrained in the thread, and drives the diamond structure to deform as the linkage shaft rotates, so that the linkage telescopic frame can be extended or retracted relative to the linkage shaft.

2. The air duct cleaning robot according to claim 1, It is characterized in that A driving motor is installed inside the cleaning body. A transmission assembly is provided on the outer surface of the cleaning body. The inner side of the transmission assembly is in transmission connection with the driving motor, so that the transmission assembly rolls around the outer periphery of the cleaning body under the drive of the driving motor; the outer side of the transmission assembly is connected to the cleaning cloth, and the cleaning cloth can move synchronously with the rolling of the transmission assembly on the cleaning body.

3. The air duct cleaning robot according to claim 2, characterized in that the transmission assembly includes a plurality of transmission belts rolling along the outer periphery of the cleaning body and transmission teeth in transmission connection with the transmission belts. The transmission belts are fixedly connected to the cleaning cloth, and the output end of the driving motor is fixedly connected to the transmission teeth.

4. The air duct cleaning robot according to claim 1, characterized in that the wire winding mechanism is arranged between the support platform and the limiting platform. The traction wire carried by the wire winding mechanism passes through the inside of the support platform, drills out from the wall surface of the cylindrical hole, and is connected to the cylinder provided on the connecting rod. After the wire winding mechanism winds up the traction wire, the cylinder cooperates with the cylindrical hole, and the triangular prisms at both ends of the connecting rod cooperate with the steering gear and the triangular sleeve assembly. After the cooperation is completed, the triangular prism sleeve in the steering gear and the triangular sleeve assembly is fixedly connected to the connecting rod.

5. The air duct cleaning robot according to claim 1, characterized in that a limiting frame is arranged on the main frame. A plurality of linkage telescopic heads extend from the hinge connection points at both ends of the diamond structure. Limiting grooves for restricting the displacement direction and displacement distance of the linkage telescopic heads are arranged on the limiting frame.

6. The air duct cleaning robot according to claim 1, characterized in that a water storage cavity is arranged inside the cleaning body. The cleaning body is provided with a water seepage hole and a scraping port communicating with the water storage cavity. The cleaning cloth covers the water seepage hole and synchronously moves through the scraping port as the transmission assembly in the cleaning body rolls.

7. The air duct cleaning robot according to claim 1, characterized in that each group of the walking support parts has three arranged at intervals.

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