Cleaning device and cleaning robot

Abstract

The invention provides a cleaning device and a cleaning robot, the cleaning robot comprises a robot body and the cleaning device, and the cleaning device is installed on the robot body. The cleaning device comprises a cleaning disc, an annular sealing mechanism, a first floating mechanism and a second floating mechanism; the annular sealing mechanism is movably installed on the cleaning disc through the first floating mechanism and used for abutting against the wall face to be cleaned, and the part, abutting against the wall face to be cleaned, of the annular sealing mechanism is elastic; the second floating mechanism is connected between the cleaning disc and the robot body. According to the cleaning robot, double floating insurance is provided for the cleaning robot through the first floating mechanism and the second floating mechanism, it is guaranteed that the cleaning disc is better attached to the wall face, recoil force of high-pressure water is fully absorbed, and the risk that the cleaning robot overturns is prevented.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning robots, and more specifically, to a cleaning device and a cleaning robot. Background Art

[0002] In order to achieve green rust removal of ships, the current method of using robots equipped with cleaning devices to clean the walls of ships to be cleaned is mainly to clean the walls of ships. During cleaning, the cleaning device sprays high-pressure water to clean the walls to be cleaned; among them, the wastewater generated by the high-pressure water after cleaning is likely to remain on the walls to be cleaned, which can easily cause the walls to be cleaned to rust again over a long period of time, and the direct leakage of wastewater during the cleaning process will also cause environmental pollution.

[0003] In order to solve the above problems, some cleaning devices with both cleaning function and vacuum wastewater recovery function are now available on the market. Specifically, a sealing gasket is set in the cleaning device. During cleaning, the sealing gasket is pressed against the wall to be cleaned, so that the cleaning device and the wall to be cleaned form a vacuum recovery chamber, so that the wastewater generated after cleaning is concentrated in the recovery chamber, and the wastewater in the recovery chamber can be vacuum recovered by a vacuum pump; in this way, the wastewater generated after cleaning is prevented from causing the wall to be cleaned to rust again, and the wastewater is also prevented from directly leaking and causing environmental pollution.

[0004] In order to ensure that the gasket can well block the high-pressure water and prevent the high-pressure water from breaking the gasket and the wall to be cleaned and leaking to the outside during cleaning, the gasket is generally set as a hard structure with good rigidity; however, the shape of the wall to be cleaned of the ship is relatively complex, with many large curvature surfaces, convex surfaces and obstacles, etc.; for example, when encountering a weld, the gasket made of a hard structure cannot fit the wall to be cleaned well, so that there is a gap between the gasket and the wall to be cleaned, thereby affecting the vacuum degree of the recovery chamber and the wastewater recovery effect. In addition, when the convex obstacle is large, it may even cause the cleaning robot to capsize. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a cleaning device and a cleaning robot to solve the technical problem in the prior art that the cleaning device cannot ensure a sealed fit with the wall to be cleaned.

[0006] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a cleaning device, including a cleaning disc, an annular sealing mechanism, a first floating mechanism and a second floating mechanism; the annular sealing mechanism is movably installed on the cleaning disc through the first floating mechanism, the annular sealing mechanism is used to abut against the wall surface to be cleaned, and the part of the annular sealing mechanism abutting against the wall surface to be cleaned is elastic; the second floating mechanism is configured to be connected between the cleaning disc and the robot body.

[0007] In some embodiments, the first floating mechanism includes a first guide rod and a first elastic member, the first guide rod is connected between the cleaning disk and the annular sealing mechanism, and the first elastic member is sleeved on the first guide rod and abuts between the annular sealing mechanism and the cleaning disk.

[0008] In some embodiments, the second floating mechanism includes a fixed sleeve, a second elastic member and a second guide rod, the fixed sleeve is configured to be connected to the robot body, the second guide rod is connected between the cleaning disc and the fixed sleeve, and the second elastic member is sleeved on the second guide rod and abuts between the fixed sleeve and the cleaning disc.

[0009] In some embodiments, the cleaning device includes a plurality of second floating mechanisms, each of which is spaced apart along the circumference of the cleaning disk;

[0010] And / or, the cleaning device comprises a plurality of first floating mechanisms, and the first floating mechanisms are distributed at intervals along the circumference of the annular sealing mechanism.

[0011] In some embodiments, the cleaning device further includes a connecting frame, the second floating mechanism is connected between the connecting frame and the cleaning tray, and the connecting frame has an articulated portion for articulating with the robot body.

[0012] In some embodiments, the cleaning device further comprises a flexible sealing ring, which is respectively fixed to the annular sealing mechanism and the cleaning disc and sleeved on a movable connection between the annular sealing mechanism and the cleaning disc.

[0013] In some embodiments, the annular sealing mechanism includes a mounting frame, a flexible sealing cover and a brush ring, the mounting frame is connected to the first floating mechanism, the brush ring is installed on the mounting frame, and the flexible sealing cover is sleeved on the outside of the brush ring.

[0014] In some embodiments, the cleaning device further comprises a floating positioning mechanism, wherein the floating positioning mechanism is fixedly connected to the cleaning disc, and the floating positioning mechanism is used to support the cleaning disc to a preset height.

[0015] In some embodiments, the floating positioning mechanism includes a floating frame installed on the cleaning tray and a universal wheel installed on the floating frame, and the universal wheel is used to support the wall surface to be cleaned.

[0016] On the other hand, the present application also provides a cleaning robot, comprising a robot body and the above-mentioned cleaning device, wherein the cleaning device is installed on the robot body.

[0017] The cleaning device and cleaning robot provided by the present application have the following beneficial effects: by connecting the first floating mechanism between the annular sealing mechanism and the cleaning disc, and connecting the second floating mechanism between the cleaning disc and the robot body, when the cleaning robot encounters a raised obstacle during operation, the first floating mechanism is first compressed, and then the second floating mechanism is compressed, providing a double floating insurance for the cleaning robot, which not only ensures that the cleaning disc fits the wall better, but also fully absorbs the recoil force of high-pressure water, preventing the cleaning robot from tipping over. In addition, the part of the annular sealing mechanism that abuts against the wall to be cleaned is elastic, so as to better adapt to the situation of local mutation of the wall to be cleaned, and ensure a sealed fit with the wall to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A three-dimensional schematic diagram of a cleaning device provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of the bottom structure of a cleaning device provided in an embodiment of the present application;

[0021] Figure 3 A schematic cross-sectional view of a cleaning device provided in an embodiment of the present application passing through the center lines of two first floating mechanisms;

[0022] Figure 4 for Figure 3 A is a magnified schematic diagram of the part in the middle;

[0023] Figure 5 A cross-sectional schematic diagram of the second floating mechanism corresponding to the cleaning device provided in the embodiment of the present application.

[0024] Among them, the reference numerals in the figure are:

[0025] 100, cleaning plate; 110, plate body; 120, top plate; 130, recovery port; 200, flexible sealing ring; 300, annular sealing mechanism; 310, mounting frame; 311, inner cylinder; 3111, first extension; 3112, second extension; 312, flange; 320, flexible sealing cover; 330, brush ring; 331, brush plate; 332, brush; 400, first floating mechanism; 410, first guide rod; 420, first elastic member; 500, second floating mechanism Driving mechanism; 510, fixing sleeve; 520, second elastic member; 530, second guide rod; 540, copper sleeve; 550, stop ring; 600, connecting frame; 610, mounting plate; 620, connecting plate; 621, hinge hole; 700, flushing mechanism; 710, rotating body; 720, flushing frame; 730, clamping assembly; 731, mounting seat; 732, clamping clamp; 800, recovery interface assembly; 900, floating positioning mechanism; 910, floating frame; 920, universal wheel. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0027] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0028] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0030] See also Figure 1 and Figure 2 , the cleaning device provided in the embodiment of the present application is now described. The cleaning device is applied to a cleaning robot, specifically, it is used to be installed on the robot body to clean the wall surface to be cleaned of a ship. Of course, in other embodiments, the cleaning device can also be used to clean other equipment, such as cleaning the wall surface of a building.

[0031] The cleaning device includes a cleaning disc 100, an annular sealing mechanism 300, a first floating mechanism 400 and a second floating mechanism 500; the annular sealing mechanism 300 is movably mounted on the cleaning disc 100 through the first floating mechanism 400, the annular sealing mechanism 300 is used to abut against the wall to be cleaned, and the part of the annular sealing mechanism 300 abutting against the wall to be cleaned is elastic; the second floating mechanism 500 is configured to be connected between the cleaning disc 100 and the robot body.

[0032] The cleaning tray 100 is in the shape of a tray with an opening at the bottom. The cleaning tray 100 is the basic frame of the entire cleaning device and is used to install the flushing mechanism 700, the flexible sealing ring 200, the annular sealing mechanism 300, the first floating mechanism 400 and the second floating mechanism 500.

[0033] The annular sealing mechanism 300 is installed at the bottom of the cleaning disc 100 to achieve a sealed fit between the cleaning device and the wall to be cleaned. The annular sealing mechanism 300 is connected to the cleaning disc 100 through the first floating mechanism 400, so that the annular sealing mechanism 300 can float relative to the cleaning disc 100. For example, during the cleaning process, when the annular sealing mechanism 300 encounters an obstacle or a weld, it can float toward the cleaning disc 100 to cross the obstacle. In addition, the part of the annular sealing mechanism 300 that abuts against the wall to be cleaned is elastic, that is, when the annular sealing mechanism 300 encounters a large weld, local elastic deformation will occur, so that the annular sealing mechanism 300 and the wall to be cleaned are sealed and sealed, ensuring vacuum wastewater recovery.

[0034] The second floating mechanism 500 is connected between the cleaning tray 100 and the robot body. When the robot encounters a large raised obstacle during operation, the first floating mechanism 400 is compressed first and then transitions to the compression of the second floating mechanism 500, providing a double floating insurance for the cleaning robot. This not only ensures that the cleaning tray 100 fits the wall better, but also fully absorbs the recoil force of high-pressure water, preventing the cleaning robot from tipping over.

[0035] The cleaning device in the embodiment of the present application connects the first floating mechanism 400 between the annular sealing mechanism 300 and the cleaning disc 100, and connects the second floating mechanism 500 between the cleaning disc 100 and the robot body. When the cleaning robot encounters a raised obstacle during operation, the first floating mechanism 400 is compressed first, and then the second floating mechanism 500 is compressed, providing a double floating insurance for the cleaning robot, which not only ensures that the cleaning disc 100 fits the wall better, but also fully absorbs the recoil force of the high-pressure water, preventing the cleaning robot from tipping over. In addition, the part of the annular sealing mechanism 300 that abuts against the wall to be cleaned is elastic, so as to better adapt to the situation of local mutation of the wall to be cleaned, and ensure a sealed fit with the wall to be cleaned.

[0036] In some embodiments, see Figure 4 There are multiple first floating mechanisms 400, and each first floating mechanism 400 is distributed at intervals along the circumference of the annular sealing mechanism 300. The multiple first floating mechanisms 400 are arranged so that the annular sealing mechanism 300 floats smoothly at various locations along the circumference without tilting. Of course, in other embodiments, one first floating mechanism 400 may also be arranged, and this is not the only limitation.

[0037] In some embodiments, see Figure 3 and Figure 4 The first floating mechanism 400 includes a first elastic member 420, and the first elastic member 420 abuts between the annular sealing mechanism 300 and the cleaning disk 100. The first elastic member 420 is provided to realize the floating of the annular sealing mechanism 300. For example, when the annular sealing mechanism 300 is driven away from the wall surface to be cleaned, the annular sealing mechanism 300 floats toward the cleaning disk 100, and the first elastic member 420 compresses and absorbs the driving force.

[0038] In some embodiments, see Figure 4 The first floating mechanism 400 further includes a first guide rod 410, which is connected between the cleaning disc 100 and the annular sealing mechanism 300, and the first elastic member 420 is sleeved on the first guide rod 410. The first guide rod 410 is provided to support and telescopically guide the first elastic member 420.

[0039] In some embodiments, see Figure 4 , the axial direction of the first guide rod 410 and the compression direction of the first elastic member 420 are parallel to the axial direction of the cleaning disk 100, thereby ensuring that the annular sealing mechanism 300 floats along the axial direction of the cleaning disk 100. Of course, in other embodiments of the present application, the axial direction of the first guide rod 410 and the compression direction of the first elastic member 420 can also be inclined relative to the axial direction of the cleaning disk 100.

[0040] Please refer to Figure 1 and Figure 4 In the embodiment of the plurality of first floating mechanisms 400, the first guide rods 410 are sequentially spaced and distributed along the circumference of the annular sealing mechanism 300, and the axial direction of the first guide rods 410 is parallel to the axial direction of the cleaning disc 100, thereby ensuring that the annular sealing mechanism 300 floats in a balanced manner along the axial direction of the cleaning disc 100. It can be understood that in other embodiments, the first guide rods 410 may not be provided, but the first elastic members 420 may be directly elastically abutted against the cleaning disc 100 and the annular sealing mechanism 300, so that the annular sealing mechanism 300 can adapt to the local protrusion of the wall surface to be cleaned and generate local tilted floating, which is not the only limitation here.

[0041] Optionally, the first elastic member 420 is a cylindrical spring or a spring sheet.

[0042] In some specific embodiments, see Figure 4 , the first end of the first guide rod 410 is fixedly connected to the annular sealing mechanism 300, and the second end of the first guide rod 410 is slidably sleeved with the cleaning disc 100. When the annular sealing mechanism 300 floats, the second end of the first guide rod 410 slides relative to the cleaning disc 100. It can be understood that in other embodiments of the present application, the first guide rod 410 can also be fixedly connected to the cleaning disc 100 and slidably sleeved with the annular sealing mechanism 300, which is not limited here.

[0043] In some embodiments, see Figure 1 The cleaning device includes a plurality of second floating mechanisms 500, each of which is spaced apart along the circumference of the cleaning disc 100. The plurality of second floating mechanisms 500 are arranged so that the cleaning disc 100 floats evenly and smoothly. At the same time, the second floating mechanisms 500 are spaced apart along the circumference of the cleaning disc 100, so that the floating force of the cleaning disc 100 along the circumference is evenly and smoothly.

[0044] In some embodiments, see Figure 1 and Figure 5 The second floating mechanism 500 includes a fixing sleeve 510, a second elastic member 520 and a second guide rod 530. The fixing sleeve 510 is configured to be connected to the robot body, the second guide rod 530 is connected between the cleaning disc 100 and the fixing sleeve 510, and the second elastic member 520 is sleeved on the second guide rod 530 and abuts between the fixing sleeve 510 and the cleaning disc 100. When the cleaning disc 100 is subjected to a recoil force away from the wall to be cleaned, the cleaning disc 100 moves toward the fixing sleeve 510, and the second elastic member 520 is compressed, providing a double floating insurance for the cleaning robot, which not only ensures that the cleaning disc 100 is better fitted to the wall, but also fully absorbs the recoil force of the high-pressure water, thereby preventing the cleaning robot from tipping over.

[0045] In one embodiment, see Figure 5 , the third end of the second guide rod 530 is fixedly connected to the cleaning plate 100, and the fourth end of the second guide rod 530 is slidably connected to the fixing sleeve 510. Of course, in other embodiments, the second guide rod 530 can also be slidably connected to the cleaning plate 100 and fixedly connected to the fixing sleeve 510, which is not limited here.

[0046] In some embodiments, see Figure 5 The axial direction of the second guide rod 530 is parallel to the axial direction of the cleaning disc 100, and the compression direction of the second elastic member 520 is parallel to the axial direction of the cleaning disc 100, thereby ensuring that the cleaning disc 100 floats along its axial direction and ensures that the cleaning disc 100 floats smoothly.

[0047] Optionally, the second elastic member 520 is a cylindrical spring or a spring sheet.

[0048] In some embodiments, see Figure 5 The copper sleeve 540 is fixed in the fixed sleeve 510, and the end of the second guide rod 530 away from the cleaning tray 100 is slidably inserted into the copper sleeve 540. The copper sleeve 540 can avoid direct friction between the second guide rod 530 and the fixed sleeve 510, and can also increase the sliding friction between the second guide rod 530 and the copper sleeve 540, so that the sliding is smooth, that is, the cleaning tray 100 floats smoothly without jamming.

[0049] Also, see Figure 5 A stop ring 550 is installed at the end of the second guide rod 530, and the sliding stroke of the second guide rod 530 is limited by the abutment between the stop ring 550 and the copper sleeve 540.

[0050] In some embodiments, see Figure 1 The cleaning device further comprises a connecting frame 600, the second floating mechanism 500 is connected between the connecting frame 600 and the cleaning plate 100, and the connecting frame 600 has an articulated portion for articulating with the robot body. That is, the connecting frame 600 is articulated with the robot body, and the cleaning device and the robot body are non-rigidly connected. When the cleaning robot encounters an obstacle during operation, the angle of the cleaning device can be adaptively adjusted, so that the cleaning robot can smoothly cross the obstacle, reducing the risk of the cleaning robot getting stuck or overturning, and providing a guarantee for the high-efficiency operation of the cleaning robot.

[0051] Specifically, the hinged portion includes a hinge hole 621 formed on the connecting frame 600, and the robot body includes a rotating shaft, which is rotatably sleeved with the hinge hole 621, thereby forming a hinge between the connecting frame 600 and the robot body. Of course, in other embodiments, the rotating shaft may be formed on the connecting frame 600, and the hinge hole 621 may be formed on the robot body. In addition, in other embodiments, the hinged portion may not be provided, but the connecting frame 600 and the robot body may be fixedly connected.

[0052] In some embodiments, see Figure 1 The connecting frame 600 includes at least two mounting plates 610 and at least two connecting plates 620. At least two second floating mechanisms 500 are installed on each mounting plate 610. The connecting plate 620 is cross-connected with at least two mounting plates 610. The connecting plate 620 is used to be hinged with the robot body. In this embodiment, by dividing the connecting frame 600 into at least two mounting plates 610 and at least two connecting plates 620, it is possible to install multiple second floating mechanisms 500 and to arrange multiple second floating mechanisms 500 in an interval distribution. At the same time, the connecting frame 600 can avoid the flushing mechanism 700 and the recovery port 130 (described later) on the cleaning tray 100, and the connecting frame 600 has a simple structure and light weight.

[0053] As an example, the connecting frame 600 includes two mounting plates 610 and two connecting plates 620, and a second floating mechanism 500 is correspondingly installed at the opposite ends of each mounting plate 610, the two mounting plates 610 are relatively spaced, and the two connecting plates 620 are respectively connected between the two mounting plates 610, the connecting plates 620 and the mounting plates 610 are vertically cross-arranged, and the opposite ends of the connecting plates 620 are respectively locked with the two mounting plates 610 by screws. In addition, the middle position of the connecting plate 620 is arched away from the cleaning plate 100, and the hinge hole 621 is formed in the arched part of the connecting plate 620 to achieve the hinge with the robot body. It can be understood that in other embodiments of the present application, the above-mentioned connecting frame 600 may also include three or more mounting plates 610 and three or more connecting plates 620, which is not limited here.

[0054] In the embodiment where the second floating mechanism 500 includes a fixing sleeve 510 , the fixing sleeve 510 is mounted on the connecting frame 600 , specifically fixed to the mounting plate 610 by screws, thereby forming a connection between the second floating mechanism 500 and the connecting frame 600 .

[0055] In some embodiments, see Figure 2 and Figure 4The annular sealing mechanism 300 includes a mounting frame 310 , a flexible sealing cover 320 and a brush ring 330 . The mounting frame 310 is connected to the first floating mechanism 400 . The brush ring 330 is mounted on the mounting frame 310 . The flexible sealing cover 320 is sleeved on the outside of the brush ring 330 .

[0056] The mounting frame 310 serves as a connection support between the flexible sealing cover 320 and the brush ring 330 , and is used to realize the connection between the annular sealing mechanism 300 and the first floating mechanism 400 . The flexible sealing cover 320 is the part of the annular sealing mechanism 300 that is used to abut against the wall to be cleaned. The flexible sealing cover 320 is annular and elastic. The flexible sealing cover 320 is set as a flexible structure. Compared with the setting of a hard structure, the flexible sealing cover 320 has better deformation ability and better wall adaptability. The flexible sealing cover 320 can be locally deformed along with the shape of the wall to be cleaned to adapt to the complex shape of the wall to be cleaned. For example, the flexible sealing cover 320 can adapt to large curvature surfaces, convex surfaces and obstacles on the wall to be cleaned. In this way, the flexible sealing cover 320 can better fit the wall to be cleaned to avoid the formation of gaps between the flexible sealing cover 320 and the wall to be cleaned. In this way, the sealing effect between the flexible sealing cover 320 and the wall to be cleaned is guaranteed, the vacuum degree of the enclosed space is guaranteed, which helps to improve the recovery rate of wastewater and prevent wastewater leakage. The brush ring 330 is arranged on the inner side of the flexible sealing cover 320. The brush ring 330 can block the water flow when the flushing mechanism 700 sprays water, thereby preventing the water flow sprayed by the flushing mechanism 700 from flushing open the flexible sealing cover 320 and the wall surface to be cleaned. In this way, the fit between the flexible sealing cover 320 and the wall surface to be cleaned is further ensured, so that the flexible sealing cover 320 and the cleaning tray 100 can be enclosed to form a closed space with a good vacuum degree.

[0057] Optionally, in the present embodiment, the flexible sealing cover 320 is configured as a silicone bladder, which is a soft bladder structure made of silicone material. The silicone bladder has good local deformation ability so that it can better fit the complex-shaped wall to be cleaned. That is, the silicone bladder has good wall adaptability so as to ensure the vacuum degree of the enclosed space, ensure the recovery rate of wastewater, and prevent leakage of wastewater.

[0058] In some embodiments, see Figure 4The brush ring 330 includes a brush plate 331 and a plurality of brushes 332. The brush plate 331 is annular and fixedly mounted on the mounting frame 310. The brushes 332 are sequentially distributed on the side of the brush plate 331 away from the cleaning plate 100. The brushes 332 are used to abut against the wall to be cleaned. The distribution density of the brushes 332 is moderate to ensure that the impact pressure of the high-pressure liquid can be reduced to prevent the liquid from flushing the flexible sealing cover 320. The flexible sealing cover 320 is fixedly attached to the outer peripheral wall of the brush plate 331 and covers the outside of the brush plate 331 and the brushes 332.

[0059] In some embodiments, see Figure 4 The mounting frame 310 includes an inner cylinder 311 and a flange 312 protruding from the outer peripheral wall of the inner cylinder 311. The inner cylinder 311, the flange 312 and the flexible sealing cover 320 enclose a mounting space, and the brush ring 330 is mounted in the mounting space. Specifically, the brush plate 331 is fixed to the side of the flange 312 facing the wall surface to be cleaned, and the first guide rod 410 in the first floating mechanism 400 is fixed to the side of the flange 312 away from the brush plate 331. The first guide rods 410 in each first floating mechanism 400 are sequentially spaced and distributed along the circumference of the flange 312. The flange 312 is provided for mounting the brush ring 330 on one hand, and on the other hand, each first floating mechanism 400 can be distributed on the outer periphery of the cleaning tray 100 to achieve a compact layout.

[0060] In some embodiments, see Figure 4 The inner cylinder 311 includes a first extension portion 3111 and a second extension portion 3112 extending along both sides of the axial direction relative to the flange 312, the first extension portion 3111 is used to limit the brush plate 331, and the second extension portion 3112 is used for slidingly connecting with the cleaning disc 100.

[0061] In some embodiments, see Figure 2 and Figure 4 The cleaning tray 100 includes a tray body 110 and a top plate 120. The tray body 110 has a bottom opening and a top opening. The top plate 120 covers the top opening. The annular sealing mechanism is slidably connected to the tray body 110. Specifically, the second extension portion 3112 is slidably connected to the end of the tray body 110 away from the top plate 120. The inner cylinder 311, the top plate 120 and the tray body 110 are jointly enclosed to form a closed space. The first floating mechanism 400 is connected between the flange 312 and the top plate 120.

[0062] In some embodiments, see Figure 1 and Figure 4The cleaning device further comprises a flexible sealing ring 200, which is respectively fixed to the annular sealing mechanism 300 and the cleaning disc 100, and is sleeved at the movable connection between the annular sealing mechanism 300 and the cleaning disc 100. Wherein, by setting the flexible sealing ring 200, the connection between the annular sealing mechanism 300 and the cleaning disc 100 can be sealed, so as to avoid the poor sealing effect caused by the relative movement of the annular sealing mechanism 300 and the cleaning disc 100. In addition, the flexible sealing ring 200 is respectively fixed to the annular sealing mechanism 300 and the cleaning disc 100, so as to ensure the sealing of the flexible sealing ring 200, the annular sealing mechanism 300 and the cleaning disc 100 at the connection. It can be understood that in other embodiments of the present application, the cleaning disc 100 and the annular sealing mechanism 300 can also be set to a sliding sealing connection, for example, the size of the mutually sleeved part of the cleaning disc 100 and the annular sealing mechanism 300 is increased to ensure the sealing of the two, and the flexible sealing ring 200 may not be set at this time. In addition, a sealing ring may be slidably abutted between the annular sealing mechanism 300 and the cleaning disk 100, which is not the only limitation here.

[0063] In some embodiments, the flexible sealing ring 200 is not only waterproof but also flexible, the top end of the flexible sealing ring 200 is fixedly connected to the cleaning tray 100, and the bottom end of the flexible sealing ring 200 is fixedly connected to the annular sealing mechanism 300, thereby ensuring the sealing effect of the flexible sealing ring 200. When the annular sealing mechanism 300 slides relative to the cleaning tray 100, the flexible sealing ring 200 contracts or expands.

[0064] See also Figure 4 In the embodiment where the cleaning tray 100 includes a tray body 110 and a top plate 120, and the mounting frame 310 includes a second extension portion 3112, the flexible sealing ring 200 is sleeved on the outside of the tray body 110, the second extension portion 3112 is inserted between the tray body 110 and the flexible sealing ring 200, the top end of the flexible sealing ring 200 is fixedly connected to the top plate 120, and the bottom end of the flexible sealing ring 200 is fixedly connected to the second extension portion 3112. In addition, a plurality of through grooves are formed on the peripheral side wall of the tray body 110, and the provision of the through grooves can reduce the weight of the tray body 110.

[0065] In some embodiments, see Figures 1 to 3 The cleaning device also includes a flushing mechanism 700, which is installed on the cleaning disk 100. The flushing mechanism 700 can be connected to an external high-pressure water pump. When the high-pressure water pump is working, high-pressure water can be sprayed toward the wall surface to be cleaned through the flushing mechanism 700 to clean the wall surface to be cleaned.

[0066] Specifically, the flushing mechanism 700 is arranged through the cleaning tray 100 and fixedly installed at the center position of the cleaning tray 100. The part of the flushing mechanism 700 extending from the cleaning tray 100 is used to connect to the high-pressure water pipe, and the part of the flushing mechanism 700 extending into the cleaning tray 100 is used to spray high-pressure water onto the wall to be cleaned.

[0067] Specifically, the flushing mechanism 700 includes a rotating body 710, a flushing rack 720 and a plurality of nozzles. The rotating body 710 is arranged to penetrate the center of the cleaning disc 100, the flushing rack 720 is mounted on the rotating body 710, and the nozzles are distributed on the flushing rack 720. When the rotating body 710 is connected to the high-pressure water pump through an external high-pressure water pipe, the high-pressure water pump provides high-pressure water flow to the rotating body 710 and the flushing rack 720, and sprays it through each nozzle. In addition, when the high-pressure water flow flushes the wall surface to be cleaned, a high-pressure reaction force is generated. This high-pressure reaction force drives the flushing rack 720 to rotate to form a circumferentially uniform water spraying effect. Of course, in other embodiments, the flushing rack 720 or the rotating body 710 can also be driven to rotate by an external rotating motor or motor.

[0068] For details, please refer to Figure 3 The flushing mechanism 700 further includes a clamping assembly 730, which includes a mounting seat 731 and a clamping clamp 732. The mounting seat 731 is fixed to the cleaning disc 100. The rotating body 710 passes through the cleaning disc 100 and the mounting seat 731 respectively. The clamping clamp 732 is locked and fixed with the mounting seat 731. The clamping clamp 732 and the mounting seat 731 clamp the rotating body 710 together, thereby realizing the installation of the rotating body 710 on the cleaning disc 100. Specifically, the rotating body 710 includes a rotating part and a fixed part. The fixed part is locked and fixed by the clamping clamp 732 and the mounting seat 731. The rotating part is rotatably mounted on the fixed part. Specifically, the rotating part is rotatably mounted on the fixed part, and the rotating part is axially limited by the fixed part to prevent the rotating part from axially separating from the fixed part.

[0069] In some embodiments, see Figure 2 The cleaning tray 100 is provided with a recovery port 130, which is connected to the inner side of the cleaning tray 100 and is used to connect to a vacuum pump. The cleaning tray 100, the flexible sealing ring 200, the annular sealing mechanism 300 and the vacuum pump form a closed space. When the vacuum pump is turned on, the wastewater in the closed space can be recovered through the recovery port 130. In this way, after the wall surface to be cleaned is cleaned, based on the vacuum recovery operation, no wastewater will remain on the wall surface to be cleaned, preventing the wall surface to be cleaned from rusting again, and also solving the problem of environmental pollution caused by wastewater leakage.

[0070] Specifically, a recovery interface assembly 800 is installed at the recovery port 130 , and the recovery interface assembly 800 is used to connect a vacuum tube and is connected to a vacuum pump through the vacuum tube.

[0071] Optionally, there are multiple recovery ports 130 , and each recovery port 130 is arranged at intervals around the flushing mechanism 700 , and each recovery port 130 is arranged at a corresponding air-avoiding position of the connecting frame 600 .

[0072] In some embodiments, see Figure 1 and Figure 2 The cleaning device further includes a floating positioning mechanism 900, which is fixedly connected to the cleaning tray 100 and is used to support the cleaning tray 100 to a preset height. In this way, the flushing mechanism 700 in the cleaning tray 100 can be supported to a preset height to prevent the cleaning tray 100 from being excessively adsorbed to the wall surface during vacuum recovery, causing the cleaning tray 100 to be excessively attached to the wall surface and damaging the flushing mechanism 700.

[0073] In some embodiments, see Figure 1 and Figure 2 The floating positioning mechanism 900 includes a floating frame 910 installed on the cleaning disc 100 and a universal wheel 920 installed on the floating frame 910. The universal wheel 920 is used to support the wall surface to be cleaned. The setting of the universal wheel 920 makes the height of the floating positioning mechanism 900 adjustable within a certain range to achieve the height adjustment of the cleaning disc 100. In addition, the universal wheel 920 can roll on the wall surface to be cleaned to provide auxiliary power for the movement of the cleaning disc 100. It can be understood that in other embodiments of the present application, when the floating positioning mechanism 900 does not need the function of assisting the movement of the cleaning disc 100, the floating positioning mechanism 900 can also be set as an elastic telescopic mechanism, which is not the only limitation here.

[0074] Optionally, there may be a plurality of floating positioning mechanisms 900 to ensure the support stability and movement stability of the cleaning tray 100 .

[0075] In the present application, the annular sealing mechanism 300 is fixed to the first floating mechanism 400 by screws and is located below it; the first floating mechanism 400 is slidably connected to the cleaning disc 100; the second floating mechanism 500 is fixed to the cleaning disc 100 by screws and is located above it; the recovery interface assembly 800 is fixed to the cleaning disc 100 by screws and is located above it; the floating positioning mechanism 900 is fixed to the cleaning disc 100 by screws and is located in front of it; the flushing mechanism 700 is fixed to the cleaning disc 100 by screws and is located in the center; each part works together to form a cleaning device. Using modular design, different mechanisms do not interfere with each other but cooperate with each other. During installation and maintenance, they can be disassembled, replaced and assembled in blocks, making maintenance more convenient.

[0076] When the cleaning robot is working, the cleaning plate 100 makes the annular sealing mechanism 300 fit the wall surface through the action of the first floating mechanism 400, and the floating positioning mechanism 900 enables the first floating mechanism 400 to obtain a suitable floating range, which can form a vacuum-sealed recovery space while making the flushing mechanism 700 work at a safe distance from the wall. As for the recoil force generated by the high-pressure water flow, the second floating mechanism 500 starts to act, and the entire cleaning plate 100 floats in the direction of the recoil force, and the second elastic member 520 absorbs the recoil force, which plays a buffering role and prevents the robot from tipping over.

[0077] On the other hand, the present application also provides a cleaning robot, comprising a robot body and the above-mentioned cleaning device, wherein the cleaning device is mounted on the robot body. Specifically, the cleaning device is hinged to the robot body via a connecting frame 600 .

[0078] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A cleaning device, characterized in that: It includes a cleaning disc, an annular sealing mechanism, a first floating mechanism and a second floating mechanism; the annular sealing mechanism is movably installed on the cleaning disc through the first floating mechanism, the annular sealing mechanism is used to abut against the wall surface to be cleaned, and the part of the annular sealing mechanism abutting against the wall surface to be cleaned is elastic; the second floating mechanism is set to be connected between the cleaning disc and the robot body.

2. The cleaning device according to claim 1, characterized in that: The first floating mechanism includes a first guide rod and a first elastic member. The first guide rod is connected between the cleaning disk and the annular sealing mechanism. The first elastic member is sleeved on the first guide rod and abuts between the annular sealing mechanism and the cleaning disk.

3. The cleaning device according to claim 1, characterized in that: The second floating mechanism includes a fixed sleeve, a second elastic member and a second guide rod. The fixed sleeve is configured to be connected to the robot body, the second guide rod is connected between the cleaning disk and the fixed sleeve, and the second elastic member is sleeved on the second guide rod and abuts between the fixed sleeve and the cleaning disk.

4. The cleaning device according to claim 1, characterized in that: The cleaning device comprises a plurality of second floating mechanisms, each of which is distributed at intervals along the circumference of the cleaning disc; And / or, the cleaning device comprises a plurality of first floating mechanisms, and the first floating mechanisms are distributed at intervals along the circumference of the annular sealing mechanism.

5. The cleaning device according to any one of claims 1 to 4, characterized in that: The cleaning device further comprises a connecting frame, the second floating mechanism is connected between the connecting frame and the cleaning tray, and the connecting frame has an articulated portion for being articulated with the robot body.

6. The cleaning device according to any one of claims 1 to 4, characterized in that: The cleaning device further comprises a flexible sealing ring, which is respectively fixed to the annular sealing mechanism and the cleaning disc and sleeved on a movable connection between the annular sealing mechanism and the cleaning disc.

7. The cleaning device according to any one of claims 1 to 4, characterized in that: The annular sealing mechanism comprises a mounting frame, a flexible sealing cover and a brush ring. The mounting frame is connected to the first floating mechanism, the brush ring is mounted on the mounting frame, and the flexible sealing cover is sleeved on the outside of the brush ring.

8. The cleaning device according to any one of claims 1 to 4, characterized in that: The cleaning device further comprises a floating positioning mechanism, which is fixedly connected to the cleaning disc and is used to support the cleaning disc to a preset height.

9. The cleaning device according to claim 8, characterized in that: The floating positioning mechanism comprises a floating frame installed on the cleaning disc and a universal wheel installed on the floating frame, and the universal wheel is used to support the wall surface to be cleaned.

10. A cleaning robot, characterized in that: It comprises a robot body and a cleaning device as described in any one of claims 1 to 9, wherein the cleaning device is installed on the robot body.

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