Walking device and cleaning equipment with same

Abstract

The invention relates to the technical field of cleaning equipment, and discloses a walking device and cleaning equipment with the same. The walking device comprises a body on which a movement mechanism is mounted; the bottom of the negative pressure adsorption assembly is provided with an adsorption part, the adsorption part is communicated with an air exhaust sleeve, the adsorption part is in running fit with the air exhaust sleeve, the air exhaust sleeve is movably sleeved with a limiting sleeve, and the limiting sleeve is fixedly connected with the body; and the negative pressure air exhaust assembly communicates with the air exhaust sleeve and is suitable for performing negative pressure extraction on the adsorption part. When the walking device needs to turn, the adsorption part firstly sucks the surface subjected to cleaning operation and then turns in situ, after turning is completed, negative pressure of the adsorption part is relieved, the walking device executes following linear walking, and sliding-free turning of the walking device on a large inclined plane is achieved. Therefore, the walking device can work on a large-angle smooth inclined plane of about 30 degrees.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a walking device and a cleaning equipment having the same. Background Art

[0002] Many machines and equipment working outdoors are exposed to the outdoors all year round, and a lot of dust, bird droppings and other dirt will accumulate on their surfaces, which is not only unsightly, but also easily affects the working efficiency of the machines and equipment and shortens the service life of the machines and equipment. Therefore, the surfaces of these machines and equipment need to be cleaned regularly. Among the many cleaning methods, using cleaning robots to clean the surfaces of machines and equipment is a widely used cleaning method.

[0003] Cleaning robots usually use wheel-track mechanisms to walk on the surface that needs to be cleaned. Due to the high speed of the wheel-track mechanism, it is difficult to accurately control the steering angle when turning, and it is easy to slip on the surface to be cleaned. Once the cleaning robot slips, the planned cleaning path will be disrupted, resulting in the cleaning robot being unable to cover and clean all the preset areas, resulting in dirty areas left behind, affecting the cleaning effect. Summary of the invention

[0004] In view of this, the present invention provides a walking device and a cleaning device having the same, so as to solve the problem of the risk of slipping when the cleaning robot turns on the cleaning operation surface.

[0005] In a first aspect, the present invention provides a walking device, comprising:

[0006] A body, on which a motion mechanism is mounted;

[0007] The negative pressure adsorption component has an adsorption member at the bottom, and an air extraction sleeve is connected to the adsorption member. The adsorption member and the air extraction sleeve are rotatably matched, and a limit sleeve is installed on the outer sleeve of the air extraction sleeve, and the limit sleeve is fixedly connected to the body;

[0008] The negative pressure suction component is connected with the suction sleeve, and the negative pressure suction component is suitable for sucking negative pressure on the adsorption component.

[0009] When the walking device walks on an inclined surface such as the surface of the cleaning operation, the motion mechanism is supported in front of the inclined surface to walk, and the walking device does not slip when walking in a straight line. When the walking device needs to turn, the negative pressure exhaust assembly is turned on, and the air inside the adsorbent is sucked away by the negative pressure exhaust assembly through the exhaust sleeve, so that the adsorbent is adsorbed and fixed to the inclined surface, limiting the overall position of the walking device. The rotational cooperation between the adsorbent and the exhaust sleeve enables the adsorbent to have rotational freedom, and the wheel differential of the motion mechanism on both sides of the walking device is used to turn, thereby realizing the non-slip turning of the walking device on a large inclined surface. After turning in place, the negative pressure adsorption state of the adsorbent is destroyed by closing the negative pressure exhaust assembly, and the linear movement of the motion mechanism is no longer constrained by the position of the suction cup. When the walking device needs to turn, the adsorbent first absorbs the surface of the cleaning operation and then turns in place. After the turn is completed, the adsorbent releases the negative pressure, and the walking device performs the next straight-line walking. When the walking device passes through the uneven area on the surface of the cleaning operation, the suction sleeve cooperates with the inner and outer arrangements of the limiting sleeve, so that the suction sleeve can be passively lifted up, so that the suction sleeve passively moves upward relative to the limiting sleeve, and when the walking device passes over the raised area, the suction piece falls under the action of gravity. It can be achieved that the suction piece can be passively raised and lowered with the ups and downs of the area where the walking device passes, so that the walking device has a good obstacle crossing ability, ensuring that the walking device can still move smoothly in areas with protrusions or pits.

[0010] In an optional embodiment, a connecting piece is fixedly installed at one end of the exhaust sleeve connected to the adsorption piece, and the adsorption piece is rotatably installed at the end of the connecting piece away from the exhaust sleeve. A through hole is provided on the connecting piece, and the through hole connects the exhaust sleeve with the adsorption piece.

[0011] The suction sleeve is rotatably connected to the adsorption piece through a connecting piece, and a through hole is provided to connect the adsorption piece and the suction sleeve to serve as a negative pressure extraction channel of the adsorption piece. While ensuring the stable rotational connection between the adsorption piece and the suction sleeve, the sealing between the adsorption piece and the suction sleeve is maintained to avoid air leakage at the connection between the adsorption piece and the suction sleeve.

[0012] In an optional embodiment, a connecting block is provided at one end of the connecting member that cooperates with the adsorption member, the through hole passes through the connecting block, a connecting groove is provided on the adsorption member, and the connecting block is cooperatively connected with the connecting groove.

[0013] The connecting block may be a spherical, hemispherical, ellipsoidal, cylindrical, truncated cone or other structure with a circular outer circumference, and the shape of the connecting groove is adapted to the shape of the connecting block, so that after the connecting block is connected to the connecting groove, the connecting block can rotate freely relative to the connecting groove to ensure the rotational freedom of the adsorption component relative to the exhaust sleeve.

[0014] In an optional embodiment, the negative pressure exhaust assembly includes a vacuum pump and a reversing valve, the first valve port of the reversing valve is connected to the vacuum pump through a first exhaust pipeline, and the second valve port of the reversing valve is connected to the exhaust sleeve through a second exhaust pipeline.

[0015] The reversing valve is installed, and the first valve port of the reversing valve is connected to the first air extraction sleeve, and the second valve port is connected to the second air extraction sleeve. When the second valve port of the reversing valve is connected to the first valve port, it is used to use a vacuum pump to evacuate the adsorbent. The third valve port of the reversing valve can be connected to the outside air or to another inflatable component. When the second valve port of the reversing valve is connected to the third valve port, it is used for the adsorbent to contact negative pressure.

[0016] In an optional embodiment, the second air extraction pipeline is a flexible hose, so that when the air extraction sleeve moves up and down relative to the limiting sleeve, the second air extraction pipeline can move freely, thereby preventing the up and down movement of the air extraction sleeve from being restricted by the second air extraction pipeline.

[0017] In an optional embodiment, it also includes a sealed shell, which is enclosed with the main body to form an installation chamber, and the negative pressure adsorption component is installed in the installation chamber.

[0018] By installing the negative pressure adsorption component in a closed installation chamber formed by the sealed shell and the main body, it is prevented that external dust or sewage overflows from the installation chamber into the main body to damage the electrical structure installed in the main body, thereby ensuring the waterproof and dustproof performance of the main body.

[0019] In an optional embodiment, a negative pressure base is further included, which is fixedly mounted on the body, the negative pressure base is sealed and connected to the sealing shell, and the negative pressure adsorption component is arranged through the negative pressure base. By arranging the negative pressure base and installing it on the body, the sewage that enters the installation chamber through the gap between the negative pressure adsorption component and the negative pressure base can be confined to the negative pressure base area, and can eventually be discharged through the gap between the negative pressure base and the negative pressure adsorption component, thereby preventing the sewage from entering the inner cavity of the body and causing damage to the electrical structure inside the body.

[0020] In an optional embodiment, a suction cup load-bearing member is fixedly installed in the installation chamber, and the limiting sleeve is fixedly connected to the suction cup load-bearing member.

[0021] In an optional embodiment, a compression elastic member is installed between the adsorption member and the limiting sleeve, and the compression elastic member is in a compressed state to apply pre-pressure to the adsorption member, so as to facilitate the adsorption member to be quickly adsorbed on the surface of the cleaning operation.

[0022] In a second aspect, the present invention further provides a cleaning device having the walking device of the present invention, and a cleaning assembly is installed on the body of the walking device. Because the cleaning device includes the walking device and has the same effect as the walking device, it will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 The figure is a three-dimensional diagram of a walking device according to an embodiment of the present invention.

[0025] Figure 2 for Figure 1 A cross-sectional view of the walking device in the AA direction is shown.

[0026] Figure 3 This is a schematic diagram of the structure of the negative pressure adsorption component and the negative pressure exhaust component provided in an embodiment of the present invention.

[0027] Figure 4 It is a structural schematic diagram of the cooperative installation of the negative pressure base and the sealing shell provided in an embodiment of the present invention.

[0028] Figure 5 It is a schematic diagram of the structure of the negative pressure adsorption component provided in an embodiment of the present invention.

[0029] Figure 6 for Figure 5 A cross-sectional view of the negative pressure adsorption component in the BB direction is shown.

[0030] Figure 7 It is a schematic diagram of the structure of the cooperative connection of the negative pressure exhaust assembly provided in an embodiment of the present invention.

[0031] Figure 8 It is a schematic diagram of the structure of the reversing valve provided in an embodiment of the present invention.

[0032] Fig. 9 The figure is a schematic structural diagram of a cleaning device according to an embodiment of the present invention.

[0033] Explanation of the accompanying drawings: 1. Main body; 2. Negative pressure adsorption assembly; 201. Adsorption member; 202. Exhaust sleeve; 203. Limiting sleeve; 204. Connecting member; 205. Connecting block; 206. Suction cup load-bearing member; 207. Compression elastic member; 208. Limiting step; 209. Through hole; 3. Negative pressure exhaust assembly; 301. Vacuum pump; 3011. Exhaust hole; 302. Reversing valve; 3021. First valve port; 3022. Second valve port; 3023. Third valve port; 303. First exhaust pipeline; 304. Second exhaust pipeline; 4. Moving mechanism; 5. Sealing shell; 6. Negative pressure base; 7. Cleaning scraper module; 8. Roller brush cleaning module. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0035] Combine the following Figures 1 to 8 , describing an embodiment of the present invention.

[0036] In the first aspect, the present invention provides a walking device, which can be used as the walking part of various types of operating equipment such as a sweeping robot, a floor scrubber robot, a photovoltaic panel cleaning robot, a ship rust removal and painting robot, a building cleaning or inspection robot, and can also be used as the walking part of large mechanical equipment such as a crane, a forklift, and a shovel. The walking device can walk on a horizontal plane or an inclined plane. Specifically, the walking device includes a main body 1, a negative pressure adsorption component 2 installed at the bottom of the main body 1, and a negative pressure exhaust component 3.

[0037] The body 1 is a shell structure or a frame structure. In this embodiment, in order to reduce the pollution of dust and sewage to the devices in the body 1, the body 1 adopts a shell structure, and a moving mechanism 4 is installed on the body 1. The moving mechanism 4 can be a crawler walking mechanism, a walking mechanism or a plurality of tires. The moving mechanism 4 in this embodiment adopts a crawler walking mechanism, and a set of crawler walking mechanisms are installed on the left and right sides of the body 1 as the moving mechanism 4. The negative pressure adsorption component 2 includes an adsorption member 201, an exhaust sleeve 202 and a limiting sleeve 203, wherein the adsorption member 201 can be, for example, a negative pressure suction cup, which is arranged at the bottom of the negative pressure adsorption component 2, and the exhaust sleeve 202 is connected to the top of the adsorption member 201, and the adsorption member 201 and the exhaust sleeve 202 are rotated and matched, and the limiting sleeve 203 is movably sleeved and installed outside the exhaust sleeve 202, so that the exhaust sleeve 202 can move up and down along the limiting sleeve 203, and the limiting sleeve 203 is fixedly connected to the body 1. The limiting sleeve 203, the exhaust sleeve 202 and the adsorbent 201 are coaxially arranged. In order to ensure the smoothness of the relative movement between the limiting sleeve 203 and the exhaust sleeve 202, the limiting sleeve 203 can directly use a linear bearing, or directly install a straight bearing between the limiting sleeve 203 and the exhaust sleeve 202. In this embodiment, the limiting sleeve 203 uses a linear bearing. The negative pressure exhaust component 3 is connected to the exhaust sleeve 202, and the negative pressure exhaust component 3 is used to exhaust negative pressure from the adsorbent 201. In this embodiment, the negative pressure exhaust component 3 is installed on the main body 1. In some other embodiments, the negative pressure exhaust component 3 can also be separately arranged outside the walking device.

[0038] When the walking device walks on the surface of the cleaning operation set obliquely, such as photovoltaic panels, the motion mechanism 4 is supported in front of the slope to walk, and the walking device does not slip when walking in a straight line. When the walking device needs to turn, the negative pressure exhaust assembly 3 is opened, and the air inside the adsorbent 201 is sucked away by the negative pressure exhaust assembly 3 through the exhaust sleeve 202, so that the adsorbent 201 is adsorbed and fixed to the inclined surface, limiting the position of the walking device as a whole. The rotational cooperation between the adsorbent 201 and the exhaust sleeve 202 enables the adsorbent 201 to have rotational freedom relative to the body 1, and the wheel differential of the motion mechanism 4 on both sides of the walking device is used to turn, so as to realize the non-slip turning of the walking device on a large inclined surface. After turning in place, the negative pressure exhaust assembly 3 is closed to destroy the negative pressure adsorption state of the adsorbent 201, and the linear movement of the motion mechanism 4 is no longer constrained by the position of the suction cup. When the walking device needs to turn, the adsorbent 201 first sucks the surface of the cleaning operation and then turns in place. After the turn is completed, the adsorbent 201 releases the negative pressure, and the walking device performs the next straight-line walking. When the walking device passes through an uneven area on the surface of the cleaning operation, due to the cooperation between the exhaust sleeve 202 and the inner and outer arrangements of the limiting sleeve 203, the adsorption member 201 can be passively lifted up, and the exhaust sleeve 202 passively moves upward relative to the limiting sleeve 203. When the walking device passes over the raised area, the adsorption member 201 falls under the action of gravity. In this way, the adsorption member 201 can be passively raised and lowered with the ups and downs of the area where the walking device passes, so that the walking device has a good obstacle crossing ability, ensuring that the walking device can still move smoothly in areas with protrusions or pits.

[0039] In one embodiment, a connector 204 is fixedly installed at one end of the exhaust sleeve 202 connected to the adsorption member 201, and the adsorption member 201 is rotatably installed at the end of the connector 204 away from the exhaust sleeve 202. A through hole 209 is provided on the connector 204, and the through hole 209 connects the exhaust sleeve 202 with the adsorption member 201.

[0040] The suction sleeve 202 is rotatably connected to the adsorption piece 201 through the connecting piece 204, and a through hole 209 is provided to connect the adsorption piece 201 and the suction sleeve 202, which serves as a negative pressure extraction channel for the adsorption piece 201. While ensuring the stable rotational connection between the adsorption piece 201 and the suction sleeve 202, the sealing between the adsorption piece 201 and the suction sleeve 202 is maintained to avoid air leakage at the connection between the adsorption piece 201 and the suction sleeve 202.

[0041] In one embodiment, the connecting column of the connecting member 204 is threadedly connected to the exhaust sleeve 202, the connecting member 204 and the exhaust sleeve 202 are coaxially arranged, a connecting block 205 is arranged at one end of the connecting member 204 that cooperates with the adsorption member 201, a connecting groove is arranged on the adsorption member 201, and the connecting block 205 is matched and connected with the connecting groove. The through hole 209 penetrates the connecting member 204 along the axial direction of the connecting member 204.

[0042] The connecting block 205 may be a spherical, hemispherical, ellipsoidal, cylindrical, truncated cone or other structure with a circular outer circumference, and the shape of the connecting groove is adapted to the shape of the connecting block 205, so that after the connecting block 205 is connected with the connecting groove, the connecting block 205 can rotate freely relative to the connecting groove to ensure the rotational freedom of the adsorption component 201 relative to the exhaust sleeve 202.

[0043] In one embodiment, the negative pressure exhaust assembly 3 includes a vacuum pump 301 and a reversing valve 302, wherein a first valve port 3021 of the reversing valve 302 is connected to the vacuum pump 301 through a first exhaust pipeline 303, and a second valve port 3022 of the reversing valve 302 is connected to the exhaust sleeve 202 through a second exhaust pipeline 304. In this embodiment, the vacuum pump 301 and the reversing valve 302 can be installed in the inner cavity of the body 1. In order to facilitate automatic control, the reversing valve 302 in this embodiment uses a solenoid valve.

[0044] The reversing valve 302 is installed, and the first valve port 3021 of the reversing valve 302 is connected to the first air extraction pipeline 303, and the second valve port 3022 is connected to the second air extraction pipeline 304. When the second valve port 3022 of the reversing valve 302 is connected to the first valve port 3021, it is used to use the vacuum pump 301 to extract air from the adsorbent 201, and the third valve port 3023 of the reversing valve 302 can be connected to the outside air or to another inflatable component. When the second valve port 3022 of the reversing valve 302 is connected to the third valve port 3023, it is used to relieve the negative pressure of the adsorbent 201. Specifically, when the vacuum pump 301 is performing the air extraction operation, the third valve port 3023 is closed, the first valve port 3021 and the second valve port 3022 are opened, and the vacuum pump 301 is connected to the air extraction sleeve 202 through the first air extraction pipeline 303, the reversing valve 302, and the second air extraction pipeline 304, and the air in the adsorbent 201 is extracted and discharged from the exhaust hole 3011 of the vacuum pump 301; when the adsorbent 201 is relieved of negative pressure, the vacuum pump 301 is powered off, the exhaust hole 3011 of the vacuum pump 301 is closed, the third valve port 3023 is opened, and the air enters the adsorbent 201 from the third valve port 3023 through the reversing valve 302, the second air extraction pipeline 304 and the air extraction sleeve 202. In one embodiment, the first air extraction pipeline 303 can be a flexible tube or a hard tube. The second air extraction pipeline 304 uses a flexible hose. The second air extraction pipeline 304 can move freely when the air extraction sleeve 202 moves up and down relative to the limiting sleeve 203 , thereby preventing the up and down movement of the air extraction sleeve 202 from being restricted by the second air extraction pipeline 304 .

[0045] In one embodiment, the walking device further includes a sealed housing 5, which is enclosed with the body 1 to form an installation chamber, and the main body of the negative pressure adsorption component 2 is installed in the installation chamber. By installing the negative pressure adsorption component 2 in the closed installation chamber formed by the sealed housing 5 and the body 1, it is prevented that dust or sewage from the outside enters the negative pressure adsorption component 2 to damage the mechanical structure therein, thereby ensuring the waterproof and dustproof performance of the negative pressure adsorption component 2.

[0046] In one embodiment, the walking device also includes a negative pressure base 6, which is fixedly mounted on the main body 1. The negative pressure base 6 is sealed and connected to the sealing shell 5 on the bottom plate of the negative pressure base 6. The bottom plate of the negative pressure base 6 is arranged opposite to the opening of the negative pressure base 6, and the negative pressure adsorption component 2 passes through the bottom plate of the negative pressure base 6. By setting the negative pressure base 6 and installing it on the main body 1, since there is a gap between the through opening on the bottom plate of the negative pressure base 6 and the negative pressure adsorption component 2, the sewage flowing onto the main body 1 may enter the installation chamber from the gap, thereby preventing the sewage from entering the inner cavity of the main body. The negative pressure base 6 provided in this embodiment is provided with isolation baffles on the three sides of the negative pressure base 6, and one side is not provided with an isolation baffle, so as to facilitate the installation of the negative pressure adsorption component 2 on the negative pressure base 6.

[0047] In one embodiment, a suction cup load-bearing member 206 is fixedly installed in the installation chamber, and the limiting sleeve 203 is fixedly connected to the suction cup load-bearing member 206. The suction cup load-bearing member 206 can be a frame structure, a plate structure or a shell support mechanism. In this embodiment, the suction cup load-bearing member 206 uses a "concave"-shaped plate structure, and the limiting sleeve 203 is fixedly connected to the plate structure.

[0048] In one embodiment, a clamping elastic member 207 is installed between the adsorption member 201 and the limiting sleeve 203, and the clamping elastic member 207 is in a compressed state to apply pre-pressure to the adsorption member 201. This facilitates the adsorption member 201 to be quickly adsorbed on the surface of the cleaning operation. The clamping elastic member 207 can be a structure that can apply elastic force, such as a clamping spring, a clamping rubber, or a clamping torsion spring. In this embodiment, the clamping elastic member 207 is a clamping spring. The clamping elastic member 207 serves as an auxiliary clamping structure of the adsorption member 201. In some other embodiments, the clamping elastic member 207 may not be provided.

[0049] In the walking device provided in this embodiment, the interior of the main body 1 has a accommodating cavity, and the suction cup load-bearing member 206 is installed in the accommodating cavity of the main body 1. Furthermore, the suction cup load-bearing member 206 can be installed in an installation chamber formed by the sealed shell 5 and the main body 1. In one implementation, the negative pressure base 6 is arranged on the main body 1, and the suction cup load-bearing member 206 is fixedly connected to the negative pressure base 6. The linear bearing serving as the limiting sleeve 203 is fixed on the suction cup load-bearing member 206. The exhaust sleeve 202 can move up and down inside the limiting sleeve 203, and the upper end of the exhaust sleeve 202 is connected to the second valve port 3022 of the reversing valve 302 through the second exhaust pipeline 304. In one embodiment, the connection between the two can be achieved through an adapter. The first valve port 3021 of the reversing valve 302 is connected to the vacuum pump 301, the second valve port 3022 is connected to the negative pressure suction cup, and the third valve port 3023 is connected to the atmosphere. The lower end of the suction sleeve 202 is connected to the negative pressure suction cup through a spherical connector 204, and the connector 204 is rotatably sealed and connected to the negative pressure suction cup. A limiting step 208 is provided on the suction sleeve 202, and a compression spring is sleeved and installed on the suction sleeve 202 between the limiting step 208 and the limiting sleeve 203 to provide an initial downward pressure to the negative pressure suction cup, so that the negative pressure suction cup can be quickly adsorbed on the surface of the cleaning operation.

[0050] When the negative pressure adsorption component 2 is working, the vacuum pump 301 is turned on, and the air in the negative pressure suction cup will be sucked away by the vacuum pump 301 through the reversing valve 302, and the gas will be discharged from the exhaust hole 3011 of the vacuum pump 301. At this time, the negative pressure suction cup can be smoothly adsorbed on the surface of the cleaning operation. When the main body 1 rotates, the connecting piece 204 with the spherical connecting block 205 will rotate relative to the negative pressure suction cup. When the negative pressure suction cup releases the negative pressure, the vacuum pump 301 is closed, and the reversing valve 302 connects the air suction port of the negative pressure suction cup with the air through reversing. At this time, the air is quickly sucked into the space between the negative pressure suction cup and the surface of the cleaning operation under the negative pressure inside the negative pressure suction cup, and the negative pressure adsorption state of the negative pressure suction cup is released. The sealed shell 5 is sealed and connected to the main body 1, and the main part of the negative pressure adsorption component 2 is installed in a sealed installation chamber, so that the entire negative pressure adsorption component 2 is completely sealed, ensuring its waterproof and dustproof performance.

[0051] The motion mechanism 4 does not slip when the walking device is moving in a straight line. When the walking device turns, the negative pressure suction cup first sucks the surface of the cleaning operation and then turns on the spot. After the turn is completed, the negative pressure suction cup releases the negative pressure, and the motion mechanism 4 performs the next straight line walking. Before the walking device turns, the vacuum pump 301 is turned on, and the vacuum suction cup is fixed to the inclined surface of the cleaning operation, which limits the position of the walking device and releases the rotational freedom. The crawler walking devices on both sides turn differentially, realizing the non-slip turning of the walking device on a large slope. After turning in place, the adsorption state of the negative pressure suction cup is destroyed by switching the reversing valve 302, and the movement of the walking device is no longer constrained by the position of the suction cup. This allows the walking device to operate on a smooth inclined surface with a large angle of about 30°.

[0052] The negative pressure adsorption component 2 is installed in a closed installation chamber formed by the sealed shell 5 and the main body 1 and is arranged through the bottom of the main body 1. It is preferably close to the center of mass of the overall device composed of the walking device and other matching components, so as to reduce the rotational force of the walking device, realize the non-slip turning of the walking device on a large slope, and improve the operating range of the walking device. The negative pressure suction cup is movably connected to the limit sleeve 203 up and down through the exhaust sleeve 202, so that the negative pressure suction cup can freely extend and move up and down relative to the main body 1, so that even if there is a protruding structure on the working site at the bottom of the main body 1, the negative pressure suction cup can adapt to the uneven curved surface and has a certain obstacle crossing ability.

[0053] According to an embodiment of the present invention, on the other hand, Fig. 9As shown, a cleaning device is also provided, and the cleaning device can be any cleaning device that can move freely, such as a sweeping robot, a floor scrubbing robot, a photovoltaic panel cleaning robot, etc. The cleaning device has the walking device of the present invention, and a cleaning component is installed on the body 1 of the walking device. The cleaning component can be a cleaning scraper module 7 or a roller brush cleaning module 8. In this embodiment, the roller brush cleaning module 8 is installed at the front end of the walking device, and the cleaning scraper module 7 is installed at the rear end.

[0054] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A walking device, characterized in that: include: A body (1) on which a motion mechanism (4) is mounted; A negative pressure adsorption component (2), the bottom of which is provided with an adsorption member (201), the adsorption member (201) is connected to an air extraction sleeve (202), the adsorption member (201) and the air extraction sleeve (202) are rotatably matched, a limit sleeve (203) is movably mounted outside the air extraction sleeve (202), and the limit sleeve (203) is fixedly connected to the body (1); A negative pressure suction component (3) is in communication with the suction sleeve (202), and the negative pressure suction component (3) is suitable for drawing negative pressure from the adsorption element (201).

2. The walking device according to claim 1, characterized in that: A connecting piece (204) is fixedly mounted on one end of the exhaust sleeve (202) connected to the adsorption piece (201); the adsorption piece (201) is rotatably mounted on one end of the connecting piece (204) away from the exhaust sleeve (202); a through hole (209) is provided on the connecting piece (204); and the through hole (209) connects the exhaust sleeve (202) with the adsorption piece (201).

3. The walking device according to claim 2, characterized in that: A connecting block (205) is provided at one end of the connecting member (204) that cooperates with the adsorption member (201); the through hole (209) passes through the connecting block (205); a connecting groove is provided on the adsorption member (201); and the connecting block (205) cooperates with and connects to the connecting groove.

4. The walking device according to any one of claims 1 to 3, characterized in that: The negative pressure exhaust assembly (3) comprises a vacuum pump (301) and a reversing valve (302); a first valve port (3021) of the reversing valve (302) is connected to the vacuum pump (301) via a first exhaust pipeline (303); and a second valve port (3022) of the reversing valve (302) is connected to the exhaust sleeve (202) via a second exhaust pipeline (304).

5. The walking device according to claim 4, characterized in that: The second air extraction pipeline (304) is a flexible hose.

6. The walking device according to any one of claims 1 to 3, characterized in that: It also comprises a sealed shell (5), wherein the sealed shell (5) and the main body (1) enclose a mounting chamber, and the negative pressure adsorption component (2) is mounted in the mounting chamber.

7. The walking device according to claim 6, characterized in that: It also includes a negative pressure base (6) fixedly mounted on the main body (1); the negative pressure base (6) is sealedly connected to the sealed shell (5); and the negative pressure adsorption component (2) is arranged to pass through the negative pressure base (6).

8. The walking device according to claim 6, characterized in that: A suction cup load-bearing component (206) is fixedly installed in the installation chamber, and the limiting sleeve (203) is fixedly connected to the suction cup load-bearing component (206).

9. The walking device according to any one of claims 1 to 3, characterized in that: A compression elastic member (207) is installed between the adsorption member (201) and the limiting sleeve (203), and the compression elastic member (207) is in a compressed state to apply pre-pressure to the adsorption member (201).

10. A cleaning device, characterized in that: A walking device according to any one of claims 1 to 9, wherein a cleaning component is installed on a body (1) of the walking device.

Images