High-altitude dust cleaning robot

Abstract

The invention relates to the field of robots, in particular to a high-altitude dust cleaning robot which comprises a dust cabin, a dust collection cabin and a driving wheel set, dust collection channels which are communicated with each other are arranged between the dust collection cabin and the dust cabin, a dust collection assembly is arranged between the dust collection cabin and the dust cabin in a matched mode, and the driving wheel set comprises wheel discs and hub motors which are arranged at the four corners of the dust cabin. A plurality of suction cup feet are evenly distributed on the outer ring of the wheel disc in the circumferential direction of the wheel disc, the front end and the rear end of the dust bin are each provided with a preliminary cleaning assembly, and each preliminary cleaning assembly comprises a rubber scraper and an elastic connecting piece. Dust and attachments on the working face are preliminarily cleaned through contact between the rubber scraper and the working face, a clean adsorption surface is provided for the suction cup foot, and the walking stability of the robot on an inclined face or a curved face is ensured; the stable attachment of the robot on an inclined surface or a curved surface is ensured, and the robot is prevented from sliding off due to the gravity effect.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a high-altitude dust-cleaning robot. Background Art

[0002] Sweeping robots can realize unmanned dust cleaning operations, bringing great convenience to life and work. With the popularization of sweeping robots, sweeping robots are used in more and more usage scenarios. However, the current small sweeping robots are difficult to operate in non-planar environments such as slopes and curved surfaces. Large sweeping robots are expensive and difficult to operate in small spaces, especially dust cleaning operations in high-altitude environments.

[0003] The currently disclosed Chinese patent authorization publication number is CN215097925U, which is a vacuum adsorption wall-climbing robot, including a robot base, both ends of which are detachably mounted with mounting plates, a plurality of nozzles for exhaust are mounted at the bottom of the mounting plate, and the air inlet ends of the plurality of nozzles are connected to the air outlet of the air pump inside the robot base through pipes; a loading chamber is provided at one end of the mounting plate facing the robot base, and a dispersion pipe for connecting the plurality of nozzles is installed inside the loading chamber; both ends of the top of the dispersion pipe are connected to the inner top of the loading chamber through a connecting plate, and one side of the dispersion pipe is connected through a through hole for A pipe joint connected to the air outlet of the air pump has the other side connected to each nozzle by a connecting hose; a plurality of plug rods are connected to the end of the mounting plate facing the robot base, and a plurality of sockets for plugging the plug rods are provided at the end of the robot base; a groove is provided at the bottom of the mounting plate above each nozzle, a rotating shaft is rotatably installed inside the groove, and the top of the nozzle is fixedly connected to the rotating shaft above it; a plurality of bolt holes are provided at the end of the mounting plate away from the robot base, and a positioning bolt is installed inside the bolt hole, each positioning bolt corresponds to a rotating shaft, and one end of the positioning bolt can extend to the inside of the mounting plate and abut against the rotating shaft.

[0004] According to the above patent, the robot base can be tightly adsorbed on the outside of the equipment to be cleaned by the internal air pump, and moved by rollers during work. The air pump delivers the extracted air to the dispersion pipe, and the air enters several nozzles from the dispersion pipe and impacts the outer wall of the equipment to be cleaned through the nozzles. However, when the robot is walking, if the suction cup is attached to a dusty place, the dust will form an isolation layer between the suction cup and the adsorption surface, reducing the contact area between the suction cup and the surface, thereby reducing the adsorption force. It will destroy the airtightness between the suction cup and the surface, causing air leakage, reducing the negative pressure effect, and thus affecting the adsorption force. The cleaning effect is not good for dust with strong adhesion and larger garbage particles, and the robot cannot be kept stable. Therefore, there is a need for a robot that can maintain stability and clean dust in non-planar environments such as slopes and curved surfaces, as well as in high-altitude environments. Summary of the invention

[0005] In view of the problems existing in the prior art, a high-altitude dust cleaning robot is provided, which contacts the working surface with a rubber scraper to preliminarily clean the dust and attachments on the working surface, providing a relatively clean adsorption surface for the suction cup feet, thereby ensuring the stability of the robot walking on inclined or curved surfaces. As the suction cup feet contact the working surface, the suction cup feet are adsorbed on the working surface, thereby ensuring the stable attachment of the robot to the inclined or curved surface and preventing it from slipping due to gravity.

[0006] In order to solve the problems of the prior art, the present invention provides a high-altitude dust cleaning robot, comprising a dust cabin, a dust suction cabin and a driving wheel group, wherein the dust suction cabin is fixedly arranged at the bottom of the dust cabin, dust suction channels that are interconnected are arranged between the dust suction cabin and the dust cabin, a dust collecting assembly for introducing dust on the working surface into the dust cabin through the dust suction cabin is provided between the dust suction cabin and the dust cabin, the driving wheel group comprises a wheel disc arranged at the four corners of the dust cabin and a wheel hub motor for providing power to the wheel disc, the outer ring of the wheel disc is evenly distributed with a plurality of suction cup feet along its circumferential direction, and when the suction cup feet contact the working surface, the wheel disc is sucked by the suction cup feet. When working on the surface, the suction cup foot is under pressure and is in a state of adsorption with the work surface, so that the cleaning robot does not fall off the work surface. The front and rear ends of the dust compartment are also provided with preliminary cleaning components, and a bracket for installing the preliminary cleaning component is fixed on the dust compartment, and the preliminary cleaning component includes a rubber scraper and an elastic connecting member connected between the rubber scraper and the bracket. When the cleaning robot moves, the rubber scraper is in a state of pressing against the work surface and moving under the action of the elastic connecting member, so that a stable adhesion grip is generated between the suction cup foot and the work surface being preliminarily cleaned.

[0007] Preferably, the preliminary cleaning component also includes a wiping sponge that can clean the end surface of the suction cup foot. A wiping sponge is provided at each wheel disc. The wiping sponge is fixed on a bracket. The wiping sponge is an arc-shaped structure coaxial with the wheel disc. When the wheel disc rotates, the suction cup foot moves in conjunction with the wiping sponge, so that the dirt on the end surface of the suction cup foot is cleaned by the wiping sponge.

[0008] Preferably, the elastic connecting member is a torsion spring, the rubber scraper has a rotating shaft rotatably connected to the bracket, the bracket has an axial connection for rotatably connecting both ends of the rotating shaft, the axial direction of the rotating shaft is parallel to the axial direction of the wheel disc, the elastic connecting member is fixedly connected between the rotating shaft and the axial connection, and when the rubber scraper contacts the working surface, the elastic connecting member is in a torsion state.

[0009] Preferably, both ends of the rubber scraper extend to the edge of the wheel disc respectively, and a net bag is fixedly connected between the rubber scraper and the bracket to prevent the dirt that has been initially cleaned from affecting the suction cup foot's adsorption of the working surface.

[0010] Preferably, the suction cup foot has an integrally connected rubber suction cup and a suction cup rod, the rubber suction cup is provided with a negative pressure channel along the axial direction of the suction cup rod, the wheel disc is provided with a vacuum chamber, the suction cup rod is provided with a vent hole connected to the vacuum chamber and the negative pressure channel, the dust compartment is provided with a vacuum tube fixed to each wheel disc and connected to the vacuum chamber, and the vacuum tube is provided with a vacuum pump.

[0011] Preferably, the suction cup rod can move along the axis direction of the wheel disc, and the wheel disc is provided with a socket for each suction cup rod to be plugged in. The rubber suction cup is located on the outside of the wheel disc, and a tray is fixedly provided at the end of the suction cup rod away from the rubber suction cup. A spring is fixedly connected between the tray and the wheel disc, and when the rubber suction cup contacts the working surface, the spring is in a compressed state.

[0012] Preferably, a sealing ring coaxial with the suction cup rod is fixedly provided on the tray, and a sealing groove capable of fitting with the sealing ring is fixedly provided on the wheel disc. When the rubber suction cup contacts the working surface, the sealing ring moves away from the sealing groove, so that the negative pressure channel of the suction cup foot is connected with the vacuum chamber of the wheel disc; and when the rubber suction cup does not contact the working surface, the sealing ring fits with the sealing groove, so that the suction cup foot maintains a vacuum degree.

[0013] Preferably, the dust collecting assembly includes a cleaning structure for further cleaning the work surface, a absorbing structure for absorbing dust and a storage structure for collecting dust, the cleaning structure is arranged at the bottom of the dust suction chamber, the absorbing structure is arranged in the dust suction channel, and the storage structure is arranged in the dust chamber.

[0014] Preferably, an exhaust port is laterally distributed at the upper end of the dust compartment to discharge the air sucked into the storage structure.

[0015] Preferably, a steering structure capable of driving the wheel disc to steer is provided on the dust compartment, the steering structure comprising a driven gear, a driving gear and a steering motor for driving the driving gear to rotate, the driven gear is fixedly connected to the vacuum tube, and the driving gear meshes with the driven gear.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention uses a rubber scraper to always keep in contact with the working surface under the action of an elastic connector and exert a certain pressure. As the robot moves, dust and attachments on the working surface are preliminarily cleaned by the rubber scraper.

[0018] As the working surface is preliminarily cleaned, it not only provides a cleaner adsorption surface for the suction cup feet, but also avoids insufficient contact between the suction cup feet and the working surface, ensuring the stability of the robot walking on inclined or curved surfaces.

[0019] When the suction cup foot contacts the work surface, the suction cup foot will be pressed and quickly adsorbed to the work surface, which not only ensures the stable attachment of the robot on the inclined or curved surface, but also effectively prevents the robot from sliding down due to gravity.

[0020] 2. The present invention ensures that the suction cup foot can evenly contact the wiping sponge during the rotation process by setting a wiping sponge at each wheel as the robot moves, so that the suction cup foot can be cleaned every time it rotates, thereby improving the adsorption effect and service life of the suction cup foot.

[0021] The robot's stability on various complex surfaces is enhanced, ensuring the robot's safety and reliability when working at high altitudes.

[0022] 3. The present invention ensures that the suction cup foot can quickly connect the negative pressure channel and the vacuum chamber when contacting the working surface through the cooperation of the sealing ring on the tray and the sealing groove on the wheel disc, thereby generating a strong adsorption force.

[0023] When the suction cup foot leaves the working surface, it can maintain the internal negative pressure to ensure rapid adsorption when it contacts next time. This not only improves the adsorption effect of the suction cup foot, but also ensures the stability and reliability of the robot on complex surfaces.

[0024] 4. The present invention efficiently completes the cleaning task of the working surface through the coordinated work of the dust cleaning structure, the absorption structure and the storage structure.

[0025] The brush and cleaning motor of the dust cleaning structure ensure further cleaning of dust and debris. The spiral blades and dust suction motor of the suction structure generate a strong airflow to suck the dust into the dust suction channel. The dust bag of the storage structure ensures effective collection of dust and convenient cleaning.

[0026] It not only improves the cleaning effect, but also simplifies the user's maintenance work and ensures the long-term stable operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a three-dimensional structure diagram of a high-altitude dust cleaning robot of the present invention. Figure 1 .

[0028] Figure 2 This is a three-dimensional structure diagram of a high-altitude dust cleaning robot of the present invention. Figure 2 .

[0029] Figure 3 It is a partial three-dimensional structural sectional view of a high-altitude dust cleaning robot of the present invention.

[0030] Figure 4 It is a three-dimensional structural schematic diagram of a driving wheel group and a preliminary cleaning component of a high-altitude dust cleaning robot of the present invention.

[0031] Figure 5 It is a front view of a driving wheel group and a preliminary cleaning component of a high-altitude dust cleaning robot of the present invention.

[0032] Figure 6 It is a planar cross-sectional view of a driving wheel assembly and a preliminary cleaning assembly of a high-altitude dust cleaning robot of the present invention.

[0033] Figure 7 This is a front view of a high-altitude dust cleaning robot of the present invention with a preliminary cleaning component removed.

[0034] Figure 8 It is a left view of a high-altitude dust cleaning robot of the present invention after removing the preliminary cleaning components.

[0035] Fig. 9 The present invention is a schematic diagram of a high-altitude dust cleaning robot working on an inclined surface.

[0036] Fig.10 The present invention is a schematic diagram of a high-altitude dust cleaning robot working on a curved surface.

[0037] Fig.11 It is a schematic diagram of a driving wheel group of a high-altitude dust cleaning robot of the present invention.

[0038] Fig.12 The utility model is a schematic diagram of the specific structure of a suction cup foot of a high-altitude dust cleaning robot of the present invention.

[0039] The numbers in the figure are: 1, dust compartment; 11, exhaust port; 2, dust suction compartment; 21, dust suction channel; 3, driving wheel group; 31, wheel disc; 311, hub motor; 312, vacuum chamber; 32, suction cup foot; 321, rubber suction cup; 322, suction cup rod; 3221, negative pressure channel; 3222, vent; 323, tray; 3231, spring; 3232, sealing ring; 3233, sealing groove; 33, vacuum tube; 331, vacuum pump; 332, driven gear ; 333, driving gear; 334, steering motor; 4, dust collection component; 41, dust cleaning structure; 411, brush; 412, cleaning motor; 42, absorption structure; 421, spiral blade; 422, dust suction motor; 43, storage structure; 431, dust bag; 432, fixed position; 5, preliminary cleaning component; 51, bracket; 511, shaft connection; 52, rubber scraper; 521, net bag; 53, elastic connector; 531, rotating shaft; 54, wiping sponge. DETAILED DESCRIPTION

[0040] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0041] See also Figure 1-Figure 6 As shown, a high-altitude dust cleaning robot includes a dust chamber 1, a dust collection chamber 2 and a driving wheel group 3. The dust collection chamber 2 is fixedly arranged at the bottom of the dust chamber 1. A dust collection channel 21 that is interconnected is provided between the dust collection chamber 2 and the dust chamber 1. A dust collecting assembly 4 for introducing dust on a working surface into the dust chamber 1 through the dust collection chamber 2 is provided between the dust collection chamber 2 and the dust chamber 1. The driving wheel group 3 includes a wheel disc 31 arranged at the four corners of the dust chamber 1 and a hub motor 311 for providing power to the wheel disc 31. The outer ring of the wheel disc 31 is evenly distributed with a plurality of suction cup feet 32 ​​along its circumferential direction. When the suction cup feet 32 ​​contact the working surface, The suction cup foot 32 is under pressure and is in a state of being adsorbed on the work surface, so that the dust cleaning robot does not fall off the work surface. A preliminary cleaning component 5 is also provided at the front and rear ends of the dust chamber 1. A bracket 51 for installing the preliminary cleaning component 5 is fixedly provided on the dust chamber 1. The preliminary cleaning component 5 includes a rubber scraper 52 and an elastic connecting member 53 connected between the rubber scraper 52 and the bracket 51. When the dust cleaning robot moves, the rubber scraper 52 is in a state of being pressed against the work surface and moving under the action of the elastic connecting member 53, so that a stable adhesion grip is generated between the suction cup foot 32 and the work surface to be preliminarily cleaned.

[0042] When the high-altitude dust cleaning robot starts working, the hub motor 311 of the driving wheel group 3 starts to run, providing power to the wheel discs 31 set at the four corners of the dust chamber 1. When the wheel disc 31 rotates, the suction cup foot 32 gradually approaches the working surface as the wheel disc 31 rotates. In the process of the suction cup foot 32 contacting the working surface, the suction cup foot 32 is firmly attached to the working surface. This not only ensures the stable attachment of the robot on the vertical or inclined surface, but also effectively prevents the robot from sliding due to gravity.

[0043] At the same time, according to the moving direction of the robot, the preliminary cleaning component 5 at the front or rear end of the robot also starts to work. When the robot moves, the rubber scraper 52 always keeps in contact with the working surface under the action of the elastic connector 53 and applies a certain pressure. The rubber scraper 52 is made of soft material and has good elasticity, and can effectively remove dust and debris on the surface when it contacts the working surface. The preliminary cleaning avoids insufficient contact between the suction cup foot 32 and the working surface, that is, the suction effect is poor due to the obstruction of dust between the suction cup foot 32 and the working surface, ensuring the stability of the robot walking on an inclined or curved surface.

[0044] As the robot continues to move forward, the dust collected on the working surface is introduced into the dust chamber 1 through the dust collection component 4. When the dust in the dust chamber 1 gradually increases, the pressure sensor on the inner wall of the dust chamber will monitor the internal pressure changes. When the pressure reaches the preset value, the pressure sensor will trigger an alarm signal to remind the user to deal with it in time. This not only ensures the continuous and efficient operation of the robot, but also reduces the maintenance frequency of the user and improves the convenience of use. The pressure sensor is not shown in the figure.

[0045] In addition, the robot is also equipped with a visual sensor for real-time perception of the surrounding environment, helping the robot to autonomously navigate and avoid obstacles in complex environments, ensuring its safety and stability when working at high altitudes. The visual sensor is not shown in the figure.

[0046] See also Figure 1-Figure 6 As shown, the preliminary cleaning component 5 also includes a wiping sponge 54 that can clean the end surface of the suction cup foot 32. A wiping sponge 54 is provided at each wheel 31. The wiping sponge 54 is fixedly arranged on the bracket 51. The wiping sponge 54 is an arc-shaped structure coaxial with the wheel 31. When the wheel 31 rotates, the suction cup foot 32 moves in close contact with the wiping sponge 54, so that the dirt on the end surface of the suction cup foot 32 is cleaned by the wiping sponge 54.

[0047] When the robot starts working, the hub motor 311 of the driving wheel set 3 starts running, providing power to the wheel discs 31 arranged at the four corners of the dust chamber 1. When the wheel disc 31 rotates, the suction cup foot 32 moves in close contact with the wiping sponge 54 as the wheel disc 31 rotates. In this process, the dirt on the end surface of the suction cup foot 32 is cleaned by the wiping sponge 54, ensuring that the suction cup foot 32 is clean every time it contacts the working surface. This not only improves the adsorption effect of the suction cup foot 32, but also extends the service life of the suction cup foot 32.

[0048] In addition, the arc-shaped design of the wiping sponge 54 enables the suction cup foot 32 to be evenly in contact with the wiping sponge 54 during the rotation process, ensuring that each suction cup foot 32 can be effectively cleaned. During the whole process, the wiping sponge 54 and the suction cup foot 32 are closely matched, ensuring that the suction cup foot 32 can provide the best suction force at each suction, thereby enhancing the stability of the robot on a vertical or inclined surface.

[0049] After the wiping sponge 54 has been used for a period of time, it is replaced by the operator to ensure a better cleaning effect.

[0050] See also Figure 1-Figure 6As shown, the elastic connecting member 53 is specifically a torsion spring, the rubber scraper 52 has a rotating shaft 531 rotatably connected to the bracket 51, the bracket 51 has an axial connection portion 511 for rotatably connecting both ends of the rotating shaft 531, the axial direction of the rotating shaft 531 is parallel to the axial direction of the wheel disc 31, the elastic connecting member 53 is fixedly connected between the rotating shaft 531 and the axial connection portion 511, and when the rubber scraper 52 contacts the working surface, the elastic connecting member 53 is in a torsion state.

[0051] The rubber scraper 52 is always kept in contact with the working surface under the action of the elastic connecting member 53, that is, the torsion spring. At this time, the torsion spring is in a torsion state, so that the rubber scraper 52 exerts a certain pressure on the working surface.

[0052] When the robot is moving, the rubber scraper 52 is pressed against the working surface, so the rubber scraper 52 can perform preliminary cleaning on the working surface. The rubber scraper 52 slides along the working surface to push the dust and attachments on the working surface away from the working surface. This makes the adsorption of the suction cup foot 32 and the working surface unaffected, ensuring the stability of the robot walking on an inclined or curved surface.

[0053] See also Figure 1-Figure 6 As shown, both ends of the rubber scraper 52 extend to the edge of the wheel disc 31 respectively, and a net bag 521 is fixedly connected between the rubber scraper 52 and the bracket 51 to prevent the dirt that is initially cleaned from affecting the suction cup foot 32 to adsorb the working surface.

[0054] When the robot is moving, since both ends of the rubber scraper 52 extend to the edges of the wheel disc 31 respectively, it is ensured that the rubber scraper 52 can clean the working surface area passed by the suction cup foot 32, providing comprehensive preliminary cleaning.

[0055] In order to further improve the cleaning effect and prevent the dirt initially cleaned from affecting the adsorption performance of the suction cup foot 32, the net bag 521 fixedly connected between the rubber scraper 52 and the bracket 51 can effectively collect and block the dust initially cleaned by the rubber scraper 52, and prevent the dust from being scattered again on the working surface area where the suction cup foot 32 passes.

[0056] When the robot moves, the rubber scraper 52 slides on the working surface, and some dirt will enter the net bag 521 along the rubber scraper 52. This not only improves the effect of preliminary cleaning, but also ensures that the suction cup foot 32 will not be affected by the dirt when adsorbing the working surface, thereby improving the adsorption performance of the suction cup foot 32 and the stability of the robot's movement.

[0057] See also Figure 6-Figure 12As shown, the suction cup foot 32 has an integrally connected rubber suction cup 321 and a suction cup rod 322, the rubber suction cup 321 is provided with a negative pressure channel 3221 along the axial direction of the suction cup rod 322, the wheel disc 31 is provided with a vacuum chamber 312, the suction cup rod 322 is provided with a vent hole 3222 connected to the vacuum chamber 312 and the negative pressure channel 3221, the dust compartment 1 is provided with a vacuum tube 33 fixed to each wheel disc 31 and connected to the vacuum chamber 312, and the vacuum tube 33 is provided with a vacuum pump 331.

[0058] When the wheel disc 31 rotates and drives the suction cup foot 32 to gradually approach the working surface, the vacuum pump 331 is started, and a negative pressure environment is formed through the vacuum tube 33 and the vacuum chamber 312 on the wheel disc 31.

[0059] When the suction cup foot 32 contacts the working surface, the negative pressure channel 3221 is connected to the vacuum chamber 312 through the vent hole 3222, thereby generating negative pressure inside the rubber suction cup 321. The rubber suction cup 321 is tightly attached to the working surface, providing a strong adsorption force to ensure the stability of the robot on the inclined or curved surface.

[0060] See also Figure 6-Figure 12 As shown, the suction cup rod 322 can move along the axis direction of the wheel disc 31, and the wheel disc 31 is provided with a socket for each suction cup rod 322 to be plugged in. The rubber suction cup 321 is located on the outside of the wheel disc 31, and a tray 323 is fixedly provided at one end of the suction cup rod 322 away from the rubber suction cup 321. A spring 3231 is fixedly connected between the tray 323 and the wheel disc 31. When the rubber suction cup 321 contacts the working surface, the spring 3231 is in a compressed state.

[0061] When the rubber suction cup 321 contacts the working surface and is subjected to pressure, the suction cup rod 322 moves inward along the axis of the wheel 31, and the tray 323 also moves with the suction cup rod 322, so that the spring 3231 is in a compressed state. The position of the suction cup rod 322 is automatically adjusted by the elastic force of the spring 3231, so that the rubber suction cup 321 is kept in close contact with the working surface to ensure the adsorption effect.

[0062] See also Figure 6-Figure 12 As shown, a sealing ring 3232 coaxial with the suction cup rod 322 is fixedly provided on the tray 323, and a sealing groove 3233 capable of fitting with the sealing ring 3232 is fixedly provided on the wheel disc 31. When the rubber suction cup 321 contacts the working surface, the sealing ring 3232 is away from the sealing groove 3233, so that the negative pressure channel 3221 of the suction cup foot 32 is connected with the vacuum chamber 312 of the wheel disc 31; and when the rubber suction cup 321 does not contact the working surface, the sealing ring 3232 fits with the sealing groove 3233, so that the suction cup foot 32 maintains a vacuum degree.

[0063] When the suction cup foot 32 contacts the working surface, the rubber suction cup 321 generates a reaction force, causing the suction cup rod 322 to move inward along the axis of the wheel disc 31. At this time, the sealing ring 3232 on the tray 323 is away from the sealing groove 3233 on the wheel disc 31, so that the negative pressure channel 3221 of the suction cup foot 32 is connected with the vacuum chamber 312 of the wheel disc 31. When the vacuum pump 331 is started, negative pressure is generated inside the rubber suction cup 321, so that the rubber suction cup 321 is tightly adsorbed on the working surface.

[0064] When the suction cup foot 32 leaves the working surface, the suction cup foot 32 is lifted from the working surface, the elastic force of the spring 3231 causes the suction cup rod 322 to move outward, and the sealing ring 3232 on the tray 323 fits with the sealing groove 3233 on the wheel disc 31 again, closing the passage between the negative pressure channel 3221 and the vacuum chamber 312. The negative pressure inside the suction cup foot 32 is maintained, ensuring that the suction force can be quickly generated when the next working surface is contacted.

[0065] See also Figure 2 , Figure 3 and Figure 6-Figure 12 As shown, the dust collecting assembly 4 includes a cleaning structure 41 for further cleaning the working surface, a absorbing structure 42 for absorbing dust, and a storage structure 43 for collecting dust, the cleaning structure 41 is arranged at the bottom of the dust suction chamber 2, the absorbing structure 42 is arranged in the dust suction channel 21, and the storage structure 43 is arranged in the dust chamber 1.

[0066] The dust cleaning structure 41 comprises a plurality of brushes 411 evenly distributed at the bottom of the dust collecting chamber 2 and a cleaning motor 412 for driving each brush 411 to rotate.

[0067] The suction structure 42 includes a spiral blade 421 disposed in the dust suction passage 21 and a dust suction motor 422 for driving the spiral blade 421 to rotate.

[0068] The storage structure 43 has a dust bag 431 arranged in the dust compartment 1. The dust compartment 1 and the opening of the dust suction channel 21 have a fixed position 432 for the dust bag 431 to be snap-connected. The dust bag 431 is connected to the dust suction channel 21.

[0069] When the robot moves, the cleaning motor 412 is started to drive the brush 411 to rotate, thereby further cleaning the work surface, loosening and lifting dust and debris from the work surface, and preparing for subsequent vacuuming.

[0070] The dust suction motor 422 is then started, driving the spiral blade 421 to rotate, generating a strong airflow, sucking the dust and debris raised by the brush 411 into the dust suction channel 21, and guiding them to the storage structure 43 in the dust compartment 1.

[0071] When dust and debris are sucked in through the dust suction channel 21, they are directly stored in the dust bag 431. This not only facilitates the centralized collection of dust, but also facilitates the user to regularly replace or clean the dust bag 431 to maintain the cleaning effect of the robot.

[0072] See also Figure 3 and Figure 7-Figure 10 As shown, an exhaust port 11 is laterally distributed at the upper end of the dust compartment 1 for discharging the air sucked into the storage structure 43 .

[0073] The exhaust port 11 distributed laterally at the upper end of the dust chamber 1 ensures that the air can be discharged smoothly during the dust collection process, while preventing dust from escaping from the exhaust port 11 .

[0074] The exhaust port 11 is specifically a filter structure to further intercept and filter fine particles that may be carried in the air, ensuring that the exhausted air is clean and reducing secondary pollution.

[0075] See also Figure 3 , Figure 7 , Fig. 9 and Fig.10 As shown, the dust chamber 1 is provided with a steering structure capable of driving the wheel disc 31 to turn, the steering structure having a driven gear 332, a driving gear 333 and a steering motor 334 for driving the driving gear 333 to rotate, the driven gear 332 is fixedly connected to the vacuum tube 33, and the driving gear 333 is meshed with the driven gear 332.

[0076] When the steering motor 334 is started, the driving gear 333 rotates, and the driven gear 332 is driven to rotate through the meshing of the driving gear 333, thereby driving the vacuum tube 33 fixedly connected to the driven gear 332 and the wheel disc 31 thereon to rotate together. The robot can accurately control the direction of the wheel disc 31 through the steering motor 334, and realize flexible steering and travel.

[0077] It not only improves the robot's navigation ability and work efficiency, but also enhances its ability to adapt to various working environments.

[0078] The present invention uses the rubber scraper 52 to always keep in contact with the working surface under the action of the elastic connector 53 and apply a certain pressure to preliminarily clean the dust and attachments on the working surface. This not only provides a relatively clean adsorption surface for the suction cup foot 32, but also avoids the situation where the suction cup foot 32 is not in sufficient contact with the working surface, thereby ensuring the stability of the robot walking on an inclined or curved surface.

[0079] As the suction cup foot 32 contacts the working surface, the suction cup foot 32 is subjected to pressure and is quickly adsorbed on the working surface, thereby ensuring the stable attachment of the robot to the inclined or curved surface and preventing the robot from sliding down due to gravity.

[0080] During the robot's movement, the suction cup foot 32 can evenly contact the wiping sponge 54 when rotating, thereby keeping it clean, improving the adsorption effect and service life of the suction cup foot 32, and ensuring the safety and reliability of the robot during high-altitude operations.

[0081] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the protection scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A high-altitude dust cleaning robot, characterized in that: It comprises a dust chamber (1), a dust collection chamber (2) and a driving wheel set (3); The dust collection chamber (2) is fixedly arranged at the bottom of the dust chamber (1), and a dust collection passage (21) communicating with the dust chamber (1) is provided between the dust collection chamber (2) and the dust chamber (1); A dust collecting assembly (4) is provided between the dust suction chamber (2) and the dust chamber (1) for introducing dust on the working surface into the dust chamber (1) through the dust suction chamber (2); The driving wheel assembly (3) comprises wheel discs (31) arranged at four corners of the dust chamber (1) and a hub motor (311) for providing power to the wheel discs (31); the outer ring of the wheel disc (31) is provided with a plurality of suction cup feet (32) evenly distributed along its circumferential direction; When the suction cup foot (32) contacts the working surface, the suction cup foot (32) is subjected to pressure and is in a state of being adsorbed on the working surface, so that the dust cleaning robot does not fall off the working surface; A preliminary cleaning assembly (5) is also provided at the front and rear ends of the dust chamber (1); a bracket (51) for mounting the preliminary cleaning assembly (5) is fixedly provided on the dust chamber (1); the preliminary cleaning assembly (5) comprises a rubber scraper (52) and an elastic connecting member (53) connected between the rubber scraper (52) and the bracket (51); When the dust cleaning robot moves, the rubber scraper (52) is in a state of being pressed against the working surface and moving under the action of the elastic connecting member (53), so that a stable adhesion and gripping force is generated between the suction cup foot (32) and the working surface being initially cleaned.

2. A high-altitude dust cleaning robot according to claim 1, characterized in that: The preliminary cleaning assembly (5) further comprises a wiping sponge (54) capable of cleaning the end surface of the suction cup foot (32). Each wheel disc (31) is provided with a wiping sponge (54). The wiping sponge (54) is fixedly arranged on the bracket (51). The wiping sponge (54) is an arc-shaped structure coaxial with the wheel disc (31). When the wheel disc (31) rotates, the suction cup foot (32) moves in close contact with the wiping sponge (54), so that dirt on the end surface of the suction cup foot (32) is cleaned by the wiping sponge (54).

3. A high-altitude dust cleaning robot according to claim 2, characterized in that: The elastic connecting member (53) is specifically a torsion spring. The rubber scraper (52) has a rotating shaft (531) rotatably connected to the bracket (51). The bracket (51) has a shaft connection portion (511) for rotatably connecting two ends of the rotating shaft (531). The axis direction of the rotating shaft (531) is parallel to the axis direction of the wheel disc (31). The elastic connecting member (53) is fixedly connected between the rotating shaft (531) and the shaft connection portion (511). When the rubber scraper (52) contacts the working surface, the elastic connecting member (53) is in a torsion state.

4. The high-altitude dust cleaning robot according to claim 3, characterized in that: Both ends of the rubber scraper (52) extend to the edge of the wheel disc (31) respectively, and a net bag (521) is fixedly connected between the rubber scraper (52) and the bracket (51) to prevent the dirt that is initially cleaned from affecting the suction cup foot (32) from adsorbing the working surface.

5. The high-altitude dust cleaning robot according to claim 1, characterized in that: The suction cup foot (32) comprises an integrally connected rubber suction cup (321) and a suction cup rod (322); a negative pressure channel (3221) is provided on the rubber suction cup (321) along the axial direction of the suction cup rod (322); a vacuum cavity (312) is provided on the wheel disc (31); a vent hole (3222) is provided on the suction cup rod (322) and is connected to the vacuum cavity (312) and the negative pressure channel (3221); a vacuum tube (33) is provided on the dust chamber (1) and is fixed to each wheel disc (31) and is connected to the vacuum cavity (312); and a vacuum pump (331) is provided on the vacuum tube (33).

6. The high-altitude dust cleaning robot according to claim 5, characterized in that: The suction cup rod (322) can move along the axis direction of the wheel disc (31); a socket for each suction cup rod (322) to be plugged in is provided on the wheel disc (31); the rubber suction cup (321) is located outside the wheel disc (31); a tray (323) is fixedly provided at one end of the suction cup rod (322) away from the rubber suction cup (321); a spring (3231) is fixedly connected between the tray (323) and the wheel disc (31); when the rubber suction cup (321) contacts the working surface, the spring (3231) is in a compressed state.

7. The high-altitude dust cleaning robot according to claim 6, characterized in that: A sealing ring (3232) coaxial with the suction cup rod (322) is fixedly provided on the tray (323), and a sealing groove (3233) capable of being fitted with the sealing ring (3232) is fixedly provided on the wheel disc (31). When the rubber suction cup (321) contacts the working surface, the sealing ring (3232) moves away from the sealing groove (3233), so that the negative pressure channel (3221) of the suction cup foot (32) is connected to the vacuum chamber (312) of the wheel disc (31). When the rubber suction cup (321) does not contact the working surface, the sealing ring (3232) is fitted with the sealing groove (3233), so that the suction cup foot (32) maintains a vacuum degree.

8. The high-altitude dust cleaning robot according to claim 1, characterized in that: The dust collecting assembly (4) comprises a dust cleaning structure (41) for further cleaning the working surface, a suction structure (42) for absorbing dust, and a storage structure (43) for collecting dust, wherein the dust cleaning structure (41) is arranged at the bottom of the dust collecting chamber (2), the suction structure (42) is arranged in the dust collecting channel (21), and the storage structure (43) is arranged in the dust chamber (1).

9. The high-altitude dust cleaning robot according to claim 8, characterized in that: An exhaust port (11) is laterally distributed at the upper end of the dust chamber (1) for discharging the air sucked into the storage structure (43).

10. The high-altitude dust cleaning robot according to claim 5, characterized in that: The dust chamber (1) is provided with a steering structure capable of driving the wheel disc (31) to steer, the steering structure comprising a driven gear (332), a driving gear (333) and a steering motor (334) for driving the driving gear (333) to rotate, the driven gear (332) being fixedly connected to the vacuum tube (33), and the driving gear (333) being meshed with the driven gear (332).

Images