A wall-climbing cleaning robot and its working method

Abstract

The present invention relates to the field of robot technology, and specifically to a wall-climbing cleaning robot, comprising: a base, on which a walking mechanism and magnetic universal wheels are provided; a flexible recovery mechanism, which is provided on the base, and the opening direction of the flexible recovery mechanism is consistent with the direction of water flow; a cleaning drive mechanism, which is provided at one end of the flexible recovery mechanism away from the flexible recovery mechanism, and the cleaning drive mechanism is arranged parallel to the flexible recovery mechanism, and a follower mechanism is provided on the cleaning drive mechanism, and the cleaning drive mechanism drives the follower mechanism to move along the extension direction of the cleaning drive mechanism; the wall-climbing cleaning robot, due to the arrangement of the walking mechanism and the magnetic universal wheels and the characteristics that both can be magnetically adsorbed on the metal magnetic wall surface, can flexibly move on the metal magnetic wall surface with large curvature and variable curvature.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a wall-climbing cleaning robot and a working method thereof. Background Art

[0002] A wall-climbing cleaning robot is an automated mechanical device designed to perform cleaning tasks on magnetic metal surfaces under harsh, dangerous, and extreme conditions. Currently, wall-climbing cleaning robots are widely used in cleaning and maintenance operations on magnetically conductive structures in industries such as the nuclear industry, petrochemical industry, construction industry, firefighting, and shipbuilding.

[0003] In some specialized applications, wall-climbing cleaning robots must perform cleaning operations on magnetic metal surfaces (typically wind turbine towers) resembling a frustum, where the radius of the arc continuously changes with height. This requires the wheels and operating mechanism to maintain effective contact with the magnetic metal surface, even when the wall diameter changes. This provides the robot with a strong magnetic attraction force and ensures the effectiveness of the cleaning operation. However, existing wall-climbing cleaning robots are not suitable for cleaning surfaces with a continuously changing radius, such as wind turbine towers. Consequently, they suffer from poor flexibility, a limited scope of application, and low cleaning efficiency and cleanliness. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problems of poor flexibility, limited scope of application, and low cleaning efficiency and cleanliness in the actual application of existing wall-climbing cleaning robots. The present invention enables the wall-climbing cleaning robot to maintain effective contact with the wall surface even when the diameter of the metal magnetic wall surface changes. This provides the wall-climbing cleaning robot with a large magnetic adsorption force, thereby ensuring the effectiveness of the cleaning operation. In order to achieve the above technical goals, a wall-climbing cleaning robot and an operating method thereof are provided.

[0005] In order to solve the above technical problems, the present invention provides a wall-climbing cleaning robot, comprising: a base, wherein the base is provided with a walking mechanism and a magnetic universal wheel; a flexible recovery mechanism is provided on the base, and the opening direction of the flexible recovery mechanism is consistent with the water flow direction; a cleaning drive mechanism is provided at one end of the flexible recovery mechanism away from the flexible recovery mechanism, and the cleaning drive mechanism is arranged parallel to the flexible recovery mechanism, and a follower mechanism is provided on the cleaning drive mechanism, and the cleaning drive mechanism drives the follower mechanism to move along the extension direction of the cleaning drive mechanism; the follower mechanism includes a sliding component, a passive angle adjustment component and a cleaning component, the sliding component is provided on the cleaning drive mechanism, and the sliding component adapts to the cleaning drive mechanism as the curvature of the metal magnetic wall changes, the passive angle adjustment component is provided at the bottom of the sliding component, and the passive angle adjustment component is connected to the cleaning component; a magnetic follower universal wheel component is provided on the cleaning component.

[0006] Furthermore, the sliding component includes: a slider, which is provided on the cleaning drive mechanism; a slide rail, which is provided on the slider and connected to the slider, the extension direction of the slide rail is perpendicular to the extension direction of the cleaning drive mechanism, and the passive angle adjustment component is provided at the bottom of the slide rail.

[0007] Furthermore, the passive angle adjustment component includes: a first angle adjustment member, which is arranged at the bottom of the slide rail, and grooves are provided on both sides of the first angle adjustment member; a connecting block, which is arranged at the bottom of the first angle adjustment member, and the connecting block and the first angle adjustment member are connected through a first rotating shaft; a second angle adjustment member, which is arranged on the cleaning component, and the second angle adjustment member is connected to the connecting block through a second rotating shaft, and the first rotating shaft and the second rotating shaft are perpendicular to each other.

[0008] Furthermore, the cleaning assembly includes: a fixed plate, which is arranged at the bottom of the second angle adjustment member, and the magnetic follow-up universal wheel assembly is arranged on the fixed plate; and a brush, which is arranged on the fixed plate and away from one side of the second angle adjustment member.

[0009] Furthermore, a high-pressure water nozzle fixing clamp and a cleaning liquid nozzle fixing clamp are provided on the fixing plate, and a high-pressure water nozzle is provided on the high-pressure water nozzle fixing clamp.

[0010] Furthermore, the magnetic universal wheel and the magnetic follower universal wheel assembly both include: a magnetic column connected to the base, one or more magnets are provided on the outer wall of the magnetic column, and the magnetization direction of the magnets is perpendicular to and points to the magnetic column; the magnetic column is made of magnetic material, and when a plurality of magnets are provided on the outer wall of the magnetic column, the magnetism of the plurality of magnets contacting the magnetic column is the same; or the magnetic column is made of magnetic material, and the magnetization direction is parallel to the axis of the magnetic column, and the magnetism of the side of the magnet contacting the magnetic column needs to be opposite to the top magnetic pole of the magnetic column and the same as the bottom magnetic pole; a magnetic rolling member, partially located in a recessed portion provided at the bottom of the magnetic column, and a plurality of balls are provided between the recessed portion and the magnetic rolling member; a cover plate, which is a non-magnetic member and is provided at the bottom of the magnetic column and the magnet, and the magnetic rolling member partially extends out of the cover plate.

[0011] Furthermore, the magnetic universal wheel and magnetic follower universal wheel assembly further includes: a fixing device, which is sleeved on the outer wall of the magnet.

[0012] Furthermore, the cleaning drive mechanism includes: a linear guide rail, on which a sliding member is provided; a driving member, which is provided at one end of the linear guide rail and drives the sliding member to move along the extension direction of the linear guide rail; and a supporting member, which connects the linear guide rail and the flexible recovery mechanism.

[0013] Furthermore, it also includes a drag chain, which is connected to the sliding member.

[0014] Furthermore, the flexible recovery mechanism includes: a water collecting trough, connected to the base, and a support arm is provided on the water collecting trough; a water collecting plate, arranged below the support arm, and a flexible part is provided between the water collecting plate and the water collecting arm, and the water collecting plate is in close contact with the metal magnetic wall surface through the flexible part as the curvature of the metal magnetic wall surface changes.

[0015] The present invention also provides a working method of a wall-climbing cleaning robot, including: a walking mechanism and a magnetic universal wheel drive the base to move on the metal magnetic wall surface, a cleaning drive mechanism is used to drive the sliding component in the follower mechanism to move, the sliding component cooperates with the passive angle adjustment component and the magnetic follower universal wheel component arranged on the cleaning component, so that the sliding component can be adaptively adjusted as the curvature on the metal magnetic wall surface changes, thereby driving the cleaning component to be in close contact with the metal magnetic wall surface; the cleaning component is used to clean the metal magnetic wall surface, and then the flexible recovery mechanism is used to quickly collect the sewage generated during the oil cleaning process.

[0016] The technical solution of the present invention has the following advantages:

[0017] The wall-climbing cleaning robot provided by the present invention includes: a base, which is provided with a walking mechanism and a magnetic universal wheel; a flexible recovery mechanism, which is provided on the base, and the opening direction of the flexible recovery mechanism is consistent with the water flow direction; a cleaning drive mechanism, which is provided at one end of the flexible recovery mechanism away from the flexible recovery mechanism, and the cleaning drive mechanism is arranged parallel to the flexible recovery mechanism, and a follower mechanism is provided on the cleaning drive mechanism, and the cleaning drive mechanism drives the follower mechanism to move along the extension direction of the cleaning drive mechanism; the follower mechanism includes a sliding component and a passive angle adjustment component, and a cleaning component, the sliding component is provided on the cleaning drive mechanism, and the sliding component adapts to the cleaning drive mechanism as the curvature of the metal magnetic wall changes, the passive angle adjustment component is provided at the bottom of the sliding component, and the passive angle adjustment component is connected to the cleaning component; a magnetic follower universal wheel component is provided on the cleaning component.

[0018] By equipping the base with a walking mechanism and magnetic universal wheels, the wall-climbing cleaning robot can walk on metal magnetic walls. Because both the walking mechanism and the magnetic universal wheels contain magnetic force, the base can be firmly attached to the metal magnetic wall. At the same time, the cleaning drive mechanism can drive the sliding assembly within the follower mechanism to move. This sliding assembly works together with the passive angle adjustment assembly and the magnetic follower universal wheel assembly installed on the cleaning assembly, allowing the sliding assembly to adaptively adjust as the curvature of the metal magnetic wall changes, thereby maximally adapting to changes in the curvature of the metal magnetic wall.

[0019] Among them, the follower mechanism has no power source, and the only power source is the cleaning drive mechanism. The cleaning drive mechanism can only drive the follower mechanism to move along the extension direction of the cleaning drive mechanism. The follower mechanism can adaptively adjust itself according to the change of the curvature of the metal magnetic wall, so that the cleaning components and the magnetic follower universal wheel components in the follower mechanism are in close contact with the metal magnetic wall, thereby ensuring the cleanliness of the wall-climbing cleaning robot; at the same time, due to the setting of the flexible recovery mechanism, the sewage generated in the oil cleaning process can be quickly collected to ensure that the metal magnetic wall will not be contaminated again after cleaning.

[0020] The wall-climbing cleaning robot can move flexibly on metal magnetic walls with large curvature or variable curvature due to the arrangement of the walking mechanism and the magnetic universal wheels and the characteristics that both can be magnetically adsorbed on the metal magnetic wall surface.

[0021] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a structural diagram of the wall-climbing cleaning robot provided by the present invention installed on a metal magnetic wall surface;

[0024] Figure 2 A schematic diagram of the structure of the wall-climbing cleaning robot provided by the present invention;

[0025] Figure 3 This is a structural schematic diagram of the bottom surface of the wall-climbing cleaning robot provided by the present invention;

[0026] Figure 4 A schematic structural diagram of the follower mechanism of the wall-climbing cleaning robot provided by the present invention;

[0027] Figure 5 An exploded view of the follower mechanism of the wall-climbing cleaning robot provided by the present invention;

[0028] Figure 6 An exploded view of the first angle adjustment member of the wall-climbing cleaning robot provided by the present invention;

[0029] Figure 7 A schematic structural diagram of a sliding member of the wall-climbing cleaning robot provided by the present invention;

[0030] Figure 8 A schematic structural diagram of the cleaning drive mechanism of the wall-climbing cleaning robot provided by the present invention;

[0031] Figure 9 A schematic structural diagram of the flexible recovery mechanism of the wall-climbing cleaning robot provided by the present invention;

[0032] Figure 10 A three-dimensional diagram of the flexible recovery mechanism of the wall-climbing cleaning robot provided by the present invention;

[0033] Figure 11 A schematic structural diagram of the walking mechanism of the wall-climbing cleaning robot provided by the present invention;

[0034] Figure 12 A schematic structural diagram of the magnetic universal wheel of the wall-climbing cleaning robot provided by the present invention;

[0035] Figure 13A cross-sectional view of the magnetic universal wheel of the wall-climbing cleaning robot provided by the present invention;

[0036] Figure 14 A schematic structural diagram of the magnet of the wall-climbing cleaning robot provided by the present invention;

[0037] Figure 15 A schematic structural diagram of the magnetic column of the wall-climbing cleaning robot provided by the present invention;

[0038] Figure 16 This is a bottom view of the magnetic column of the wall-climbing cleaning robot provided by the present invention.

[0039] Description of reference numerals:

[0040] 1. Base; 2. Traveling mechanism; 3. Magnetic universal wheel; 4. Flexible recovery mechanism; 5. Cleaning drive mechanism; 6. Follow-up mechanism; 7. Sliding assembly; 8. Passive angle adjustment assembly; 9. Cleaning assembly; 10. Metal magnetic wall; 11. Magnetic follow-up universal wheel assembly; 12. Sliding block; 13. Slide rail; 14. First angle adjustment member; 15. Second angle adjustment member; 16. Fixing plate; 17. Brush; 18. High-pressure water nozzle fixing clamp; 19. Cleaning liquid nozzle fixing clamp; 20. High-pressure water nozzle; 21. Magnetic column; 22. Recessed portion; 23. Magnet; 24. Positioning sleeve; 25. Magnetic rolling element; 26. Ball bearing ;27. Linear guide;28. Sliding part;29. Driving part;30. Support part;31. Drag chain;32. Water collecting trough;33. Support arm;34. Water collecting plate;35. Flexible part;36. Mounting plate;37. Guide rail reinforcement plate;38. Connecting plate;39. Fixed connecting part;40. Support rod;41. Fixed block;42. Reinforcement plate;43. Drag chain fixing plate;44. Quick release assembly;45. Guide sleeve;46. Spring;47. Housing;48. Wheel;49. Motor;50. Water outlet;51. Cover plate;52. Adsorption part;53. Groove;54. Connecting block;55. First rotating shaft;56. Second rotating shaft. DETAILED DESCRIPTION

[0041] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0042] In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of the present disclosure and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0043] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0044] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0045] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0046] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0047] See also Figures 1 to 16 As shown, the present invention provides a wall-climbing cleaning robot, comprising: a base 1, on which a walking mechanism 2 and a magnetic universal wheel 3 are provided; a flexible recovery mechanism 4, which is provided on the base 1, and the opening direction of the flexible recovery mechanism 4 is consistent with the water flow direction; a cleaning drive mechanism 5, which is provided at one end of the flexible recovery mechanism 4 away from the flexible recovery mechanism 4, and the cleaning drive mechanism 5 is arranged parallel to the flexible recovery mechanism 4, and a follower mechanism 6 is provided on the cleaning drive mechanism 5, and the cleaning drive mechanism 5 drives the follower mechanism 6 to move along the extension direction of the cleaning drive mechanism 5; the follower mechanism 6 includes a sliding component 7 and a passive angle adjustment component 8, and a cleaning component 9, the sliding component 7 is provided on the cleaning drive mechanism 5, and the sliding component 7 adapts to the cleaning drive mechanism 5 as the curvature of the metal magnetic wall 10 changes, the passive angle adjustment component 8 is provided at the bottom of the sliding component 7, and the passive angle adjustment component 8 is connected to the cleaning component 9; a magnetic follower universal wheel component 11 is provided on the cleaning component 9.

[0048] By providing a walking mechanism 2 and magnetic universal wheels 3 on the base 1, the wall-climbing cleaning robot can walk on the metal magnetic wall surface 10. Because both the walking mechanism 2 and the magnetic universal wheels 3 have magnetic force, the base 1 can be firmly adsorbed on the metal magnetic wall surface 10. At the same time, the setting of the cleaning drive mechanism 5 can drive the sliding component 7 in the follower mechanism 6 to move. The sliding component 7 cooperates with the passive angle adjustment component 8 and the magnetic follower universal wheel component 11 provided on the cleaning component 9, so that the sliding component 7 can adapt to the changes in the curvature of the metal magnetic wall surface 10 and adapt to the changes in the curvature of the metal magnetic wall surface 10 to the greatest extent possible.

[0049] Among them, the follower mechanism 6 has no power source, and the only power source is the cleaning drive mechanism 5. The cleaning drive mechanism 5 can only drive the follower mechanism 6 to move along the extension direction of the cleaning drive mechanism 5. The follower mechanism 6 can adaptively adjust itself according to the change of the curvature of the metal magnetic wall surface 10, so that the cleaning component 9 and the magnetic follower universal wheel component 11 in the follower mechanism 6 are in close contact with the metal magnetic wall surface 10, thereby ensuring the cleanliness of the wall-climbing cleaning robot; at the same time, due to the setting of the flexible recovery mechanism 4, the sewage generated during the oil cleaning process can be quickly collected, avoiding the secondary contamination of the metal magnetic wall surface 10.

[0050] Due to the arrangement of the walking mechanism 2 and the magnetic universal wheel 3 and the characteristics that both can be magnetically adsorbed on the metal magnetic wall surface, the wall-climbing cleaning robot can flexibly move on the metal magnetic wall surface with large curvature and variable curvature.

[0051] In some optional embodiments, the sliding assembly 7 includes a slider 12 and a slide rail 13; wherein, the slider 12 is arranged on the cleaning drive mechanism 5; the slide rail 13 is arranged on the slider 12 and connected to the slider 12, the extension direction of the slide rail 13 is perpendicular to the extension direction of the cleaning drive mechanism 5, and the passive angle adjustment assembly 8 is arranged at the bottom of the slide rail 13.

[0052] By arranging the slider 12 on the cleaning drive mechanism 5, the cleaning drive mechanism 5 can be used to drive the slider 12 to move along the extension direction of the cleaning drive mechanism 5, thereby realizing the horizontal movement of the sliding component 7 on the metal magnetic wall surface 10. At the same time, the slide rail 13 is arranged on the slider 12. This arrangement further drives the movement of the passive angle adjustment component 8 and the cleaning component 9 in the extension direction of the slide rail 13, that is, realizing the vertical movement of the passive angle adjustment component 8 and the cleaning component 9 on the slide rail 13. In addition, the setting of the passive angle adjustment component 8 can adjust the angle of the cleaning component 9 on the metal magnetic wall surface 10, so that the contact between the cleaning component 9 and the metal magnetic wall surface 10 is more closely fitted, so that the cleaning component 9 can better clean the metal magnetic wall surface 10, thereby ensuring the cleanliness of the cleaning.

[0053] Among them, there are two sliders 12, which are installed on two slide rails 13. At the same time, a mounting plate 36 is provided on the slider 12. The mounting plate 36 is used to connect the two sliders 12, so that the two sliders 12 can move relative to the slide rail 13 together, ensuring the stability of the movement of the passive angle adjustment component 8 and the cleaning component 9.

[0054] A guide rail reinforcement plate 37 is provided on the slide rail 13. The provision of the guide rail reinforcement plate 37 can realize the connection of the two slide rails 13, that is, the two slide rails 13 are formed into a whole.

[0055] In some optional embodiments, the passive angle adjustment component 8 includes a first angle adjustment member 14, which is provided at the bottom of the slide rail 13, and grooves 53 are provided on both sides of the first angle adjustment member 14; a connecting block 54, which is provided at the bottom of the first angle adjustment member 14, and the connecting block 54 and the first angle adjustment member 14 are connected through a first rotating shaft 55; a second angle adjustment member 15, which is provided on the cleaning component 9, and the second angle adjustment member 15 is connected to the connecting block 54 through a second rotating shaft 56, and the first rotating shaft 55 and the second rotating shaft 56 are perpendicular to each other.

[0056] Specifically, the connecting block 54 and the first angle adjustment member 14 are connected through the first rotating shaft 55. The connection between the first angle adjustment member 14 and the connecting block 54 is realized by the setting of the first rotating shaft 55; at the same time, a second adjusting member 15 is provided on the cleaning assembly 9, and the second angle adjustment member 15 is connected to the connecting block 54 through the second rotating shaft 56, and the first rotating shaft 55 and the second rotating shaft 56 are perpendicular to each other, thereby realizing the relative rotation of the slide rail 13 in two directions relative to the cleaning assembly 9, so that the cleaning assembly 9 adapts to the change of the curvature of the metal magnetic wall 10.

[0057] The provision of the groove 53 facilitates the rotation of the first angle adjustment member 14 relative to the second angle adjustment member 15 to avoid interference.

[0058] A connecting plate 38 is provided at the bottom of the slide rail 13 . The connecting plate 38 is L-shaped. The setting of the connecting plate 38 not only realizes the connection between the slide rail 13 and the first angle adjustment member 14 , but also plays a role in fixing the two slide rails 13 .

[0059] In some optional embodiments, the cleaning assembly 9 includes a fixed plate 16 and a brush 17; wherein, the fixed plate 16 is arranged at the bottom of the second angle adjustment member 15, and the magnetic follow-up universal wheel assembly 11 is arranged on the fixed plate 16; the brush 17 is arranged on the fixed plate 16 and away from one side of the second angle adjustment member 15.

[0060] By setting the fixed plate 16 at the bottom of the second angle adjustment member 15, the first angle adjustment member 14 and the second angle adjustment member 15 can be used to drive the fixed plate 16 to rotate, thereby adjusting the angle of the brush 17 set on the fixed plate 16, so that the brush 17 can adapt to the change in the curvature of the metal magnetic wall 10. Among them, the magnetic follower universal wheel assembly 11 can be set inside the brush 17 according to actual conditions, that is, the magnetic follower universal wheel assembly 11 is used to support the fixed plate 16, maintain the distance between the brush 17 and the metal magnetic wall 10, and at the same time ensure the magnetic attraction between the cleaning component 9 and the metal magnetic wall 10, so that the connection between the metal magnetic wall 10 and the cleaning component 9 is tighter.

[0061] In some optional embodiments, the fixing plate 16 is provided with a high-pressure water nozzle 20 fixing clamp 18 and a cleaning liquid nozzle fixing clamp 19. The high-pressure water nozzle 20 fixing clamp 18 is provided with a high-pressure water nozzle 20. That is, the high-pressure water nozzle 20 is fixed by the high-pressure water nozzle 20 fixing clamp 18, and the cleaning liquid nozzle is fixed by the cleaning liquid nozzle fixing clamp 19. In actual use, it is only necessary to connect the high-pressure water pipe to the high-pressure water nozzle 20 and the cleaning liquid pipe to the cleaning liquid nozzle, thereby ensuring quick disassembly and assembly of the high-pressure water pipe and the high-pressure water nozzle 20, and the cleaning liquid pipe and the cleaning liquid nozzle.

[0062] In some optional embodiments, the magnetic universal wheel 3 and the magnetic follower universal wheel assembly 11 both include a magnetic column 21, which is connected to the base 1, and a plurality of magnets 23 are provided on the outer wall of the magnetic column 21, and the magnetization direction of the magnet 23 is perpendicular to and points to the magnetic column 21; the magnetic column 21 is a magnetic material, and the magnetic pole of the magnet 23 is opposite to the bottom magnetic pole of the magnetic column 21; or the magnetization direction of the magnetic column 21 is parallel to the axis of the magnetic column 21 and points to the surface of the metal magnetic wall 10; the magnetic rolling element 25 is partially located in the recessed portion 22 provided at the bottom of the magnetic column 21, and a plurality of balls 26 are provided between the recessed portion 22 and the magnetic rolling element 25; the cover plate 51 is a non-magnetic part, and is provided at the bottom of the magnetic column 21 and the magnet 23, and the magnetic rolling element 25 partially extends out of the cover plate 51.

[0063] By providing a recessed portion 22 and a cover plate 51 at the bottom of the magnetic column 21, it is convenient to install the magnetic rolling member 25 in the recessed portion 22, and use the cover plate 51 to fix the magnetic column 21 and the magnet 23; at the same time, a plurality of balls 26 are provided between the recessed portion 22 and the magnetic rolling member 25, so that a gap is formed between the magnetic column 21 and the magnetic rolling member 25, ensuring the smooth rotation of the magnetic rolling member 25 in the recessed portion 22, avoiding the complete fit of the magnetic rolling member 25 and the recessed portion 22, which affects the rotation of the magnetic rolling member 25, and further affects the movement of the magnetic rolling member 25 on the metal magnetic wall 10.

[0064] Among them, the magnetic column 21 is made of magnetic material, and the magnetic pole of the magnet 23 is opposite to the bottom magnetic pole of the magnetic column 21; or the magnetization direction of the magnetic column 21 is parallel to the axis of the magnetic column 21 and points to the surface of the metal magnetic wall 10; this setting method can ensure the magnetic adsorption force between the magnetic column 21 and the metal magnetic wall 10, that is, it ensures that the base 1 can be stably adsorbed on the metal magnetic wall 10.

[0065] At the same time, the magnetization direction of the magnet 23 is perpendicular to and points to the magnetic column 21. Combined with the setting of the magnetic column 21, the magnetic adsorption force of the magnetic universal wheel 3 and the magnetic follower universal wheel assembly 11 is increased, ensuring the stability of the wall-climbing cleaning robot adsorbed on the metal magnetic wall surface 10.

[0066] In this embodiment, the magnetic pillar 21 has a quadrangular prism structure. Therefore, there are four magnets 23, symmetrically arranged on the four side walls of the magnetic pillar 21. The multiple magnets 23 can be fixed with bolts. Of course, the number of magnets 23 can be adjusted adaptively based on the structure of the magnetic pillar 21.

[0067] In some embodiments, the magnetic universal wheel 3 and the magnetic follower universal wheel assembly 11 further include a fixing device 24, which is sleeved on the outer walls of the plurality of magnets 23. By providing the fixing device 24, the plurality of magnets can be fixed, thereby ensuring the stability of the connection of the plurality of magnets.

[0068] The fixing device 24 is a positioning sleeve.

[0069] In some optional embodiments, the cleaning drive mechanism 5 includes a linear guide rail 27, a sliding member 28, and a driving member 29; a sliding member 28 is provided on the linear guide rail 27; the driving member 29 is provided at one end of the linear guide rail 27, and the driving member 29 drives the sliding member 28 to move along the extension direction of the linear guide rail 27; a support member 30 connects the linear guide rail 27 and the flexible recovery mechanism 4.

[0070] The linear guide 27 and the flexible recovery mechanism 4 are connected by the support member 30. The support member 30 provides a mounting location on the linear guide 27. A sliding member 28 is provided on the linear guide 27. The driving member 29 can drive the sliding member 28 to move along the extension direction of the linear guide 27. Simultaneously, the slider 12 is provided on the sliding member 28, enabling the cleaning drive mechanism 5 to drive the sliding assembly 7 to move along the extension direction of the linear guide 27.

[0071] The support member 30 includes a fixed connector 39, a support rod 40, a fixed block 41, and a reinforcing sheet 42. The fixed connector 39 is mounted on the flexible recovery mechanism 4. One end of the support rod 40 is mounted on the fixed connector 39. The other end of the support rod 40 is provided with a fixed block 41. The linear guide 27 is mounted on the fixed block 41. Furthermore, the reinforcing sheet 42 is mounted on the linear guide 27 and the fixed block 41. The fixed connector 39, the support rod 40, and the fixed block 41 ensure the connection between the flexible recovery mechanism 4 and the linear guide 27, while also increasing the stability of the connection.

[0072] In this embodiment, the driving member 29 is a motor.

[0073] In some optional embodiments, the wall-climbing cleaning robot further includes a drag chain 31, which is connected to the sliding member 28. The arrangement of the drag chain 31 facilitates the placement of high-pressure water pipes and cleaning liquid pipes inside the drag chain 31, thereby preventing the high-pressure water pipes and cleaning liquid pipes from freely scattering and affecting the normal operation of the wall-climbing cleaning robot.

[0074] One end of the drag chain 31 is set on the linear guide rail 27, and the other end is set on the fixed plate of the drag chain 31. The fixed plate of the drag chain 31 is set on the sliding member 28. When the sliding member 28 moves relative to the linear guide rail 27, the drag chain 31 drives the high-pressure water pipe and the cleaning liquid water pipe to move as well.

[0075] In some optional embodiments, the flexible recovery mechanism 4 includes a water collecting trough 32, a support arm 33 and a water collecting plate 34, and a flexible part 35; wherein, the water collecting trough 32 is connected to the base 1, and a support arm 33 is provided on the water collecting trough 32; the water collecting plate 34 is provided below the support arm 33, and a flexible part 35 is provided between the water collecting plate 34 and the support arm 33, and the water collecting plate 34 is in close contact with the metal magnetic wall surface 10 through the flexible part 35 and the adsorption part 52 as the curvature of the metal magnetic wall surface 10 changes.

[0076] A quick-install assembly 44 is provided between the water collection tank 32 and the base 1. The quick-install assembly 44 is prior art and will not be described in detail here. The provision of the quick-install assembly 44 enables a quick connection between the water collection tank 32 and the base 1, facilitating rapid assembly of the wall-climbing cleaning robot on site.

[0077] At the same time, the setting of the water collecting tank 32 and the water collecting plate 34 can collect the sewage generated during the oil cleaning process; and, a water outlet 50 is provided at the bottom of the water collecting tank 32, and the water outlet 50 can be connected to the sewage recovery tank on the ground through an outlet pipe to uniformly discharge the sewage generated during the cleaning process.

[0078] In this embodiment, the adsorption member 52 is a magnet. By setting the adsorption member 52 and coordinating the flexible member 35 and the adsorption member 52, the water collecting plate 34 can achieve close contact with the metal as the curvature of the metal magnetic conductive wall changes.

[0079] Among them, a support arm 33 is provided on the water collecting trough 32, and a flexible part 35 is provided between the support arm 33 and the water collecting plate 34. The flexible part 35 includes a guide sleeve 45 and a spring 46. The spring 46 is sleeved on the guide sleeve 45. At the same time, the guide sleeve 45 is rotatably connected to the water collecting plate 34. Through the spring 46 and the guide sleeve 45, and the rotational connection between the guide sleeve 45 and the water collecting plate 34, the water collecting plate 34 can change with the curvature change of the metal magnetic wall 10, that is, it is in close contact with the metal magnetic wall 10, ensuring that the sewage generated by cleaning the oil stains flows smoothly into the water collecting trough 32 for collection.

[0080] The base 1 includes a housing 47, in which the travel mechanism 2 is disposed, with a portion of the travel mechanism 2 extending out of the housing 47. The magnetic universal wheel 3 is disposed at the bottom of the housing 47. A cleaning liquid tank and a water tank can be disposed inside the housing 47. The cleaning liquid tank can be connected to the cleaning liquid nozzle via a cleaning tank, and the water tank can be connected to the high-pressure water nozzle 20 via a high-pressure water pipe.

[0081] In this embodiment, the traveling mechanism 2 includes two wheels 48 and a motor 49. The two wheels 48 are symmetrically arranged. Furthermore, the motors 49 are located between the two wheels 48, with their output shafts aligned with the rotational axes of the wheels 48. The motors 49 and traveling mechanism 2 can rotate as a whole to adapt to the varying curvatures of the tower's metal magnetically conductive walls. This arrangement eliminates the need for additional connecting structures between the motors 49 and the wheels 48, simplifying the structure and improving operational efficiency.

[0082] The present invention also provides a working method of the wall-climbing cleaning robot, including: a walking mechanism 2 and a magnetic universal wheel 3 drive the base 1 to move on the metal magnetic wall surface 10, and a cleaning drive mechanism 5 is used to drive the sliding component 7 in the follower mechanism 6 to move, and the sliding component 7 cooperates with the passive angle adjustment component 8 and the magnetic follower universal wheel component 11 arranged on the cleaning component 9, so that the sliding component 7 can be adaptively adjusted as the curvature on the metal magnetic wall surface 10 changes, adapting to the change in curvature on the metal magnetic wall surface 10 to the greatest extent, and driving the cleaning component 9 to be in close contact with the metal magnetic wall surface 10; the cleaning component 9 is used to clean the metal magnetic wall surface 10, and then the flexible recovery mechanism 4 is used to quickly collect the sewage generated during the oil cleaning process.

[0083] The specific working method of the wall-climbing cleaning robot is that the base 1 is adsorbed on the metal magnetic wall surface 10 through the walking mechanism 2 and the magnetic universal wheel 3, and the driving member 29 drives the sliding member 28 to move in the extension direction of the linear guide rail 27. The sliding member 28 drives the slider 12 to move, so that the slide rail 13 moves relative to the slider 12, thereby realizing the movement of the passive angle adjustment component 8 and the cleaning component 9 in the vertical direction of the slide rail 13.

[0084] When the curvature on the metal magnetic wall 10 changes, the second angle adjustment member 15 is rotatably connected to the first angle adjustment member 14, and cooperates with the magnetic follower universal wheel assembly 11 on the cleaning assembly 9 to adjust the angle of the cleaning assembly 9 on the metal magnetic wall 10; the magnetic follower universal wheel assembly 11 can support the fixed plate 16 and the brush 17, and the magnetic follower universal wheel assembly 11 cooperates with the slider 12 and the slide rail 13, the first angle adjustment member 14 and the second angle adjustment member 15 to realize the movement and angle adjustment of the fixed plate 16 and the brush 17 on the metal magnetic wall 10; then the metal magnetic wall 10 is cleaned by the high-pressure water nozzle 20 and the cleaning liquid nozzle, and the sewage generated after cleaning the oil stains enters the water collecting tank 32 through the water collecting plate 34 for recovery, thereby realizing the cleaning of the metal magnetic wall 10.

[0085] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A wall-climbing cleaning robot, characterized in that: include: A base (1), wherein the base (1) is provided with a walking mechanism (2) and a magnetic universal wheel (3); A flexible recovery mechanism (4) is provided on the base (1), wherein the opening direction of the flexible recovery mechanism (4) is consistent with the direction of water flow; A cleaning drive mechanism (5) is provided at one end of the flexible recovery mechanism (4) away from the base (1), and the cleaning drive mechanism (5) is arranged in parallel with the flexible recovery mechanism (4). A follower mechanism (6) is provided on the cleaning drive mechanism (5), and the cleaning drive mechanism (5) drives the follower mechanism (6) to move along the extension direction of the cleaning drive mechanism (5); The follower mechanism (6) comprises a sliding component (7), a passive angle adjustment component (8), and a cleaning component (9); the sliding component (7) is arranged on the cleaning drive mechanism (5); the sliding component (7) makes adaptive adjustments relative to the cleaning drive mechanism (5) as the curvature of the metal magnetic conductive wall (10) changes; the passive angle adjustment component (8) is arranged at the bottom of the sliding component (7), and the passive angle adjustment component (8) is connected to the cleaning component (9); A magnetic follower universal wheel assembly (11) is provided on the cleaning assembly (9); The sliding assembly (7) comprises: A slider (12) is provided on the cleaning drive mechanism (5); A slide rail (13) is provided on the slider (12) and connected to the slider (12); the extension direction of the slide rail (13) and the extension direction of the cleaning drive mechanism (5) are perpendicular to each other; the passive angle adjustment component (8) is provided at the bottom of the slide rail (13); wherein the slider (12) has two slide rails (13) installed on the two slide rails (13); The passive angle adjustment component (8) comprises: A first angle adjustment member (14) is provided at the bottom of the slide rail (13), and grooves (53) are provided on both sides of the first angle adjustment member (14); A connecting block (54) is provided at the bottom of the first angle adjusting member (14), wherein the connecting block (54) and the first angle adjusting member (14) are connected via a first rotating shaft (55); The second angle adjustment member (15) is provided on the cleaning assembly (9). The second angle adjustment member (15) is connected to the connecting block (54) via a second rotating shaft (56). The first rotating shaft (55) and the second rotating shaft (56) are perpendicular to each other.

2. The wall-climbing cleaning robot according to claim 1, characterized in that: The cleaning assembly (9) comprises: A fixed plate (16), the fixed plate (16) being arranged at the bottom of the second angle adjustment member (15), and the magnetic follower universal wheel assembly (11) being arranged on the fixed plate (16); A brush (17) is provided on the fixing plate (16) and is located away from a side of the second angle adjustment member (15).

3. The wall-climbing cleaning robot according to claim 2, characterized in that: The fixing plate (16) is provided with a high-pressure water nozzle fixing clamp (18) and a cleaning liquid nozzle fixing clamp (19), and the high-pressure water nozzle fixing clamp (18) is provided with a high-pressure water nozzle (20).

4. The wall-climbing cleaning robot according to any one of claims 1 to 3, characterized in that: The magnetic universal wheel (3) and the magnetic follower universal wheel assembly (11) both include: A magnetic column (21) is connected to the base (1), and one or more magnets (23) are provided on the outer wall of the magnetic column (21), and the magnetization direction of the magnets (23) is perpendicular to and points to the magnetic column (21); The magnetic column (21) is made of magnetic conductive material. When a plurality of magnets (23) are provided on the outer wall of the magnetic column (21), the magnetism of the plurality of magnets (23) contacting the side of the magnetic column (21) is the same. Or the magnetic column (21) is made of magnetic material, the magnetization direction is parallel to the axis of the magnetic column (21), and the magnetism of the side of the magnet (23) contacting the magnetic column (21) needs to be opposite to the top magnetic pole of the magnetic column (21), and the bottom magnetic pole is the same; A magnetic conductive rolling element (25) is partially located in a recessed portion (22) provided at the bottom of the magnetic conductive column (21), and a plurality of balls (26) are provided between the recessed portion (22) and the magnetic conductive rolling element (25); The cover plate (51) is a non-magnetic component and is arranged at the bottom of the magnetic column (21) and the magnet (23). The magnetic rolling element (25) partially extends out of the cover plate (51).

5. The wall-climbing cleaning robot according to claim 4, characterized in that: The magnetic universal wheel (3) and the magnetic follower universal wheel assembly (11) further include a fixing device (24) sleeved on the outer wall of the magnet (23).

6. The wall-climbing cleaning robot according to claim 5, characterized in that: The cleaning drive mechanism (5) comprises: A linear guide rail (27), wherein a sliding member (28) is provided on the linear guide rail (27); A driving member (29) is provided at one end of the linear guide rail (27), and the driving member (29) drives the sliding member (28) to move along the extension direction of the linear guide rail (27); A support member (30) connects the linear guide rail (27) and the flexible recovery mechanism (4).

7. The wall-climbing cleaning robot according to claim 6, characterized in that: It also includes a drag chain (31), which is connected to the sliding member (28).

8. The wall-climbing cleaning robot according to claim 1, characterized in that: The flexible recovery mechanism (4) comprises: A water collecting trough (32) is connected to the base (1), and a support arm (33) is provided on the water collecting trough (32); A water collecting plate (34) is provided below the support arm (33); a flexible member (35) is provided between the water collecting plate (34) and the support arm (33); and the water collecting plate (34) is in close contact with the metal magnetic wall surface (10) through the flexible member (35) and the adsorption member (52) as the curvature of the metal magnetic wall surface (10) changes.

9. A working method using the wall-climbing cleaning robot according to any one of claims 1 to 8, characterized in that: include: The walking mechanism (2) and the magnetic universal wheel (3) drive the base (1) to move on the metal magnetic wall (10), and the cleaning drive mechanism (5) drives the sliding component (7) in the follower mechanism (6) to move. The sliding component (7) cooperates with the passive angle adjustment component (8) and the magnetic follower universal wheel component (11) arranged on the cleaning component (9), so that the sliding component (7) can be adaptively adjusted as the curvature of the metal magnetic wall (10) changes, adapting to the change of the curvature of the metal magnetic wall (10) to the greatest extent, and driving the cleaning component (9) to closely contact the metal magnetic wall (10); the cleaning component (9) is used to clean the metal magnetic wall (10), and then the flexible recovery mechanism (4) is used to quickly collect the sewage generated in the oil cleaning process.

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