Walking part and subway canopy cleaning robot thereof

Abstract

The application discloses a walking part and a subway canopy cleaning robot thereof, and relates to the technical field of cleaning robots. The walking part comprises a walking module, and the walking module comprises a walking frame, a walking inner frame and a plurality of walking mechanisms. The walking frame is installed on a cleaning shell. The walking frame comprises a first walking frame plate, a second walking frame plate and a third walking walking frame plate. The walking inner frame is installed on the inner side of the second walking frame plate. A walking groove is formed between the walking inner frame and the second walking frame plate. The walking mechanisms are installed in the walking groove and move along the walking groove. The walking mechanisms comprise a walking shell and a walking suction disc. The walking suction disc is directly or indirectly installed on the walking shell. When walking, the walking suction disc of part of the walking mechanisms is tightly sucked to a cleaning surface and moves. A walking installation plate is installed on the walking shell. The walking installation plate is fixedly assembled with a walking belt. The walking belt sequentially passes through a plurality of walking belt pulleys and forms a belt transmission mechanism. Each walking belt pulley is installed on a walking belt pulley shaft. The walking belt pulley shafts are respectively assembled with the walking inner frame and the third walking frame plate.

Description

Technical Field

[0001] This invention relates to subway canopy cleaning equipment, and in particular to a walking mechanism and a subway canopy cleaning robot thereof. Background Technology

[0002] Subway canopies are mainly installed at subway train entrances and exits, platforms, and pedestrian entrances and exits. They are generally constructed with a steel frame structure supported by transparent glass panels. These canopies offer good shelter from wind and rain and allow light to pass through, but they get dirty very easily. Currently, cleaning these canopies involves manual labor, climbing onto the roof to mop them. However, these canopies are inverted U-shaped with smooth, rounded edges, which cannot be cleaned manually for safety reasons; they are mostly washed with hoses. Therefore, cleaning these canopies presents problems such as high risk, high labor intensity, and poor cleaning results, and current technology cannot yet achieve mechanized cleaning.

[0003] Unlike curtain walls, subway canopies have a smaller cleaning area but consist of horizontal, vertical, and curved surfaces connecting them. Current curtain wall cleaning robots are only suitable for single flat or sloping surfaces, making them unsuitable for canopy cleaning. Furthermore, curtain wall cleaning robots require water spraying, resulting in dripping water. Since subway canopies are installed above driveways and sidewalks, with heavy traffic, dripping water would not only affect pedestrians and vehicles below but also cause secondary pollution, making the effort counterproductive. This is one of the reasons why manual cleaning is currently the primary method.

[0004] In this regard, this application believes that it is necessary to design a robot for cleaning such awnings based on practical needs, but it is necessary to solve the technical difficulties of automatically adapting to curved surfaces and moving freely between horizontal and vertical surfaces, while also ensuring that water does not drip during cleaning to avoid other adverse effects. Summary of the Invention

[0005] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a walking part and a subway canopy cleaning robot thereof, wherein the walking part is capable of carrying the subway canopy cleaning robot to walk on cleaning surfaces of various shapes.

[0006] To achieve the above objectives, the present invention provides a walking component, which is installed on the cleaning shell of a subway canopy cleaning robot and used to carry the subway canopy cleaning robot for walking. The walking module includes a walking frame, an inner walking frame, and multiple walking mechanisms. The walking frame is installed on the cleaning shell and includes a first walking frame plate, a second walking frame plate, and a third walking frame plate. The inner walking frame is installed inside the second walking frame plate, and a walking groove is formed between the inner walking frame and the second walking frame plate. The walking mechanisms are installed in the walking groove and move along the walking groove.

[0007] The walking mechanism includes a walking shell and a walking suction cup. The walking suction cup is directly or indirectly installed on the walking shell, and during walking, part of the walking suction cup of the walking mechanism adheres to and moves with the cleaning surface. A walking mounting plate is installed on the walking shell. The walking mounting plate is assembled and fixed with the walking belt. The walking belt passes around multiple walking pulleys in sequence to form a belt drive mechanism. Each walking pulley is installed on a walking pulley shaft. The walking pulley shaft is respectively assembled with the inner walking frame and the third walking frame plate. One of the walking pulley shafts is connected to the walking motor shaft through the walking drive belt to form a belt drive mechanism. The walking motor shaft is installed inside the walking motor, and the walking motor is installed on the third walking frame plate.

[0008] As a further improvement of the present invention, the walking mechanism further includes a walking wheel rod, a walking valve rod, and a walking tube. The walking housing is provided with a walking cavity. The top of the walking cavity is open and sealed by a sealing cover. A guide sleeve is installed on the sealing cover. A walking piston is sealed and axially slidably installed in the walking cavity. The walking piston is installed on one end of the walking tube. The other end of the walking tube extends out of the walking housing and is assembled with a walking suction cup. A walking piston spring is fitted on the portion of the walking tube between the walking piston and the inner end face of the walking cavity. The walking piston spring applies a spring force to the walking piston to push it toward the guide sleeve so that the walking piston is pressed against the end face of the guide sleeve in the initial state.

[0009] The traveling tube is provided with a traveling tube cavity, a traveling tube hole, a traveling tube cone hole, and a traveling tube spring hole. The traveling tube hole penetrates the traveling tube and communicates with the traveling tube cavity. The traveling tube cavity, the traveling tube spring hole, and the traveling tube cone hole are sequentially connected. The traveling tube cone hole is pressed and sealed with the traveling sealing cone. The two ends of the traveling sealing cone are respectively assembled with the traveling valve stem and one end of the traveling inner tube. The other end of the traveling valve stem passes through the guide sleeve and the sealing cover in sequence and is assembled with the unlocking rod seat. The unlocking rod seat is spherically rolled with the unlocking ball. A traveling sealing spring is fitted on the portion of the traveling inner tube between the traveling sealing cone and the inner end face of the traveling tube spring hole. The traveling sealing spring applies a spring force to the traveling sealing cone to press it against the traveling tube cone hole to maintain the traveling sealing cone and the traveling tube cone hole pressed and sealed.

[0010] The inner tube of the walking tube is hollow and has a walking communication hole. The inner tube of the walking tube is provided with a first inner tube hole corresponding to the spring hole of the walking tube. The part of the inner tube of the walking tube that is inserted into the walking tube cavity is provided with an inner tube annular groove. The inner tube annular groove is connected to the walking tube cavity through a second inner tube hole.

[0011] The portion of the walking tube that extends out of the walking shell is assembled with a fixing ring. The fixing ring is assembled with one end of the walking wheel rod. The walking wheel rod passes through the wheel rod groove and is rotatably assembled with the walking wheel. The wheel rod groove is provided on the walking shell.

[0012] As a further improvement of the present invention, a second travel track and a first travel track are respectively installed on the inner frame and the second travel frame plate near the travel groove; the travel mechanism also includes a travel guide frame, and a travel guide plate is also installed on the travel shell. The travel guide frame and the travel guide plate are rotatably assembled but not axially movable. A first guide wheel, a second guide wheel, and a third guide wheel are respectively installed on the travel guide frame. The first guide wheel, the second guide wheel, and the third guide wheel are respectively engaged with the corresponding first travel track or second travel track, and the first guide wheel, the second guide wheel, and the third guide wheel are rotatably assembled with the travel guide frame.

[0013] As a further improvement of the present invention, the walking module also includes an adjustment mechanism, which includes an adjustment motor, an adjustment seat, and an unlocking seat. An adjustment screw is mounted on the output shaft of the adjustment motor. The adjustment screw is fitted onto one end of an adjustment screw and is threadedly engaged with it. The other end of the adjustment screw is mounted on a sealing plate. The adjustment motor is mounted on a first walking frame plate. The adjustment screw and the first walking frame plate are rotatably mounted but not axially movable. The sealing plate is mounted on the adjustment seat and closes the adjustment groove of the adjustment seat. The adjustment seat is also mounted on one end of an adjustment optical shaft. The other end of the adjustment optical shaft is inserted into an adjustment sleeve and is axially slidably mounted with it. The adjustment sleeve is mounted on the first walking frame plate.

[0014] The adjusting seat is further provided with a downward guide surface, a holding guide surface, and a lifting guide surface on its end face facing the walking mechanism. One of the downward guide surface, holding guide surface, and lifting guide surface is pressed against the walking wheel of the same walking mechanism. When the walking wheel moves from the downward guide surface to the holding guide surface, it will drive the walking wheel away from the cleaning shell until it reaches the holding guide surface. The holding guide surface is a plane to keep the distance between the walking wheel and the cleaning shell unchanged. When the walking wheel cooperates with the lifting guide surface, it will gradually move along the lifting guide surface to the cleaning shell.

[0015] As a further improvement of the present invention, the unlocking seat is engaged and slidably installed in the adjusting groove. An unlocking screw sleeve is installed on the end face of the unlocking seat near the sealing plate. The unlocking screw sleeve is fitted onto the adjusting bolt and is threadedly engaged with it. The adjusting bolt passes through the sealing plate and is circumferentially rotatable but not axially movable. The end face of the unlocking seat away from the sealing plate is respectively provided with a suction guide surface, a suction holding surface, a suction unlocking surface, and a suction reset surface. The reset surfaces are respectively pressed and assembled with the unlocking balls of the traveling mechanism. When the unlocking balls are assembled with the suction guide surface and move towards the suction holding surface, the unlocking balls move away from the cleaning shell, and the traveling mechanism generates negative pressure. When the unlocking balls are engaged with the suction holding surface and move towards the suction unlocking surface, the traveling mechanism is in a negative pressure holding state. When the unlocking balls are engaged with the suction unlocking surface and move towards the suction guide surface, the unlocking balls continue to move away from the cleaning shell, and the negative pressure of the traveling mechanism is released. When the unlocking balls contact the suction reset surface, the traveling mechanism gradually resets.

[0016] As a further improvement of the present invention, when the walking wheel moves to press against the lower guide surface and moves towards the holding guide surface, the walking wheel moves away from the cleaning shell, thereby driving the walking tube to move towards the walking suction cup, and the walking piston squeezes the walking piston spring to move towards the walking suction cup, generating negative pressure in the walking cavity;

[0017] When the traveling wheel contacts or is about to contact the lower guide surface, the unlocking ball contacts and presses against the suction guide surface, and the suction cup presses against the cleaning surface. The unlocking ball moves towards the suction holding surface, thus moving away from the cleaning housing. The unlocking ball drives the traveling valve stem to squeeze the traveling sealing cone against the elastic force of the traveling sealing spring and move towards the traveling suction cup, thereby opening the traveling tube cone hole. Negative pressure enters the traveling tube cavity and is then transmitted to the traveling suction cup, causing the traveling suction cup to adhere tightly to the cleaning surface. At this time, the traveling tube hole moves out of the traveling housing, but the inner tube annular groove is not connected to the traveling tube hole; when the traveling wheel is about to separate from the guide surface... When entering the lifting guide surface, the unlocking ball contacts the suction unlocking surface, thereby driving the travel valve rod to continue moving downward. The travel valve rod drives the travel inner tube to continue moving towards the travel suction cup, so that the inner tube annular groove is connected to the travel tube hole. At this time, the inside of the travel suction cup and the travel tube cavity are connected to the atmosphere through the travel tube hole, and the negative pressure disappears. Then, as the travel wheel cooperates with the lifting guide surface, the travel tube moves towards the cleaning shell under the action of the travel piston spring, which pulls the travel suction cup to separate from the cleaning surface. At the same time, the unlocking ball cooperates with the suction reset surface, so that the travel valve rod moves away from the travel suction cup under the action of the travel sealing spring until it is reset.

[0018] As a further improvement of the present invention, the walking part also includes a suction enhancement mechanism, which includes a suction enhancement frame, a push rod motor, a suction enhancement tube, and a suction enhancement plate. The suction enhancement frame is directly or indirectly mounted on the cleaning shell. The suction enhancement frame is equipped with a push rod motor, a suction enhancement frame block, and a suction enhancement frame plate. The telescopic shaft of the push rod motor is inserted into one end of the suction enhancement inner tube and sealed and fixed thereto. The other end of the suction enhancement inner tube extends out of the suction enhancement tube and is assembled with the suction enhancement plate. The suction enhancement tube is mounted on the suction enhancement frame plate, and the interior of the suction enhancement tube is a hollow suction enhancement cavity. The suction chamber is sealed to the suction piston and can be axially slidably assembled. The suction piston is fitted on the suction inner tube. A third suction spring is fitted on the part of the suction inner tube between the suction piston and the inner end face of the suction chamber. The third suction spring applies a spring force to the suction piston to push the push rod motor. A through suction inner tube hole is provided on the part of the suction inner tube between the suction piston and the end assembled with the telescopic shaft. The inside of the suction inner tube is a hollow suction inner cavity. The suction inner tube hole connects the suction inner cavity to the suction chamber.

[0019] The inner tube for increasing suction is also provided with a suction cone hole and a suction spring hole, both of which are connected to the inner cavity of the suction chamber. The inner cavity of the suction chamber is connected to the interior of the suction cup. The suction cone hole is sealed and assembled with the sealing cone head of the suction sealing cone. The suction sealing cone is also provided with a cone ring and a cone rod. The cone ring is installed in the suction spring hole, and a fourth suction spring is fitted on the part of the suction sealing cone located between the cone ring and the end face of the suction spring hole. The fourth suction spring applies a spring force to the suction sealing cone to press against the suction cone hole. The end of the cone rod away from the sealing cone head enters the suction cup, and the end of the suction sealing cone away from the sealing cone head is installed in the inner cavity of the suction chamber and is axially slidably assembled therewith.

[0020] As a further improvement of the present invention, the suction enhancement mechanism further includes a suction enhancement seat, which is mounted on the cleaning shell. A large hinge ball and a small hinge ball seat are respectively installed inside the suction enhancement seat. The large hinge ball and the small hinge ball seat are respectively hinged to each other to form a spherical hinge. The large hinge ball seat and the small hinge ball are respectively mounted on one end of the lower pressure shaft tube and on the suction enhancement frame.

[0021] An inner tube support rod is installed at one end of the inner tube that extends out of the inner tube. The inner tube support rod has a support rod fork groove. The two inner tube support blocks are used in pairs, with a support block groove between each pair of blocks. The support rod fork groove is pressed against the second lower pressure shaft ring, which is mounted on the lower pressure shaft. A lower pressure shaft seat is installed at one end of the lower pressure shaft, and the lower pressure shaft seat is spherically rolled with a lower pressure ball bearing. The other end of the lower pressure shaft passes through the inner tube plate and the inner tube slot and is inserted into the lower pressure shaft tube hole of the lower pressure shaft tube, where it can slide axially. The lower pressure shaft is located between the inner tube support block and the inner tube plate. A first downward pressure shaft collar is also installed on the part of the shaft. A shaft tube pressure block is axially slidably installed on one end of the downward pressure shaft tube near the suction-enhancing frame block. The shaft tube pressure block is pressed against the suction-enhancing frame block. A first suction-enhancing spring is fitted on the part of the downward pressure shaft tube located between the small hinge ball seat and the shaft tube pressure block. The two ends of the first suction-enhancing spring are respectively assembled and fixed to the small hinge ball seat and the shaft tube pressure block. The first suction-enhancing spring applies a thrust to the shaft tube pressure block to press it against the suction-enhancing frame block. A second suction-enhancing spring is fitted on the part of the downward pressure shaft located between the suction-enhancing frame block and the first downward pressure shaft collar. The second suction-enhancing spring applies a thrust to the downward pressure shaft away from the suction-enhancing frame block.

[0022] As a further improvement of the present invention, the portion of the intensification chamber corresponding to the intensification inner tube hole is connected to the inlet of the solenoid valve through an air pipe, and the outlet of the solenoid valve is connected to the atmosphere. The solenoid valve is used to control the opening and closing of the intensification chamber and the atmosphere to control whether the intensification chamber releases negative pressure. The solenoid valve is installed on the intensification frame plate.

[0023] The present invention also discloses a subway canopy cleaning robot, which includes the aforementioned walking mechanism.

[0024] The beneficial effects of this invention are:

[0025] The walking mechanism of this invention utilizes a walking module to generate negative pressure, which is then used to continuously push and pull the walking suction cups. Once the suction cups are pressed against the cleaning surface, the negative pressure ensures effective suction. Simultaneously, the walking suction cups are driven by a walking belt to provide power for walking and lateral movement, making the entire cleaning robot highly flexible. Furthermore, a suction-enhancing mechanism is added to address situations where the suction force of the walking suction cups is insufficient or about to be insufficient. This mechanism uses the enhanced suction cups to press against the cleaning surface and then applies negative pressure to supplement the suction force, effectively preventing the cleaning machine from slipping or sliding. It can also move freely on cleaning surfaces such as horizontal, inclined, curved, vertical, and connecting inclined surfaces, greatly solving the technical problem of existing similar devices being unable to freely switch between walking on such cleaning surfaces. Attached Figure Description

[0026] Figures 1-2 This is a schematic diagram of the structure of the present invention;

[0027] Figures 3-4This is a structural schematic diagram of the cleaning machine 01;

[0028] Figure 5 This is a structural diagram of the sewage tank at location 122;

[0029] Figure 6 This is a structural diagram of exhaust pipe 104 and exhaust valve 140;

[0030] Figure 7 This is a structural diagram of the exhaust valve 140 and the active impeller 162.

[0031] Figure 8 This is a schematic diagram of the structure at 162 points on the active impeller;

[0032] Figure 9 This is a cross-sectional view of the exhaust valve 140 located at the center plane of the axis of the exhaust valve stem 144;

[0033] Figure 10 This is a partial structural diagram of the exhaust valve 140;

[0034] Figure 11 This is a cross-sectional view of the displacement component 130 located at the center plane of the axis of the probe tube 134;

[0035] Figure 12 This is a structural diagram of the cleaning belt at point 250;

[0036] Figures 13-15 This is a schematic diagram of the cleaning mechanism with 200 structural elements, among which... Figure 15 This is a sectional view of the center plane where the axis of suction connector 221 is located;

[0037] Figure 16 This is a structural diagram of the walking mechanism;

[0038] Figures 17-20 This is a structural schematic diagram of the suction enhancement mechanism 400, in which... Figure 19 This is a sectional view at the center plane where the 45° axis of the suction tube is located. Figure 20 yes Figure 19 Enlarged view of point A in the middle;

[0039] Figures 21-24 This is a partial structural diagram of the walking section 300;

[0040] Figure 25 This is a structural diagram of the traveling belt 640, the first traveling track 331, and the second traveling track 332.

[0041] Figures 26-27 This is a sectional view of the traveling belt 640, the first traveling track 331, the second traveling track 332, and the traveling mechanism 500 located at the center plane of the axis of the traveling tube 550. Figure 27 yes Figure 26Enlarged view at point B in the middle;

[0042] Figures 28-29 This is a structural schematic diagram of the walking mechanism 500;

[0043] Figure 30 This is a structural diagram of the walking mechanism 500 and the adjustment mechanism;

[0044] Figure 31 This is a structural diagram of the four adjustment mechanisms;

[0045] Figure 32 This is a schematic diagram of the structure of the adjustment mechanism;

[0046] Figure 33 This is a cross-sectional view of the adjusting mechanism located at the center plane of the axis of the adjusting screw 730. Implementation

[0047] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0048] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0049] See Figures 1-2 The subway canopy cleaning robot of this embodiment includes two cleaning machines 01, each equipped with a connector 111. The connectors 111 of the two cleaning machines 01 are hinged together by a connecting pin 101. This design allows for a certain rotation angle between the two cleaning machines 01, enabling them to move on curved surfaces.

[0050] See Figures 1-15The cleaning machine 01 includes a cleaning shell 110, a cleaning mechanism 200, and a walking module 300. Both the cleaning mechanism 200 and the walking module 300 are mounted on the cleaning shell 110. The cleaning mechanism 200 uses a roller brush 230 to clean the subway canopy, and the walking module 300 drives the entire cleaning machine to move. The cleaning shell 110 contains a water tank 121, a wastewater tank 122, a control box 123, a battery pack 124, and an exhaust fan 125. The water tank 121 stores clean water (which can be mixed with cleaning agents) for cleaning. The wastewater tank 122 stores wastewater after cleaning. The control box 123 houses the electrical equipment of the cleaning machine 01, such as an industrial computer, power supply, and main control circuit board. The battery pack 124 supplies power to all the electrical equipment in the cleaning machine 01.

[0051] The exhaust port of the exhaust fan 125 is connected to the suction connector 221 of the cleaning mechanism 200 through the exhaust pipe 1251. The exhaust outlet of the exhaust fan 125 is connected to one end of the first air supply pipe 102 and the second air supply pipe 103 respectively. The other ends of the first air supply pipe 102 and the second air supply pipe 103 are connected to the inlets of different air supply check valves 106 respectively. The outlet end of the air supply check valve 106 is installed in the sewage tank 122 and the air supply check valve 106 is mounted on the sewage tank 122. The sewage tank 122 is provided with a convex shell portion 1221. 06 is installed at the convex shell portion 1221; two exhaust valves 140 are also installed on the convex shell portion 1221, the exhaust valve pipes 148 of the two exhaust valves 140 are respectively connected to the exhaust pipe 104, the exhaust pipe 104 is connected to the gas-liquid separation inlet pipe 1281 of the gas-liquid separator 128, and the gas-liquid separation outlet pipe 1282 of the gas-liquid separator 128 is connected to the cleaning shell 110. The gas-liquid separator 128 is used to separate the liquid from the gas-liquid mixture fed from the gas-liquid separation inlet pipe 1281, and then discharge the gas through the gas-liquid separation outlet pipe 1282. The drain port of the gas-liquid separator 128 is connected to the return pipe 105. The return pipe 105 is connected to the inlet of two return check valves 107. The two return check valves 107 are respectively installed at both ends of the convex shell portion 1221. The outlet of the return check valve 107 is connected to the suction chamber 151 of the suction shell 150. A suction impeller 161 is installed in the suction chamber 151. The suction impeller 161 is mounted on the impeller shaft 160. The impeller shaft 160 is rotatably assembled with the suction shell 150 and the shaft seat 163. The suction shell 150 and the shaft seat 163 are both installed on the convex shell portion. On section 1221, an active impeller 162 is installed at the outlet of the air supply check valve 106 corresponding to the impeller shaft 160. When airflow enters the air supply check valve 106, the airflow blows towards the active impeller 162 to drive the impeller shaft 160 to rotate. The impeller shaft 160 drives the suction impeller 161 to rotate, thereby generating a suction negative pressure at the outlet end of the return check valve 107. This negative pressure is used to provide the pressure to open the return check valve 107. Since most check valves use springs as damping for opening, a certain pressure is required to open them. In this embodiment, the suction impeller 161 can provide this pressure. The suction housing 150 is provided with a suction housing hole 152. The liquid flowing into the suction chamber 151 from the return check valve 107 flows into the sewage tank 122 for storage through the suction housing hole 152. The design of the active impeller 162 is twofold: firstly, to use the airflow and fluid blown into the sewage tank by the air supply check valve 106 to drive the suction impeller 161; and secondly, to disperse the airflow and fluid blown into the sewage tank by the air supply check valve 106, so that the airflow and fluid are quickly distributed in the sewage tank, reducing the probability of fluid directly entering the exhaust valve 140, thereby reducing the load on the gas-liquid separator.In this embodiment, when the cleaning machine is tilted, the sewage in the sewage tank will converge to the lower end. If it comes into contact with or blocks the air supply check valve 106 of the active impeller 162, the corresponding active impeller 162 may not be able to rotate. At this time, the corresponding return check valve will close, which can effectively prevent a large amount of sewage in the sewage tank from flowing back into the gas-liquid separator and affecting the normal operation of the gas-liquid separator.

[0052] The exhaust valve 140 includes an exhaust valve cylinder 141, an exhaust valve seat 142, an exhaust valve core 143, an exhaust valve rod 144, and an exhaust weight 147. The exhaust valve cylinder 141 has a hollow cavity 1411. Several through-holes 1412 are provided on one end of the exhaust valve cylinder 141 that is inserted into the sewage tank 122. An exhaust valve seat 142 is installed on the end of the exhaust valve cavity 1411 away from the 1412. The exhaust valve seat 142 has an exhaust valve seat cavity 1421, a guide groove 1422, and an air inlet 1423. One end of the guide groove 1422 passes through the exhaust valve seat 142 and communicates with the exhaust valve cavity 1411; the other end passes through the air inlet. 1423 is connected to the exhaust valve seat cavity 1421, which is connected to the exhaust valve pipe 148. An exhaust valve core 143 is sealed and slidably installed inside the exhaust valve seat cavity 1421. The exhaust valve core 143 is assembled with one end of the exhaust valve rod 144, and the other end of the exhaust valve rod 144 passes through the exhaust valve core 143 and is assembled with one end of the cable 146. The other end of the cable 146 is assembled with the exhaust weight 147. The cable 146 is flexible. A float ring 1471 is installed on the exhaust weight 147. The float ring 1471 is made of lightweight, low-density materials, such as airbags or foam. After the exhaust weight 147 is soaked in water, the float ring 1471 can float the exhaust weight 147. The exhaust weight 147 is installed in the exhaust valve cylinder cavity 1411. An exhaust valve spring 145 is fitted on the part of the exhaust valve rod 144 located between the exhaust valve core 143 and the inner end face of the exhaust valve seat cavity 1421. The exhaust valve spring 145 applies a spring force to the exhaust valve core 143 to push the exhaust valve screw 149. One end of the exhaust valve screw 149 is inserted into the exhaust valve seat cavity 1421 and is screwed into the exhaust valve seat 142. In use, the maximum displacement end of the exhaust valve core 143 in the exhaust valve seat cavity 1421 can be adjusted by the length of the exhaust valve screw 149 inserted into the exhaust valve seat cavity 1421.

[0053] In use, the exhaust weight 147 exerts a pulling force on the exhaust valve stem 144 to compress the exhaust valve spring 145, thereby causing the exhaust valve core 143 to move towards the exhaust weight 147 so that the air inlet 1423 communicates with the exhaust valve seat cavity 1421. At this time, the airflow blown out from the air supply check valve 106 passes through the active impeller 162 and is dispersed in the sewage tank 122. The airflow passes through the filter hole 1412 and enters the exhaust valve cylinder cavity 1411. Then, it enters the exhaust valve seat cavity 1421 from the guide groove 1422 and the air inlet 1423. Finally, it enters the exhaust valve seat cavity 1421 from the exhaust valve seat cavity 1421 through the exhaust valve pipe 148 and is output to the gas-liquid separator through the exhaust pipe 104. When the sewage tank tilts or the exhaust weight 147 is submerged in water, the tension exerted by the exhaust weight 147 on the exhaust valve core 143 decreases. The exhaust valve spring 145 then pushes the exhaust valve core 143 away from the exhaust weight 147 until the connection between the air inlet 1423 and the exhaust valve seat cavity 1421 is cut off. At this time, the exhaust valve 140 closes, preventing water from entering the exhaust pipe 104 and flowing back to the gas-liquid separator, thus affecting its operation. This design is primarily because the sewage tank will tilt during use, requiring control of the opening and closing of the corresponding exhaust valve 140 based on the sewage volume and tilt angle. In this embodiment, an electronic water level gauge can be installed inside the sewage tank, near the two air supply check valves 106. During use, once the water levels detected by both electronic water level gauges reach a preset threshold, it is determined that the sewage tank is full and sewage needs to be drained. When the sewage tank tilts, if one electronic water level gauge detects a water level while the other does not, or if the water level values ​​detected by the two electronic water level gauges are different, the tilt direction can be determined.

[0054] See Figures 1-2 Preferably, the water storage tank 121 is equipped with a water inlet pipe 171 and a water outlet pipe 172. The water inlet pipe 171 is used to add clean water and detergent to the water storage tank 121, and the water outlet pipe 172 is used to drain the water from the water storage tank 121. The sewage tank 122 is equipped with a sewage outlet pipe 173, which is used to drain the sewage from the sewage tank. Water valves are installed on the water inlet pipe 171, the water outlet pipe 172, and the sewage outlet pipe 173, and the corresponding pipes are opened and closed by controlling the water valves during use.

[0055] See Figures 1-4 , Figure 11The cleaning machine 01 is equipped with displacement components 130 on both sides of the cleaning mechanism 200. Each displacement component 130 includes a displacement sensor 131, a displacement shaft 132, an outer tube 133, and a detection tube 134. The displacement sensor 131 and the outer tube 133 are both mounted on the cleaning shell 110. The input shaft of the displacement sensor 131 is assembled with the displacement shaft 132. One end of the displacement shaft 132 is inserted into the detection tube 134 and is not axially slidably assembled with it. The inside of the detection tube 134 is a hollow detection cavity 1341. A detection seat 136 is installed on the end of the detection tube 134 away from the displacement shaft 132. A detection ball 135 is spherically rolled on the detection seat 136. A detection tube ring 137 is installed on the detection tube 134. A detection spring 138 is installed between the detection tube ring 137 and the displacement sensor 131. The detection spring 138 applies a thrust to the detection tube 134 away from the displacement sensor 131. The detection cavity 1341 contains lubricating oil and is connected to the detection ball 135 to provide lubrication for the detection ball 135. In use, the detection ball 135 is kept pressed against the cleaning surface. If the cleaning surface enters the arc or slope, the displacement shaft 132 will generate axial displacement, so that the displacement sensor can judge the change of tilt angle and the tilt of the cleaning surface based on the displacement data. The displacement components 130 of the two cleaning machines can roughly judge the arc, slope, etc. of the cleaning surface, so as to provide control parameters and reference for the subsequent travel module 300.

[0056] See Figures 1-4 , Figures 12-15 The cleaning mechanism 200 includes an outer cover 210, a suction cover 220, a roller brush 230, and a roller brush shaft 231. The suction cover 220 is mounted on the outer cover 210, and the roller brush 230 is mounted inside the outer cover 210 and can be circumferentially rotated relative to the outer cover 210 via the roller brush shaft 231. The roller brush is made of a highly absorbent material, such as cotton cloth or sponge. The suction cover 220 has a suction groove 223, a suction passage 222, and a suction connector 221 arranged sequentially from one end near the roller brush 230 to the other end. The suction cover 220 has a squeezing platform 224 and a soft plate 225 installed at the suction groove 223. The squeezing platform 224 presses against the roller brush 230 so that the roller brush can be squeezed when it rolls to squeeze out the sewage absorbed by the roller brush. During the roller brush washing process, the open end of the soft plate 225 presses against the cleaning surface to increase the probability of sewage being sucked into the suction groove 223. In this embodiment, the flexible board 225 is made of an elastic material, such as rubber or silicone. In the initial state ( Figure 15 (Based on the standard), the open end of the soft plate 225 is lower than the roller brush 230, so that the open end of the soft plate 225 will press and deform against the cleaning surface before the roller brush 230 is pressed against the cleaning surface.

[0057] A nozzle 211 is installed near the extrusion table 224 on the outer cover 210. The inlet of the nozzle 211 is connected to the outlet of the water pump via a water pipe. The inlet of the water pump is connected to the water in the water storage tank 121. The water pump is installed inside the cleaning shell 110, and the water pipe is a spring pipe. In use, the water pump pumps water from the water storage tank 121 into the nozzle 211. The nozzle 211 sprays water onto the roller brush 230 to wet the roller brush 230 that has been squeezed dry by the extrusion table 224, so that the roller brush can continue to clean the cleaning surface by rolling. The sewage and impurities mixed airflow enters the exhaust pipe 1251 and finally enters the sewage tank 122 for treatment.

[0058] Both ends of the roller brush shaft 231 extend through the outer cover 210. One end is rotatably assembled with the swing arm sleeve 231 of the swing arm 240, and the other end is connected to the cleaning belt shaft 251 via the cleaning belt 250 to form a belt drive mechanism. The cleaning belt shaft 251 is mounted on the belt frame 112 and is connected to the output shaft of the cleaning motor 126. The cleaning motor 126 is mounted on the belt frame 112, which is installed inside the cleaning housing 110. After the cleaning motor 126 is started, it can drive the cleaning belt 250 to run, thereby driving the roller brush 230 and the roller brush shaft 231 to rotate circumferentially.

[0059] The swing arm 240 is hinged to the swing arm slider 1131 via the swing arm pivot 242. The swing arm slider 1131 is fitted onto the slider screw 1132 and is threadedly engaged with it. The slider screw 1132 is rotatably mounted on the screw frame 113 but cannot move axially. One end of the slider screw 1132 is assembled with the output shaft of the swing arm motor 127. The swing arm motor 127 is mounted on the screw frame 113, which is installed inside the cleaning shell 110. The swing arm slider 1131 is engaged with and slidably assembled with the screw frame 113. The outer cover 210 is rotatably assembled with the pivot plate 115 via the outer cover pivot 260. The pivot plate 115 is mounted on the cleaning shell 110, thereby achieving the hinge connection between the outer cover 210 and the cleaning shell. In use, the swing arm motor 127 starts, thereby driving the slider screw 1132 to rotate. The slider screw 1132 drives the swing arm slider 1131 to move along its axial direction, thereby driving the roller brush shaft 231, roller brush 230, outer cover 210, and suction shaft 220 to rotate around the outer cover rotating shaft 260 to control the roller brush 230 to press or separate from the cleaning surface or flexibly adapt to the cleaning surface.

[0060] Preferably, the cleaning belt 250 is pressed against the tensioning pulley 252. The tensioning pulley 252 is rotatably mounted on the tensioning frame 116. The tensioning frame 116 is slidably mounted on the tensioning fixing frame 114. The tensioning fixing frame 114 is mounted on the belt frame 112. The tensioning frame 116 is assembled with one end of the tensioning tube 119. The tensioning tube 119 is axially slidably assembled with one end of the tensioning shaft 118 (the tensioning shaft 118 is inserted into the tensioning tube 119). The other end of the tensioning shaft 118 is assembled with the tensioning fixing frame 114. A tension spring 117 is installed between the tensioning frame 116 and the tensioning fixing frame 114. The tension spring 117 applies a spring force to the tensioning frame 116 to press against the cleaning belt 250, so that the tensioning pulley 252 keeps pressing against the cleaning belt 250. This design allows the swing arm to rotate the roller brush 230, while the moving housing of the tensioning wheel flexibly adjusts and adjusts to the tension of the cleaning belt 250.

[0061] See Figures 1-2 , Figure 16 , Figures 20-33 The walking module includes a walking frame 310, an inner walking frame 320, a walking mechanism 500, and an adjustment mechanism. The walking frame 310 is installed on the cleaning shell 110 and includes a first walking frame plate 311, a second walking frame plate 312, and a third walking frame plate 313. The inner walking frame 320 is installed inside the second walking frame plate 312, and an inner frame support plate 321 is installed on the inner walking frame 320. The inner frame support plate 321 is sequentially assembled and fixed with the third walking frame plate 313 and the first walking frame plate 311. The inner walking frame 320 and the second walking frame plate 312 form a walking groove 301. A second walking track 332 and a first walking track 331 are respectively installed on the inner walking frame 320 and the second walking frame plate 312 near the walking groove 301. The second walking track 332 and the first walking track 331 are used to guide the movement of the walking mechanism 500.

[0062] The adjustment mechanism includes an adjustment motor 610, an adjustment seat 740, and an unlocking seat 750. An adjustment screw 611 is mounted on the output shaft of the adjustment motor 610. The adjustment screw 611 is fitted onto one end of an adjustment screw 730 and threadedly engaged with it. The other end of the adjustment screw 730 is mounted on a sealing plate 770. The adjustment motor 610 is mounted on a first traveling frame plate 311. The adjustment screw 611 and the first traveling frame plate 311 are rotatably coupled but not axially movable. The sealing plate 770 is mounted on the adjustment seat 740 and closes the adjustment groove 744 of the adjustment seat 740. The adjustment seat 740 is also fitted to one end of an adjustment optical shaft 710. The other end of the adjustment optical shaft 710 is inserted into an adjustment sleeve 720 and axially slidably coupled with it. The adjusting sleeve 720 is mounted on the first traveling frame plate 311; the adjusting seat 740 is also provided with a downward guiding surface 741, a holding guiding surface 742, and a lifting guiding surface 743 on the end face facing the traveling mechanism 500. The downward guiding surface 741, the holding guiding surface 742, and the lifting guiding surface 743 are respectively pressed against the traveling wheel 532 of the traveling mechanism 500. When the traveling wheel 532 moves from the downward guiding surface 741 to the holding guiding surface 742, it will drive the traveling wheel 532 away from the cleaning shell 110 until it reaches the holding guiding surface 742. The holding guiding surface 742 is a plane, so the distance between the traveling wheel 532 and the cleaning shell 110 will remain unchanged. When the traveling wheel 532 cooperates with the lifting guiding surface 743, it will gradually move along the lifting guiding surface 743 towards the cleaning shell 110. When in use, adjusting the motor 610 drives the adjusting screw 611 to rotate, which can adjust the assembly depth of the adjusting screw 611 and the adjusting screw 730, that is, the distance between the adjusting seat 740 and the cleaning shell 110.

[0063] The unlocking seat 750 is engaged and slidably installed in the adjusting groove 744. An unlocking screw sleeve 755 is installed on the end face of the unlocking seat 750 near the sealing plate 770. The unlocking screw sleeve 755 is fitted onto the adjusting bolt 760 and is threadedly engaged with it. The adjusting bolt 760 passes through the sealing plate 770 and is rotatably but not axially movable with the sealing plate 770. The end face of the unlocking seat 750 away from the sealing plate 770 is respectively provided with a suction guide surface 751, a suction holding surface 752, a suction unlocking surface 753, and a suction reset surface 754. These surfaces are respectively... The unlocking ball 542 of the traveling mechanism 500 is pressed and assembled. When the unlocking ball 542 is assembled with the suction guide surface 751 and moves towards the suction holding surface 752, the unlocking ball 542 moves away from the cleaning shell, and the traveling mechanism 500 generates negative pressure. When the unlocking ball 542 engages with the suction holding surface 752 and moves towards the suction unlocking surface 753, the traveling mechanism 500 is in a negative pressure holding state. When the unlocking ball 542 engages with the suction unlocking surface 753 and moves towards the suction guide surface 751, the unlocking ball 542 continues to move away from the cleaning shell, and the negative pressure of the traveling mechanism 500 is released. When the unlocking ball 542 contacts the suction reset surface 754, the traveling mechanism 500 gradually resets. In use, the depth of the unlocking seat 750 inserted into the adjusting groove 744 can be adjusted by rotating the adjusting bolt 760 to adjust the distance at which the unlocking seat 750 drives the unlocking ball 542 away from the cleaning shell 110.

[0064] The walking mechanism 500 includes a walking shell 510, a walking guide frame 520, a walking wheel rod 530, a walking valve rod 540, a walking tube 550, and a walking suction cup 560. A walking mounting plate 512 and a walking guide plate 513 are installed on the walking shell 510. The walking mounting plate 512 is assembled and fixed with the walking belt 640. The walking belt 640 passes around multiple walking pulleys 642 in sequence to form a belt drive mechanism. Each walking pulley 642 is mounted on a walking pulley shaft 641. The walking pulley shaft 641 is assembled with the walking inner frame 320 and the third walking frame plate 313 respectively. One of the walking pulley shafts 641 is connected to the walking motor shaft 621 through a walking drive belt 630 to form a belt drive mechanism. The walking motor shaft 621 is installed inside the walking motor 620. The walking motor 620 is mounted on the third walking frame plate 313. After the walking motor is started, it can drive the walking belt 640 to run, and the walking belt 640 drives the walking mechanism 500 to move along the first walking track 331 and the second walking track 332.

[0065] The walking guide frame 520 and the walking guide plate 513 are rotatably assembled but not axially movable. The walking guide frame 520 is equipped with a first guide wheel 521, a second guide wheel 522, and a third guide wheel 523. These guide wheels engage with corresponding first or second walking tracks 331 or 332, and are rotatably assembled with the walking guide frame 520. This design allows the walking guide frame 520 to cooperate with the first or second walking track 331 or 332 to guide the movement of the walking mechanism 500.

[0066] The walking shell 510 has a walking cavity 514 inside. The top of the walking cavity 514 is open and sealed by a sealing cover 515. A guide sleeve 5151 is installed on the sealing cover 515. A walking piston 555 is installed inside the walking cavity 514 in a sealed and axially slidable manner. A fourth sealing ring 504 is installed on the walking piston 555. The walking piston 555 and the walking cavity 514 are sealed by pressing the fourth sealing ring 504. The walking piston 555 is installed on one end of the walking tube 550. The other end of the walking tube 550 passes through the walking shell 510 and is assembled with the walking suction cup 560. A walking piston spring 505 is fitted on the part of the walking tube 550 between the walking piston 555 and the inner end face of the walking cavity 514. The walking piston spring 505 applies a spring force to the walking piston 555 to push it toward the guide sleeve 5151 so that the walking piston 555 is pressed against the end face of the guide sleeve 5151 in the initial state.

[0067] The traveling tube 550 is provided with a traveling tube cavity 551, a traveling tube hole 552, a traveling tube conical hole 553, and a traveling tube spring hole 554. The traveling tube hole 552 penetrates the traveling tube 550 and communicates with the traveling tube cavity 551. The traveling tube cavity 551, the traveling tube spring hole 554, and the traveling tube conical hole 553 are sequentially connected. The traveling tube conical hole 553 is pressed and sealed with a traveling sealing cone 570. The two ends of the traveling sealing cone 570 are respectively assembled with a traveling valve stem 540 and one end of a traveling inner tube 580. The other end of the valve stem 540 passes through the guide sleeve 5151 and the sealing cover 515 in sequence and is assembled with the unlocking rod seat 541. The unlocking rod seat 541 and the unlocking ball 542 can be spherically rolled together. The travel inner tube 580 is fitted with a travel sealing spring 506 on the part between the travel sealing cone 570 and the inner end face of the travel tube spring hole 554. The travel sealing spring 506 applies a spring force to the travel sealing cone 570 to press against the travel tube cone hole 553 to keep the travel sealing cone 570 and the travel tube cone hole 553 pressed and sealed. The inner tube 580 has a hollow walking communication hole 581 inside. The inner tube 580 and the walking tube spring hole 554 are respectively provided with a through first inner tube hole 582. The part of the inner tube 580 that is inserted into the walking tube cavity 551 is provided with an inner tube annular groove 584. The inner tube annular groove 584 is connected to the walking tube cavity 551 through a second inner tube hole 583. A third sealing ring 503 and a second sealing ring 502 are respectively installed on both sides of the inner tube 580 located in the inner tube annular groove 584. A second sealing ring 502 and a first sealing ring 501 are respectively installed on both sides of the inner tube 580 located in the walking tube hole 552. The first sealing ring 501, the third sealing ring 503, and the second sealing ring 502 are all squeezed and sealed with the walking tube cavity 551.

[0068] The portion of the walking tube 550 that extends out of the walking shell 510 is assembled with the fixing ring 531. The fixing ring 531 is assembled with one end of the walking wheel rod 530. The walking wheel rod 530 passes through the wheel rod groove 511 and is rotatably assembled with the walking wheel 532. The wheel rod groove 511 is provided on the walking shell 510.

[0069] Taking a traveling mechanism 500 as an example, the operation process of the traveling mechanism is introduced as follows:

[0070] S1. The traveling wheel 532 moves to press against the lower guide surface 741 and moves towards the retaining guide surface 742. At this time, the traveling wheel 532 moves away from the cleaning shell 110, thereby driving the traveling tube 550 to move towards the traveling suction cup 560, which in turn drives the traveling piston 555 to squeeze the traveling piston spring 505 and move towards the traveling suction cup 560. At this time, a negative pressure is generated in the traveling cavity 514. Due to the sealing of the traveling sealing cone 570, the traveling tube spring hole 554 is not connected to the traveling cavity 514.

[0071] S2. After the traveling wheel 532 contacts the lower guide surface 741, or when the traveling wheel 532 is about to contact the lower guide surface 741, the unlocking ball 542 contacts and presses against the suction guide surface 751, and the suction cup presses against the cleaning surface. The unlocking ball 542 moves towards the suction holding surface 752, thereby moving the unlocking ball 542 away from the cleaning shell. The unlocking ball 542 drives the traveling valve rod 540 to squeeze the traveling sealing cone 570 to overcome the elastic force of the traveling sealing spring 506 and move towards the traveling suction cup 560, thereby opening the traveling tube cone hole 553. Negative pressure enters the traveling tube cavity 551 and is then transmitted to the traveling suction cup 560, causing the traveling suction cup 560 to be tightly attached to the cleaning surface, thereby increasing the friction between the traveling mechanism and the cleaning surface. This friction can fix the cleaning machine relative to the cleaning surface on the one hand, and can also drive the cleaning machine to move as the traveling suction cup 560 moves. At this time, the travel tube hole 552 moves out of the travel housing 510, but the inner tube annular groove 584 is not connected to the travel tube hole 552, that is, the negative pressure state of the travel suction cup is maintained.

[0072] S3. When the traveling wheel 532 is about to separate from the guide surface 741 and enter the lifting guide surface 743, the unlocking ball 542 contacts the suction unlocking surface 753, thereby driving the traveling valve rod 540 to continue moving downward. The traveling valve rod 540 drives the traveling inner tube 580 to continue moving towards the traveling suction cup 560, so that the inner tube annular groove 584 is connected to the traveling tube hole 552. At this time, the inside of the traveling suction cup and the traveling tube cavity 551 are connected to the atmosphere through the traveling tube hole 552, and the negative pressure disappears quickly, thereby causing the suction force between the traveling suction cup 560 and the cleaning surface to disappear. Then, as the traveling wheel 532 engages with the lifting guide surface 743, the traveling tube 550 moves towards the cleaning shell under the action of the traveling piston spring 505, which pulls the traveling suction cup 560 to separate from the cleaning surface. At the same time, the unlocking ball 542 engages with the suction reset surface 754, so that the traveling valve rod 540 moves away from the traveling suction cup 560 under the action of the traveling sealing spring 506 until it resets.

[0073] The specific walking process in this embodiment is as follows: Each cleaning machine is equipped with two walking modules 300, so that... Figure 16For reference, the walking belts 640 of the two walking modules run synchronously in opposite directions. At this time, the leftmost and rightmost walking mechanisms 500 move in the same direction; the two walking mechanisms 500 close to the suction mechanism 400 move in the same direction; the walking mechanism 500 above the left walking module 300 moves in the same direction as the walking mechanism 500 below the right; and the walking mechanism 500 below the left walking module 300 moves in the same direction as the walking mechanism 500 above the right. These are the four directions of movement. The direction of movement parallel to the suction mechanism 400 is the driving direction, and the direction perpendicular to it is the lateral direction. In use, controlling two of the four adjustment mechanisms to move down into position will squeeze the walking wheel 532 and unlock the ball bearing 542, so that the walking mechanism 500 cooperating with the lowered adjustment seat gradually adheres to the cleaning surface and is driven by sufficient friction to move the cleaning machine to achieve walking and lateral movement. Once the negative pressure of the corresponding walking suction cup disappears and the walking suction cup moves away from the cleaning surface, it will no longer generate friction or suction force with the cleaning surface, and will no longer be able to drive the cleaning machine to move. The purpose of using two cleaning machines (01) is primarily to avoid turning, as this design is cumbersome and inefficient. Once the machine reaches the end of the cleaning surface, it can be moved laterally and then reversed to clean the other area. The biggest advantage of this design compared to existing tracked suction cup walking structures is that it avoids forcibly pulling the suction cups off the cleaning surface, which severely reduces their lifespan. Furthermore, the suction force cannot be too high, otherwise the suction cups may not be able to be lifted, preventing the machine from moving. However, insufficient suction force can easily lead to slippage or even detachment when the machine moves on vertical surfaces. Therefore, this embodiment introduces negative pressure and negative pressure release measures. This ensures the suction force of the walking suction cups while allowing for quick lifting of the walking suction cups by releasing the negative pressure, preventing excessive pulling and damage.

[0074] See Figures 1-2 , Figures 16-20 On inclined or horizontal surfaces, the suction cups can provide the necessary suction force for the cleaning machine. However, on vertical surfaces, the suction force required is significantly increased. In this embodiment, the negative pressure can only be adjusted by adjusting the distance between the adjusting seat 740 and the cleaning shell, resulting in a very limited adjustment range. Furthermore, when traveling on curved or inclined surfaces, the suction cups cannot fully contact and adhere to the cleaning surface, leading to insufficient suction force and easy slippage and detachment. Therefore, the suction enhancement mechanism 400 in this embodiment addresses this problem.

[0075] The suction enhancement mechanism 400 includes a suction enhancement seat 410, a suction enhancement frame 430, a push rod motor 440, a suction enhancement tube 450, and a suction enhancement plate 480. The suction enhancement seat 410 is mounted on the cleaning shell 100. A large hinge ball 411 and a small hinge ball seat 412 are respectively installed on the suction enhancement seat 410. The large hinge ball 411 and the small hinge ball seat 412 are hinged to the large hinge ball seat 433 and the small hinge ball 4211 respectively, forming a spherical shape. Hinges; the large hinge ball seat 433 and the small hinge ball 4211 are respectively installed on one end of the lower pressure shaft tube 421 and on the suction frame 430. The suction frame 430 is equipped with a push rod motor 440, a suction frame block 431, and a suction frame plate 432. The telescopic shaft 441 of the push rod motor 440 is inserted into one end of the suction inner tube 460 and sealed and fixed thereto. The other end of the suction inner tube 460 extends out of the suction tube 450. This end is assembled with the suction plate 480; the suction tube 450 is installed on the suction frame plate 432 and the inside of the suction tube 450 is a hollow suction cavity 451. The suction cavity 451 is sealed with the suction piston 466 and can be axially slidably assembled. The suction piston 466 is fitted on the suction inner tube 460. A third suction spring 403 is fitted on the part of the suction inner tube 460 between the suction piston 466 and the inner end face of the suction cavity 451. The third suction spring 403 applies a spring force to the suction piston 466 to push the push rod motor 440. The suction inner tube 460 is provided with a through suction inner tube hole 462 on the part between the suction piston 466 and the end assembled with the telescopic shaft 441. The inside of the suction inner tube 460 is a hollow suction inner cavity 461. The suction inner tube hole 462 connects the suction inner cavity 461 and the suction cavity 451.

[0076] The suction-enhancing inner tube 460 is also provided with a suction-enhancing cone hole 463 and a suction-enhancing spring hole 464, both of which are connected to the suction-enhancing inner cavity 461. The suction-enhancing inner cavity 461 is connected to the interior of the suction-enhancing suction cup 480. The suction-enhancing cone hole 463 is sealed and assembled with the sealing cone head 471 of the suction-enhancing sealing cone 470. The suction-enhancing sealing cone 470 is also provided with a cone ring 472 and a cone rod 473. A fourth suction spring 404 is fitted onto the portion of the suction sealing cone 470 located between the cone ring 472 and the end face of the suction spring hole 464. The fourth suction spring 404 applies a spring force to the suction sealing cone 470, pressing it against the suction cone hole 463. The end of the cone rod 473 away from the sealing cone head 471 enters the suction suction cup 480, and its end face is preferably flush with the end face of the suction suction cup 480. The end of the suction sealing cone 470 away from the sealing cone head 471 is fitted into the suction inner cavity 461 and is axially slidably assembled therewith.

[0077] An inner tube support rod 465 is installed on one end of the inner tube 460 that extends out of the inner tube 450. The inner tube support rod 465 has a support rod fork groove 4651. The inner tube support rod 465 consists of two blocks, used in pairs, with a support rod fork groove 4651 between each pair of blocks. The support rod fork groove 4651 is pressed against the second lower pressure shaft ring 4222. 22 is installed on the lower pressure shaft 422. A lower pressure shaft seat 423 is installed on one end of the lower pressure shaft 422. The lower pressure shaft seat 423 is spherically rolled with the lower pressure ball 424. The other end of the lower pressure shaft 422 passes through the suction enhancement plate 432 and the suction enhancement block groove 4311 and is installed in the lower pressure shaft tube hole 4212 of the lower pressure shaft tube 421 and is axially slidably assembled with it. The lower pressure shaft 422 is located between the suction enhancement block 431 and the suction enhancement plate 4312. A first pressing shaft ring 4221 is also installed on the portion between 2. A shaft tube pressure block 4213 is axially slidably installed on one end of the pressing shaft tube 421 near the suction-enhancing frame block 431. The shaft tube pressure block 4213 presses against the suction-enhancing frame block 431. A first suction-enhancing spring 401 is fitted on the portion of the pressing shaft tube 421 between the small hinge ball seat 412 and the shaft tube pressure block 4213. The two ends of the first suction-enhancing spring 401 are respectively assembled and fixed to the small hinge ball seat 412 and the shaft tube pressure block 4213. The first suction-enhancing spring 401 applies a thrust to the shaft tube pressure block 4213 to press against the suction-enhancing frame block 431. A second suction-enhancing spring 402 is fitted on the portion of the pressing shaft 422 between the suction-enhancing frame block 431 and the first pressing shaft ring 4221. The second suction-enhancing spring 402 applies a thrust to the pressing shaft 422 away from the suction-enhancing frame block 431.

[0078] Preferably, the portion of the suction chamber 451 corresponding to the suction inner tube hole 462 is connected to the inlet of the solenoid valve 406 through the air pipe 405, and the outlet of the solenoid valve 406 is connected to the atmosphere. The solenoid valve 406 is used to control the opening and closing of the suction chamber 451 and the atmosphere to control whether the suction chamber 451 releases negative pressure. The solenoid valve 406 is installed on the suction frame plate 432.

[0079] When the walking suction cup can provide sufficient suction force, the suction enhancement mechanism 400 is not used, and the suction enhancement suction cup 480 does not contact the cleaning surface. However, once the walking suction cup cannot provide sufficient suction force or it is detected that the walking suction cup may not be able to provide sufficient suction force, the push rod motor 440 is started, driving the suction enhancement inner tube 460 to move downward against the elastic force of the third suction enhancement spring 403. The suction enhancement inner tube 460 drives the suction enhancement piston 466 to move, causing negative pressure to be generated in the suction enhancement chamber 451. However, at this time, because the sealing cone 471 and the suction enhancement cone hole 463 are pressed tightly and sealed, the suction enhancement suction cup 480 is not connected to negative pressure. As the suction tube 460 moves toward the cleaning surface, the four pressing balls 424 will press against the cleaning surface simultaneously or separately. If the cleaning surface is not horizontal or vertical, the displacement of the four pressing shafts 422 will be different. At this time, the elastic force of the first suction spring 401 and the second suction spring 402 can push the suction frame 430 on the side with the longer displacement of the pressing shaft 422 to tilt toward the corresponding pressing ball 424, and the first suction spring 401 and the second suction spring 402 on the other side will be compressed. This is achieved by adjusting the angle of the suction cup 480 relative to the cleaning shell 110 via the suction cup 430, so that the axis of the suction cup 480 coincides with the normal of the corresponding cleaning surface as much as possible or within the error range. The suction inner tube 460 is moved further, so that the suction cup 480 is pressed tightly against the cleaning surface. The compression deformation of the suction cup 480 causes the cone rod 473 to press against the cleaning surface and pushes the sealing cone head 471 away from the suction cone hole 463, so that negative pressure enters the suction cup 480 to make the suction cup 480 stick tightly to the cleaning surface. This can effectively increase the adsorption force between the cleaning machine and the cleaning surface to prevent the cleaning machine from slipping. At this time, the walking suction cup continues to walk, and the cleaning machine is moved by friction. When the suction enhancement mechanism 400 is not needed to increase the suction force, the solenoid valve is opened directly, causing the negative pressure in the suction cup 480 to disappear. Then, the telescopic shaft 441 is retracted, moving the suction cup 480 away from the cleaning surface. The suction inner tube 460, through the inner tube support rod 465, presses the pressure shaft 422, causing the pressure shaft to move and reset along the cleaning shell. Figure 19 state).

[0080] In this embodiment, the walking suction cup and the suction-enhancing suction cup are made of elastic soft materials, such as rubber or silicone. However, in actual use, only one cleaning machine 01 can be used, as long as the requirements are met. The walking part of this invention consists of a walking module 300 and a suction-enhancing mechanism 400.

[0081] Any aspects of this invention not described in detail are well-known to those skilled in the art.

[0082] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A walking part, which is installed on a cleaning shell of a subway canopy cleaning robot and is used to carry the subway canopy cleaning robot to walk, characterized in that, The walking module comprises a walking frame, a walking inner frame, and a plurality of walking mechanisms. The walking frame is installed on the cleaning shell. The walking frame comprises a first walking frame plate, a second walking frame plate, and a third walking frame plate. The walking inner frame is installed on the inner side of the second walking frame plate. The walking inner frame and the second walking frame plate form a walking groove. The walking mechanisms are installed in the walking groove and move along the walking groove. The walking mechanism comprises a walking shell and a walking suction disc. The walking suction disc is directly or indirectly installed on the walking shell. When walking, the walking suction disc of part of the walking mechanism is suctioned to the cleaning surface and moves. A walking installation plate is installed on the walking shell. The walking installation plate is fixedly assembled with a walking belt. The walking belt sequentially passes through a plurality of walking belt pulleys and forms a belt transmission mechanism. Each walking belt pulley is installed on a walking belt pulley shaft. The walking belt pulley shafts are respectively assembled with the walking inner frame and the third walking frame plate. One of the walking belt pulley shafts is connected with a walking motor shaft through a walking driving belt and forms a belt transmission mechanism. The walking motor shaft is installed in a walking motor. The walking motor is installed on the third walking frame plate. The walking mechanism further comprises a walking wheel rod, a walking valve rod, and a walking pipe. The walking shell is internally provided with a walking cavity. The top of the walking cavity is open and the opening is sealed by a sealing cover. A guide sleeve is installed on the sealing cover. A walking piston is hermetically and axially slidably installed in the walking cavity. The walking piston is installed on one end of the walking pipe. The other end of the walking pipe passes through the walking shell and is assembled with the walking suction disc. The walking pipe is sleeved with a walking piston spring on the part between the walking piston and the inner end surface of the walking cavity. The walking piston spring applies a spring force to the walking piston to push the guide sleeve so that the walking piston is pressed against the end surface of the guide sleeve in the initial state. The walking pipe is respectively provided with a walking pipe cavity, a walking pipe hole, a walking pipe taper hole, and a walking pipe spring hole. The walking pipe hole penetrates the walking pipe and communicates with the walking pipe cavity. The walking pipe cavity, the walking pipe spring hole, and the walking pipe taper hole sequentially communicate. The walking pipe taper hole is tightly sealed with a walking sealing taper. The two ends of the walking sealing taper are respectively assembled with the walking valve rod and one end of a walking inner pipe. The other end of the walking valve rod sequentially passes through the guide sleeve and the sealing cover and is assembled with an unlocking rod base. The unlocking rod base is spherically rollingly assembled with an unlocking ball. The walking inner pipe is sleeved with a walking sealing spring on the part between the walking sealing taper and the inner end surface of the walking pipe spring hole. The walking sealing spring applies a spring force to the walking sealing taper to tightly seal the walking pipe taper hole. The inner part of the walking inner pipe is a hollow walking communication hole. The walking inner pipe is provided with a first inner pipe hole corresponding to the walking pipe spring hole. The part of the walking inner pipe installed in the walking pipe cavity is provided with an inner pipe ring groove. The inner pipe ring groove communicates with the walking pipe cavity through a second inner pipe hole. The part of the walking pipe passing through the walking shell is assembled with a fixing ring. The fixing ring is assembled with one end of the walking wheel rod. The walking wheel rod passes through a wheel rod sliding groove and is circularly rotatably assembled with a walking wheel. The wheel rod sliding groove is arranged on the walking shell. The walking module further comprises an adjusting mechanism, which comprises an adjusting motor, an adjusting seat and an unlocking seat. An adjusting screw cylinder is mounted on an output shaft of the adjusting motor. The adjusting screw cylinder is sleeved on one end of an adjusting screw rod and is assembled with the adjusting screw rod through thread engagement. The other end of the adjusting screw rod is mounted on an enclosing plate. The adjusting motor is mounted on the first walking frame plate. The adjusting screw cylinder is circumferentially rotatable and axially immovable with the first walking frame plate. The enclosing plate is mounted on the adjusting seat and closes an adjusting sliding groove of the adjusting seat. One end of the adjusting optical shaft is assembled with the adjusting seat. The other end of the adjusting optical shaft is mounted in an adjusting sleeve and is axially slidably assembled with the adjusting sleeve. The adjusting sleeve is mounted on the first walking frame plate. The end face of the adjusting seat facing the walking mechanism is further provided with a downward guiding face, a holding guiding face and a lifting guiding face. The downward guiding face, the holding guiding face and the lifting guiding face are selectively pressed against the walking wheels of the same walking mechanism. When the walking wheels move from the downward guiding face to the holding guiding face, the walking wheels are driven to move away from the cleaning shell until the holding guiding face is reached. The holding guiding face is a plane to keep the distance between the walking wheels and the cleaning shell unchanged. When the walking wheels cooperate with the lifting guiding face, the walking wheels gradually move towards the cleaning shell along the lifting guiding face. The unlocking seat is slidably mounted in the adjusting sliding groove. An unlocking screw sleeve is mounted on the end face of the unlocking seat close to the enclosing plate. The unlocking screw sleeve is sleeved on an adjusting screw bolt and is assembled with the adjusting screw bolt through thread engagement. The adjusting screw bolt passes through the enclosing plate and is circumferentially rotatable and axially immovable with the enclosing plate. The end face of the unlocking seat away from the enclosing plate is provided with a suction guiding face, a suction holding face, a suction unlocking face and a suction reset face. The suction guiding face, the suction holding face, the suction unlocking face and the suction reset face are respectively assembled with the unlocking balls of the walking mechanism. When the unlocking balls cooperate with the suction guiding face and move towards the suction holding face, the unlocking balls move away from the cleaning shell, and the walking mechanism generates negative pressure. When the unlocking balls cooperate with the suction holding face and move towards the suction unlocking face, the walking mechanism is in a negative pressure holding state. When the unlocking balls cooperate with the suction unlocking face and move towards the suction guiding face, the unlocking balls continue to move away from the cleaning shell, and the negative pressure of the walking mechanism is released. When the unlocking balls contact the suction reset face, the walking mechanism is gradually reset.

2. The walking portion of claim 1, wherein, The walking inner frame and the second walking frame plate are respectively provided with second walking tracks and first walking tracks close to the walking grooves. The walking mechanism further comprises a walking guide frame. The walking shell is further provided with a walking guide plate. The walking guide frame is circumferentially rotatable and axially immovable with the walking guide plate. The walking guide frame is respectively provided with first guide wheels, second guide wheels and third guide wheels. The first guide wheels, the second guide wheels and the third guide wheels are respectively assembled with corresponding first walking tracks or second walking tracks and are circumferentially rotatable with the walking guide frame.

3. The walking portion of claim 1, wherein, When the walking wheel moves to be pressed against the downward guiding surface and moves to the holding guiding surface, the walking wheel moves away from the cleaning shell, thus moving the walking tube to the walking suction disc, the walking piston extrudes the walking piston spring to move to the walking suction disc, and negative pressure is generated in the walking cavity; When the walking wheel contacts the downward guiding surface or just before the walking wheel contacts the downward guiding surface, the unlocking ball contacts and is pressed against the suction guiding surface and the suction disc is pressed against the cleaning surface, the unlocking ball moves to the suction holding surface, thus moving the unlocking ball away from the cleaning shell, the unlocking ball drives the walking valve rod to extrude the walking sealing cone to overcome the elastic force of the walking sealing spring to move to the walking suction disc, thus opening the walking tube taper hole, negative pressure enters the walking tube cavity and then is transmitted to the walking suction disc to make the walking suction disc suction to the cleaning surface, at this time, the walking tube hole moves out of the walking shell, but the inner tube annular groove is not communicated with the walking tube hole; when the walking wheel is about to separate from the guiding surface and enter the lifting guiding surface, the unlocking ball contacts the suction unlocking surface, thus driving the walking valve rod to continue to move downward, the walking valve rod drives the walking inner tube to continue to move to the walking suction disc, so that the inner tube annular groove is communicated with the walking tube hole, at this time, the inside of the walking suction disc and the walking tube cavity are communicated with the atmosphere through the walking tube hole, and the negative pressure disappears, then with the cooperation of the walking wheel and the lifting guiding surface, the walking tube moves to the cleaning shell under the action of the walking piston spring, thus pulling the walking suction disc away from the cleaning surface, and at the same time, the unlocking ball cooperates with the suction reset surface to make the walking valve rod move away from the walking suction disc under the action of the walking sealing spring until reset.

4. The walking portion according to any one of claims 1 to 3, wherein The walking part further comprises an enhanced suction mechanism, the enhanced suction mechanism comprising an enhanced suction frame, a push rod motor, an enhanced suction tube, and an enhanced suction disc, the enhanced suction frame being directly or indirectly mounted on the cleaning shell, the enhanced suction frame being provided with the push rod motor, an enhanced suction frame block, and an enhanced suction frame plate, a telescopic shaft of the push rod motor being fitted into one end of an enhanced suction inner tube in a sealed manner and being fixed; the other end of the enhanced suction inner tube penetrating the enhanced suction tube and being fitted with the enhanced suction disc; the enhanced suction tube being mounted on the enhanced suction frame plate and the inside of the enhanced suction tube being a hollow enhanced suction cavity, the enhanced suction cavity being sealed and axially slidably fitted with the enhanced suction piston, the enhanced suction piston being sleeved on the enhanced suction inner tube, a third enhanced suction spring being sleeved on a part of the enhanced suction inner tube between the enhanced suction piston and an inner end surface of the enhanced suction cavity, the third enhanced suction spring applying an elastic force to the enhanced suction piston to push the push rod motor, the enhanced suction inner tube being provided with an enhanced suction inner tube hole penetrating a part of the enhanced suction inner tube between the enhanced suction piston and the end fitted with the telescopic shaft, the inside of the enhanced suction inner tube being a hollow enhanced suction inner cavity, and the enhanced suction inner tube hole communicating the enhanced suction inner cavity with the enhanced suction cavity; The suction-increasing inner tube is further provided with a suction-increasing taper hole and a suction-increasing spring hole, both of which are communicated with the suction-increasing inner cavity, and the suction-increasing inner cavity is communicated with the inside of the suction-increasing chuck; the suction-increasing taper hole is sealedly assembled with the sealing taper head of the suction-increasing sealing taper; the suction-increasing sealing taper is further provided with a taper ring and a taper rod; the taper ring is assembled into the suction-increasing spring hole, and the suction-increasing sealing taper is sleeved on the part between the taper ring and the end face of the suction-increasing spring hole and is sleeved with a fourth suction-increasing spring; the fourth suction-increasing spring applies an elastic force to the suction-increasing sealing taper to press it towards the suction-increasing taper hole; the taper rod enters the suction-increasing chuck from the end away from the sealing taper head; and the end of the suction-increasing sealing taper away from the sealing taper head is assembled into the suction-increasing inner cavity and is axially slidably assembled therewith.

5. The walking portion of claim 4, wherein, The suction-increasing mechanism further comprises a suction-increasing seat which is mounted on the cleaning shell and is provided with a large hinged ball seat and a small hinged ball seat on the inside thereof; the large hinged ball seat and the small hinged ball seat are respectively hinged with the large hinged ball and the small hinged ball to form a spherical hinge; the large hinged ball seat and the small hinged ball are respectively mounted on one end of the pressing shaft tube and the suction-increasing frame; The end of the suction-increasing inner tube which passes through the suction-increasing tube is further provided with an inner tube support rod, and the inner tube support rod is provided with a support rod fork groove; the two suction-increasing frame blocks are used in pairs, and the two suction-increasing frame blocks of each pair of suction-increasing frame blocks form a suction-increasing frame block groove; the support rod fork groove is tightly pressed by the second pressing shaft ring; the second pressing shaft ring is mounted on the pressing shaft, and the pressing shaft is provided with a pressing shaft seat on one end thereof and is rollingly assembled with a pressing ball in a spherical manner; the other end of the pressing shaft passes through the suction-increasing frame plate and the suction-increasing frame block groove and is assembled into the pressing shaft tube hole of the pressing shaft tube in an axially slidable manner; the pressing shaft is further provided with a first pressing shaft ring on the part between the suction-increasing frame block and the suction-increasing frame plate; the end of the pressing shaft tube close to the suction-increasing frame block is axially slidably provided with a shaft tube pressing block which is tightly pressed against the suction-increasing frame block; the part of the pressing shaft tube between the small hinged ball seat and the shaft tube pressing block is sleeved with a first suction-increasing spring; the two ends of the first suction-increasing spring are respectively assembled with the small hinged ball seat and the shaft tube pressing block; the first suction-increasing spring applies a pushing force to the shaft tube pressing block to tightly press it against the suction-increasing frame block; the part of the pressing shaft between the suction-increasing frame block and the first pressing shaft ring is sleeved with a second suction-increasing spring; and the second suction-increasing spring applies a pushing force to the pressing shaft to move it away from the suction-increasing frame block.

6. The walking portion of claim 5, wherein, The part of the suction-increasing cavity corresponding to the suction-increasing inner tube hole is communicated with the inlet of the electromagnetic valve through an air pipe, and the outlet of the electromagnetic valve is communicated with the atmosphere; the electromagnetic valve is used to control the opening and closing of the suction-increasing cavity and the atmosphere to control whether the suction-increasing cavity releases negative pressure; and the electromagnetic valve is mounted on the suction-increasing frame plate.

7. A subway canopy cleaning robot, characterized by, The walking part has the features of any one of claims 1-6.

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